80 research outputs found
Input Design for System Identification via Convex Relaxation
This paper proposes a new framework for the optimization of excitation inputs
for system identification. The optimization problem considered is to maximize a
reduced Fisher information matrix in any of the classical D-, E-, or A-optimal
senses. In contrast to the majority of published work on this topic, we
consider the problem in the time domain and subject to constraints on the
amplitude of the input signal. This optimization problem is nonconvex. The main
result of the paper is a convex relaxation that gives an upper bound accurate
to within of the true maximum. A randomized algorithm is presented for
finding a feasible solution which, in a certain sense is expected to be at
least as informative as the globally optimal input signal. In the case
of a single constraint on input power, the proposed approach recovers the true
global optimum exactly. Extensions to situations with both power and amplitude
constraints on both inputs and outputs are given. A simple simulation example
illustrates the technique.Comment: Preprint submitted for journal publication, extended version of a
paper at 2010 IEEE Conference on Decision and Contro
Real-Time Planning with Primitives for Dynamic Walking over Uneven Terrain
We present an algorithm for receding-horizon motion planning using a finite
family of motion primitives for underactuated dynamic walking over uneven
terrain. The motion primitives are defined as virtual holonomic constraints,
and the special structure of underactuated mechanical systems operating subject
to virtual constraints is used to construct closed-form solutions and a special
binary search tree that dramatically speed up motion planning. We propose a
greedy depth-first search and discuss improvement using energy-based
heuristics. The resulting algorithm can plan several footsteps ahead in a
fraction of a second for both the compass-gait walker and a planar
7-Degree-of-freedom/five-link walker.Comment: Conference submissio
Transverse Contraction Criteria for Existence, Stability, and Robustness of a Limit Cycle
This paper derives a differential contraction condition for the existence of
an orbitally-stable limit cycle in an autonomous system. This transverse
contraction condition can be represented as a pointwise linear matrix
inequality (LMI), thus allowing convex optimization tools such as
sum-of-squares programming to be used to search for certificates of the
existence of a stable limit cycle. Many desirable properties of contracting
dynamics are extended to this context, including preservation of contraction
under a broad class of interconnections. In addition, by introducing the
concepts of differential dissipativity and transverse differential
dissipativity, contraction and transverse contraction can be established for
large scale systems via LMI conditions on component subsystems.Comment: 6 pages, 1 figure. Conference submissio
Output-Feedback Control of Nonlinear Systems using Control Contraction Metrics and Convex Optimization
Control contraction metrics (CCMs) are a new approach to nonlinear control
design based on contraction theory. The resulting design problems are expressed
as pointwise linear matrix inequalities and are and well-suited to solution via
convex optimization. In this paper, we extend the theory on CCMs by showing
that a pair of "dual" observer and controller problems can be solved using
pointwise linear matrix inequalities, and that when a solution exists a
separation principle holds. That is, a stabilizing output-feedback controller
can be found. The procedure is demonstrated using a benchmark problem of
nonlinear control: the Moore-Greitzer jet engine compressor model.Comment: Conference submissio
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