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We present branch and bound algorithms for the computation of several important quantities (best- and worst-case norms and best- and worst-case state decay rates) that arise in the analysis and design...
Artifical Immune Networks for Robot Control
artifical immune system robot control rule-like associations KURT2 robot
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2015/7/30
We investigate how a robot can be provided with an architecture that would enable it to developmentally 'grow-up' and accomplish complex tasks by building on basic built-in capabilities. The paper int...
A Simple Condition for the Convexity of Optimal Control over Networks with Delays
Convexity Delays
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2015/6/19
We consider the problem of multiple subsystems, each with its own controller, such that the dynamics of each subsystem may affect those of other subsystems with some propagation delays, and the contro...
Decentralized Control Subject to Communication and Propagation Delays
Propagation Delays Communication
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2015/6/19
In this paper, we prove that a wide class of distributed control problems subject to communication and propagation delays are equivalent to convex optimization problems. The results hold in both conti...
A Computational Approach for Decentralized Control of Turbine Engines
Turbine Engines Decentralized Control
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2015/6/19
We propose a heuristic approach to approximately compute the optimal decentralized control for linear systems. The method exploits the notion of quadratic invariance, which characterizes a class of co...
Synthesis for Optimal Two-Player Decentralized Control over TCP Erasure Channels with State Feedback
wo-Player Decentralized Control TCP
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2015/6/19
We propose a state-space synthesis for infinite horizon decentralized LQG control problems over TCP erasure channels with state feedback under sufficient conditions on convergence and stability. The d...
Decentralized Control
Decentralized Control Control
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2015/6/19
Decentralized control has been a large area of open research for over forty years. To cover every aspect of it would require a vast knowledge of applied mathematics and considerable time. Consequently...
We characterize a class of separable problems in multiple player optimal cooperative control. We show that a simple factorization condition unifies many of the previously known computational approache...
Decentralized Control via Groebner Bases and Variable Elimination
via Groebner Bases Variable Elimination
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2015/6/19
We consider the problem of optimal decentralized controller synthesis. There are several classes of such problems for which effective solution methods are known, including the quadratically invariant ...
Separable Problems in Optimal Cooperative Control of Networked Systems
Networked Systems Cooperative Control
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2015/6/19
This paper presents explicit state-space solutions for a class of networked cooperative control problems. We consider the optimal control problem for a class of systems with dynamics defined at the ve...
An Algebraic Approach to the Control of Decentralized Systems
Decentralized Systems Algebraic
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2015/6/19
Optimal decentralized controller design is notoriously difficult, but recent research has identified large subclasses of such problems that may be convexified and thus are amenable to solution via eff...
Design of Switching Strategy for Adaptive Cruise Control Under String Stability Constraints
ACC String Stability Switching Strategy
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2015/1/20
An Adaptive Cruise Control (ACC) system is a driver assistance system that assists a driver to improve driving safety and driving comfort. The design of ACC controller often involves the design of a s...
LabVIEW™ Database Interfacing For Robotic Control
robotics database informatics control calibration data points regression calculations
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2015/1/9
The Zymark™ System is a lab automation workstation that uses the Caliper Life Sciences (Hopkinton, MA) Zymate XP robot. At Indiana University-Purdue University Indianapolis, a Zymate is used in ...
Feedback Control for the Discrete-time Linear Switching Systems with State and Control Bounds in the Presence of Disturbances
Switching systems disturbances constraints stabilization problem input to state stability (ISS)
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2010/3/29
The main contribution of this paper is to present some
stability synthesis results for a subclass of hybrid systems, which
is the discrete-time linear switching systems whose changes in the
dynamic...
Stability Analysis of Continuous-Time Iterative Learning Control Systems with Multiple State Delays
Iterative learning control time-delay systems monotonic convergence 2-D system theory robust H∞control theory linear matrix inequality
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2010/3/29
This paper presents a stability analysis of the iterative
learning control (ILC) problem for continuous-time systems with
multiple state delays, especially when system parameters are subject
to pol...