| 1. |
- Khan, U. A., et al.
(författare)
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An H∞-based approach for robust sensor localization
- 2016
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Ingår i: Proceedings of the IEEE Conference on Decision and Control. - : IEEE conference proceedings. - 9781479978861 ; , s. 1719-1724
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Konferensbidrag (refereegranskat)abstract
- In this paper, we consider the problem of sensor localization, i.e., finding the positions of an arbitrary number of sensors located in a Euclidean space, ?m, given at least m+1 anchors with known locations. Assuming that each sensor knows pairwise distances in its neighborhood and that the sensors lie in the convex hull of the anchors, we provide a DIstributed LOCalization algorithm in Continuous-Time, named DILOCCT, that converges to the sensor locations. This representation is linear and is further decoupled in the coordinates. By adding a proportional controller in the feed-forward loop of each location estimator, we show that the convergence speed of DILOC-CT can be made arbitrarily fast. Since a large gain may result into unwanted transients especially in the presence of disturbance introduced, e.g., by communication noise in the network, we use H∞ theory to design local controllers that guarantee certain global performance while maintaining the desired steady-state. Simulations are provided to illustrate the concepts described in this paper.
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| 2. |
- Bombois, Xavier, et al.
(författare)
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Optimal identification experiment design for the interconnection of locally controlled systems
- 2018
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Ingår i: Automatica. - : Elsevier. - 0005-1098 .- 1873-2836. ; 89, s. 169-179
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Tidskriftsartikel (refereegranskat)abstract
- This paper considers the identification of the modules of a network of locally controlled systems (multi-agent systems). Its main contribution is to determine the least perturbing identification experiment that will nevertheless lead to sufficiently accurate models of each module for the global performance of the network to be improved by a redesign of the decentralized controllers. Another contribution is to determine the experimental conditions under which sufficiently informative data (i.e. data leading to a consistent estimate) can be collected for the identification of any module in such a network.
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| 3. |
- Ferber, M., et al.
(författare)
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Efficient worst-case analysis of electronic networks in intervals of frequency
- 2018
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Ingår i: International journal of numerical modelling. - : WILEY. - 0894-3370 .- 1099-1204. ; 31:2
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents a new method to compute upper and lower bounds of any voltage or current of an arbitrary linear electric circuit model with uncertain parameters. The bounds are in the frequency domain, and when compared to a previously proposed method, this novel approach provides a higher level of guarantee. The reason is that the bounds are not only computed for a set of fixed frequencies but also computed to a set of intervals of frequencies. The details of the proposed approach, especially the equivalent uncertain element models, are given. Additionally, tests are performed on problems with low and high number of uncertain parameters. Contrary to the classical method of Monte Carlo, the results are not based on a random choice of parameters and do not depend on the number of iterations. It is shown on an example that the classical method of Monte Carlo needs a high number of iterations to reach results in agreement with the proposed method. Then, it leads to higher computation times of several orders of magnitude.
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| 4. |
- Khan, Usman A., et al.
(författare)
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An H-infinity-based approach for robust sensor localization
- 2015
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Ingår i: 2015 54TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC). - : Institute of Electrical and Electronics Engineers (IEEE). - 9781479978861 ; , s. 1719-1724
-
Konferensbidrag (refereegranskat)abstract
- In this paper, we consider the problem of sensor localization, i.e., finding the positions of an arbitrary number of sensors located in a Euclidean space, R-m, given at least m + 1 anchors with known locations. Assuming that each sensor knows pairwise distances in its neighborhood and that the sensors lie in the convex hull of the anchors, we provide a DIstributed LOCalization algorithm in Continuous-Time, named DILOC-CT, that converges to the sensor locations. This representation is linear and is further decoupled in the coordinates. By adding a proportional controller in the feed-forward loop of each location estimator, we show that the convergence speed of DILOC-CT can be made arbitrarily fast. Since a large gain may result into unwanted transients especially in the presence of disturbance introduced, e.g., by communication noise in the network, we use H-infinity theory to design local controllers that guarantee certain global performance while maintaining the desired steady-state. Simulations are provided to illustrate the concepts described in this paper.
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| 5. |
- Korniienko, A., et al.
(författare)
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Hierarchical Robust Analysis for Identified Systems in Network
- 2018
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Ingår i: IFAC PAPERSONLINE. - : ELSEVIER SCIENCE BV. - 2405-8963. ; , s. 383-389
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Konferensbidrag (refereegranskat)abstract
- This paper considers worst-case robustness analysis of a network of locally controlled uncertain systems with uncertain parameter vectors belonging to the ellipsoid sets found by identification procedures. In order to deal with computational complexity of large-scale systems, an hierarchical robustness analysis approach is adapted to these uncertain parameter vectors thus addressing the trade-off between the computation time and the conservatism of the result.
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| 6. |
- Morelli, F., et al.
(författare)
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Resonance Frequency Tracking for MEMS Gyroscopes Using Recursive Identification
- 2024
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Ingår i: 2024 European Control Conference, ECC 2024. - : Institute of Electrical and Electronics Engineers Inc.. ; , s. 2181-2186
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Konferensbidrag (refereegranskat)abstract
- MEMS gyroscopes are generally made up of two resonant systems: the so-called drive and sense modes. It is well known that the tracking of the drive-mode resonance frequency is crucial to make the device operate accurately. In this paper, we propose an approach based on recursive identification that allows to estimate this resonance frequency over the time. The proposed approach pertains to a recently developed control configuration which is based on the H∞ control framework and allows this configuration to give satisfactory control performance even when the drive-mode resonance frequency changes due to environment effects.
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