Quantized Sampled-Data Attitude Control of Ground Vehicles: An Event-Based Approach

Attitude control systems for ground vehicles have been an important topic in automotive research for decades, and have been extensively studied by resorting to classical continuous-time nonlinear design. Although this approach can incorporate saturation constraints and actuator dynamics in the design, the computed control laws are often approximated and applied within digital environments in absence of formal performance guarantees. In this letter, we present a quantized sampled-data approach to the vehicle attitude control problem. Starting from classical nonlinear design achieving tracking of prescribed trajectories in continuous time (emulation approach), we derive conditions for preserving the practical stability of the error dynamics by means of quantized sampled-data event-based controllers. Simulations performed in an non-ideal setting confirm the potential of the approach

Robust Control

The need to be tolerant to changes in the control systems or in the operational environment of systems subject to unknown disturbances has generated new control methods that are able to deal with the non-parametrized disturbances of systems, without adapting itself to the system uncertainty but rather providing stability in the presence of errors bound in a model. With this approach in mind and with the intention to exemplify robust control applications, this book includes selected chapters that describe models of H-infinity loop, robust stability and uncertainty, among others. Each robust control method and model discussed in this book is illustrated by a relevant example that serves as an overview of the theoretical and practical method in robust control

Observer-based fuzzy tracking control for an unmanned aerial vehicle with communication constraints

In this article, we investigate the trajectory tracking problem of underactuated aerial vehicles with unknown mass in the presence of unknown nonvanishing disturbances using an event-Triggered approach, while considering the constraint that the derivative of the reference trajectory is not available. In contrast to existing references where the derivative of the reference trajectory is needed, here we first introduce a high-gain observer to estimate the unknown derivative solely from the reference trajectory. A disturbance observer is designed to compensate for nonvanishing disturbances, such as wind. Fuzzy logic systems are used to approximate the model uncertainty arising from the unknown mass of the vehicle, and then we derive a thrust command law that follows from a desired stabilizing force. In addition, unlike traditional fixed and relative threshold strategies that rely solely on control signals, we develop a new time-varying event-Triggered mechanism linked to the performance of the controlled system, taking into account factors, such as tracking errors, to develop angular velocity commands, enhancing tracking accuracy while efficiently conserving communication resources, especially in the absence of Zeno behavior. We present simulation results to demonstrate the efficacy of the proposed approach and validate the theoretical findings.</p

Applied Analysis and Synthesis of Complex Systems: Proceedings of the IIASA-Kyoto University Joint Seminar, June 28-29, 2004

This two-day seminar aimed at introducing the new development of the COE by Kyoto University to IIASA and discussing general modeling methodologies for complex systems consisting of many elements, mostly via nonlinear, large-scale interactions. We aimed at clarifying fundamental principles in complex phenomena as well as utilizing and synthesizing the knowledge derived out of them. The 21st Century COE (Center of Excellence) Program is an initiative by the Japanese Ministry of Education, Culture, Science and Technology (MEXT) to support universities establishing discipline-specific international centers for education and research, and to enhance the universities to be the world's apex of excellence with international competitiveness in the specific research areas. Our program of "Research and Education on Complex Functional Mechanical Systems" is successfully selected to be awarded the fund for carrying out new research and education as Centers of Excellence in the field of mechanical engineering in 2003 (five-year project), and is expected to lead Japanese research and education, and endeavor to be the top in the world. The program covers general backgrounds in diverse fields as well as a more in-depth grasp of specific branches such as complex system modeling and analysis of the problems including: nonlinear dynamics, micro-mesoscopic physics, turbulent transport phenomena, atmosphere-ocean systems, robots, human-system interactions, and behaviors of nano-composites and biomaterials. Fundamentals of those complex functional mechanical systems are macroscopic phenomena of complex systems consisting of microscopic elements, mostly via nonlinear, large-scale interactions, which typically present collective behavior such as self-organization, pattern formation, etc. Such phenomena can be observed or created in every aspect of modern technologies. Especially, we are focusing upon; turbulent transport phenomena in climate modeling, dynamical and chaotic behaviors in control systems and human-machine systems, and behaviors of mechanical materials with complex structures. As a partial attainment of this program, IIASA and Kyoto University have exchanged Consortia Agreement at the beginning of the program in 2003, and this seminar was held to introduce the outline of the COE program of Kyoto University to IIASA researchers and to deepen the shared understandings on novel complex system modeling and analysis, including novel climate modeling and carbonic cycle management, through joint academic activities by mechanical engineers and system engineers. In this seminar, we invited a distinguished researcher in Europe as a keynote speaker and our works attained so far in the project were be presented by the core members of the project as well as by the other contributing members who participated in the project. All IIASA research staff and participants of YSSP (Young Scientist Summer Program) were cordially invited to attend this seminar to discuss general modeling methodologies for complex systems

Discrete gain scheduling control approach to elliptical orbit rendezvous system with actuator saturation

This paper studies the discrete gain scheduling control design problem of elliptical orbit spacecraft rendezvous system with actuator saturation. Due to the presence of actuator saturation, the dynamic performance of the spacecraft rendezvous system degrades significantly. In order to improve the dynamic performance of the system, a discrete gain scheduling control approach is adopted to construct a group of time-invariant ellipsoidal invariant sets, which can be used to determine the switching points of the discrete gain scheduling control. By choosing some discrete parameter values, the discrete gain scheduling control is obtained from a solution of a periodic Riccati matrix differential equation. Under the control obtained, the dynamic performance of the system is much improved while accomplishing successfully the rendezvous mission of the spacecraft. Finally, a practical example is provided to show the effectiveness of the proposed control design approach

Synchronization of multiple rigid body systems: a survey

The multi-agent system has been a hot topic in the past few decades owing to its lower cost, higher robustness, and higher flexibility. As a particular multi-agent system, the multiple rigid body system received a growing interest since its wide applications in transportation, aerospace, and ocean exploration. Due to the non-Euclidean configuration space of attitudes and the inherent nonlinearity of the dynamics of rigid body systems, synchronization of multiple rigid body systems is quite challenging. This paper aims to present an overview of the recent progress in synchronization of multiple rigid body systems from the view of two fundamental problems. The first problem focuses on attitude synchronization, while the second one focuses on cooperative motion control in that rotation and translation dynamics are coupled. Finally, a summary and future directions are given in the conclusion

Periodic Event-Triggered Sampling and Dual-Rate Control for a Wireless Networked Control System With Applications to UAVs

© 2019 IEEE. Personal use of this material is permitted. Permissíon from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertisíng or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works."[EN] In this paper, periodic event-triggered sampling and dual-rate control techniques are integrated in a wireless networked control system (WNCS), where time-varying network-induced delays and packet disorder are present. Compared to the conventional time-triggered sampling paradigm, the control solution is able to considerably reduce network utilization (number of transmissions), while retaining a satisfactory control performance. Stability for the proposed WNCS is ensured using linear matrix inequalities. Simulation results show the main benefits of the control approach, which are experimentally validated by means of an unmanned-aerial-vehicle-based test-bed platform.This work was supported in part by the European Commission as part of Project H2020-SEC-2016-2017-Topic: SEC-20-BES-2016 (Id: 740736)-"C2 Advanced Multi-domain Environment and Live Observation Technologies," in part by the European Regional Development Fund as part of OPZuid 2014-2020 under the Drone Safety Cluster project, in part by the Innovational Research Incentives Scheme under the VICI Grant "Wireless control systems: A new frontier in automation" (No. 11382) awarded by The Netherlands Organization for Scientific Research Applied and Engineering Sciences, and in part by the Ministerio de Economia y Competitividad, Spain, under Project FPU15/02008.Cuenca, Á.; Antunes, D.; Castillo-Frasquet, A.; García Gil, PJ.; Asadi Khashooei, B.; Heemels, W. (2019). Periodic Event-Triggered Sampling and Dual-Rate Control for a Wireless Networked Control System With Applications to UAVs. IEEE Transactions on Industrial Electronics. 66(4):3157-3166. https://doi.org/10.1109/TIE.2018.2850018S3157316666

Proceedings of the International Micro Air Vehicles Conference and Flight Competition 2017 (IMAV 2017)

The IMAV 2017 conference has been held at ISAE-SUPAERO, Toulouse, France from Sept. 18 to Sept. 21, 2017. More than 250 participants coming from 30 different countries worldwide have presented their latest research activities in the field of drones. 38 papers have been presented during the conference including various topics such as Aerodynamics, Aeroacoustics, Propulsion, Autopilots, Sensors, Communication systems, Mission planning techniques, Artificial Intelligence, Human-machine cooperation as applied to drones