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All Articles in Control Theory

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Carrying Asymmetric Loads During Stair Negotiation, Junsig Wang, Jason C. Gillette 2017 Iowa State University

Carrying Asymmetric Loads During Stair Negotiation, Junsig Wang, Jason C. Gillette

Kinesiology Publications

Individuals often carry items in one hand instead of both hands during activities of daily living. The combined effects of carrying asymmetric loads and stair negotiation may create even higher demands on the low back and lower extremity. The purpose of this study was to investigate the effect of symmetric and asymmetric loading conditions on L5/S1 and lower extremity moments during stair negotiation. Twenty-two college students performed stair ascent and stair descent on a three-step staircase (step height 18.5 cm, tread depth 29.5 cm) at preferred pace under five load conditions: no load, 10% body weight (BW ...


Data Predictive Control For Building Energy Management, Achin Jain, Madhur Behl, Rahul Mangharam 2017 University of Pennsylvania

Data Predictive Control For Building Energy Management, Achin Jain, Madhur Behl, Rahul Mangharam

Real-Time and Embedded Systems Lab (mLAB)

Decisions on how to best optimize energy systems operations are becoming ever so complex and conflicting, that model-based predictive control (MPC) algorithms must play an important role. However, a key factor prohibiting the widespread adoption of MPC in buildings, is the cost, time, and effort associated with learning first-principles based dynamical models of the underlying physical system. This paper introduces an alternative approach for implementing finite-time receding horizon control using control-oriented data-driven models. We call this approach Data Predictive Control (DPC). Specifically, by utilizing separation of variables, two novel algorithms for implementing DPC using a single regression tree and with ...


C.V. - Wojciech Budzianowski, Wojciech M. Budzianowski 2017 Wojciech Budzianowski Consulting Services

C.V. - Wojciech Budzianowski, Wojciech M. Budzianowski

Wojciech Budzianowski

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Renewable Energy And Sustainable Development (Resd) Group, Wojciech M. Budzianowski 2017 Wroclaw University of Technology

Renewable Energy And Sustainable Development (Resd) Group, Wojciech M. Budzianowski

Wojciech Budzianowski

No abstract provided.


Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven 2017 University of Kentucky

Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven

Theses and Dissertations--Mechanical Engineering

This thesis presents a real-time autonomous guidance and control method for a quadrotor in a GPS-denied environment. The quadrotor autonomously seeks a destination while it avoids obstacles whose shape and position are initially unknown. We implement the obstacle avoidance and destination seeking methods using off-the-shelf sensors, including a vision-sensing camera. The vision-sensing camera detects the positions of points on the surface of obstacles. We use this obstacle position data and a potential-field method to generate velocity commands. We present a backstepping controller that uses the velocity commands to generate the quadrotor's control inputs. In indoor experiments, we demonstrate that ...


Equators Have At Most Countable Many Singularities With Bounded Total Angle, Pilar Herreros, Mario Ponce, J.J.P. Veerman 2017 University of Pennsylvania

Equators Have At Most Countable Many Singularities With Bounded Total Angle, Pilar Herreros, Mario Ponce, J.J.P. Veerman

Mathematics and Statistics Faculty Publications and Presentations

For distinct points p and q in a two-dimensional Riemannian manifold, one defines their mediatrix Lpq as the set of equidistant points to p and q. It is known that mediatrices have a cell decomposition consisting of a finite number of branch points connected by Lipschitz curves. In the case of a topological sphere, mediatrices are called equators and it can benoticed that there are no branching points, thus an equator is a topological circle with possibly many Lipschitz singularities. This paper establishes that mediatrices have the radial …


Adrc Based Control Of Nonlinear Dynamical System With Multiple Sources Of Disturbance And Multiple Inputs, Chan Mi Park 2017 Georgia Southern University

Adrc Based Control Of Nonlinear Dynamical System With Multiple Sources Of Disturbance And Multiple Inputs, Chan Mi Park

Electronic Theses and Dissertations

In this thesis, we study the stability of Active Disturbance Rejection Control (ADRC) applied to controlling the Lorenz system. The Lorenz system is a nonlinear dynamical system that we attempt to control. In fact, the system is used to model convection flow such as that found in thermosyphons, electric circuits, and lasers. We are stabilizing the Lorenz system along with a few disturbances. Thus, to stabilize this chaotic system, a robust controller is required. The ADRC system is known as as effective method to stabilize a dynamical system. With the help of the Extended State Observer (ESO), the system can ...


On Some Impulse Control Problems With Constraint, Jose L. Menaldi, Maurice Robin 2017 Wayne State University

On Some Impulse Control Problems With Constraint, Jose L. Menaldi, Maurice Robin

Mathematics Faculty Research Publications

The impulse control of a Markov–Feller process is considered when the impulses are allowed only when a signal arrives. This is referred to as an impulse control problem with constraint. A detailed setting is described, a characterization of the optimal cost is obtained using previous results of the authors on optimal stopping problems with constraint, and an optimal impulse control is identified.


Optimal Control Of Vaccination Rate In An Epidemiological Model Of Clostridium Difficile Transmission, Brittany Stephenson 2016 University of Tennessee, Knoxville

Optimal Control Of Vaccination Rate In An Epidemiological Model Of Clostridium Difficile Transmission, Brittany Stephenson

Annual Symposium on Biomathematics and Ecology: Education and Research

No abstract provided.


On Approximately Controlled Systems, Nazim I. Mahmudov, Mark A. McKibben 2016 Eastern Mediterranean University - Turkey

On Approximately Controlled Systems, Nazim I. Mahmudov, Mark A. Mckibben

Mathematics

No abstract provided.


Delay-Independent Stability Analysis Of Linear Time-Delay Systems Based On Frequency, Xianwei Li, Huijun Gao, Keqin Gu 2016 Harbin Institute of Technology

Delay-Independent Stability Analysis Of Linear Time-Delay Systems Based On Frequency, Xianwei Li, Huijun Gao, Keqin Gu

SIUE Faculty Research, Scholarship, and Creative Activity

This paper studies strong delay-independent stability of linear time-invariant systems. It is known that delay-independent stability of time-delay systems is equivalent to some frequency-dependent linear matrix inequalities. To reduce or eliminate conservatism of stability criteria, the frequency domain is discretized into several sub-intervals, and piecewise constant Lyapunov matrices are employed to analyze the frequency-dependent stability condition. Applying the generalized Kalman–Yakubovich–Popov lemma, new necessary and sufficient criteria are then obtained for strong delay-independent stability of systems with a single delay. The effectiveness of the proposed method is illustrated by a numerical example.


Anthrax Models Involving Immunology, Epidemiology And Controls, Buddhi Raj Pantha 2016 University of Tennessee, Knoxville

Anthrax Models Involving Immunology, Epidemiology And Controls, Buddhi Raj Pantha

Doctoral Dissertations

This dissertation is divided in two parts. Chapters 2 and 3 consider the use of optimal control theory in an anthrax epidemiological model. Models consisting system of ordinary differential equations (ODEs) and partial differential differential equations (PDEs) are considered to describe the dynamics of infection spread. Two controls, vaccination and disposal of infected carcasses, are considered and their optimal management strategies are investigated. Chapter 4 consists modeling early host pathogen interaction in an inhalational anthrax infection which consists a system of ODEs that describes early dynamics of bacteria-phagocytic cell interaction associated to an inhalational anthrax infection.

First we consider a ...


Clustering-Based Robot Navigation And Control, Omur Arslan 2016 University of Pennsylvania

Clustering-Based Robot Navigation And Control, Omur Arslan

Departmental Papers (ESE)

In robotics, it is essential to model and understand the topologies of configuration spaces in order to design provably correct motion planners. The common practice in motion planning for modelling configuration spaces requires either a global, explicit representation of a configuration space in terms of standard geometric and topological models, or an asymptotically dense collection of sample configurations connected by simple paths, capturing the connectivity of the underlying space. This dissertation introduces the use of clustering for closing the gap between these two complementary approaches. Traditionally an unsupervised learning method, clustering offers automated tools to discover hidden intrinsic structures in ...


Self-Correcting Kelly Strategies For Skeptical Traders, Aaron C. Brown 2016 AQR

Self-Correcting Kelly Strategies For Skeptical Traders, Aaron C. Brown

International Conference on Gambling & Risk Taking

The Kelly criterion gives the appropriate bet size in idealized situations with known parameters. In financial trading situations parameters are generally unknown and the mathematical assumptions underlying the Kelly proof are not met precisely. Moreover a risk manager typically must cooperate with a trader who may be skeptical about both the Kelly criterion specifically and the concept of mathematical optimization of bet size in general.

This presentation tackles the problem of designing a Kelly-based system for setting trade risk management parameters that is both self-correcting (the system delivers good results even if initial parameter are misestimated or parameters change) and ...


Toward Adaptive Control Of Acute Inflammation, Judy D. Day, Seddik M. Djouadi, Ouassim Bara, Gregory L. Zitelli 2016 The University of Tennessee, Knoxville

Toward Adaptive Control Of Acute Inflammation, Judy D. Day, Seddik M. Djouadi, Ouassim Bara, Gregory L. Zitelli

Biology and Medicine Through Mathematics Conference

No abstract provided.


Voronoi-Based Coverage Control Of Heterogeneous Disk-Shaped Robots, Omur Arslan, Daniel E. Koditschek 2016 University of Pennsylvania

Voronoi-Based Coverage Control Of Heterogeneous Disk-Shaped Robots, Omur Arslan, Daniel E. Koditschek

Departmental Papers (ESE)

In distributed mobile sensing applications, networks of agents that are heterogeneous respecting both actuation as well as body and sensory footprint are often modelled by recourse to power diagrams — generalized Voronoi diagrams with additive weights. In this paper we adapt the body power diagram to introduce its “free subdiagram,” generating a vector field planner that solves the combined sensory coverage and collision avoidance problem via continuous evaluation of an associated constrained optimization problem. We propose practical extensions (a heuristic congestion manager that speeds convergence and a lift of the point particle controller to the more practical differential drive kinematics) that ...


Exact Robot Navigation Using Power Diagrams, Omur Arslan, Daniel E. Koditschek 2016 University of Pennsylvania

Exact Robot Navigation Using Power Diagrams, Omur Arslan, Daniel E. Koditschek

Departmental Papers (ESE)

We reconsider the problem of reactive navigation in sphere worlds, i.e., the construction of a vector field over a compact, convex Euclidean subset punctured by Euclidean disks, whose flow brings a Euclidean disk robot from all but a zero measure set of initial conditions to a designated point destination, with the guarantee of no collisions along the way. We use power diagrams, generalized Voronoi diagrams with additive weights, to identify the robot’s collision free convex neighborhood, and to generate the value of our proposed candidate solution vector field at any free configuration via evaluation of an associated convex ...


Principal Pivot Transforms Of Quasidefinite Matrices And Semidefinite Lagrangian Subspaces, Federico Poloni, Nataša Strabić 2016 University of Pisa

Principal Pivot Transforms Of Quasidefinite Matrices And Semidefinite Lagrangian Subspaces, Federico Poloni, Nataša Strabić

Electronic Journal of Linear Algebra

Lagrangian subspaces are linear subspaces that appear naturally in control theory applications, and especially in the context of algebraic Riccati equations. We introduce a class of semidefinite Lagrangian subspaces and show that these subspaces can be represented by a subset I ⊆ {1, 2, . . . , n} and a Hermitian matrix X ∈ C n×n with the property that the submatrix X II is negative semidefinite and the submatrix X I c I c is positive semidefinite. A matrix X with these definiteness properties is called I-semidefinite and it is a generalization of a quasidefinite matrix. Under mild hypotheses which hold true in ...


On The Robust Stability Of Polynomial Matrix Families, Taner Buyukkoroglu, Gokhan Celebi, Vakif Dzhafarov 2016 Anadolu University

On The Robust Stability Of Polynomial Matrix Families, Taner Buyukkoroglu, Gokhan Celebi, Vakif Dzhafarov

Electronic Journal of Linear Algebra

In this study, the problem of robust asymptotic stability of n by n polynomial matrix family, in both continuous-time and discrete-time cases, is considered. It is shown that in the continuous case the problem can be reduced to positivity of two specially constructed multivariable polynomials, whereas in the discrete-time case it is required three polynomials. A number of examples are given, where the Bernstein expansion method and sufficient conditions from [L.H. Keel and S.P. Bhattacharya. Robust stability via sign-definite decomposition. IEEE Transactions on Automatic Control, 56(1):140–145, 2011.] are applied to test positivity of the obtained ...


Procesy Cieplne I Aparaty (Lab), Wojciech M. Budzianowski 2016 Wroclaw University of Technology

Procesy Cieplne I Aparaty (Lab), Wojciech M. Budzianowski

Wojciech Budzianowski

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