Download or read book Control and Estimation of Hidden Mode Hybrid Systems with Applications to Autonomous Systems written by Sze Zheng Yong and published by . This book was released on 2016 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt: Hybrid systems are a modeling framework that allows for the combined consideration of continuous and discrete state dynamics. They are described by a finite collection of continuous systems, with each of these continuous dynamics corresponding to discrete modes of operation. Hidden mode hybrid systems are the special case when the mode is unknown or hidden and mode transitions are autonomous. In addition, by allowing unknown inputs in this framework, both deterministic and stochastic disturbance inputs and noise signals can be considered. There are a large number of applications, such as autonomous systems with contact, urban transportation systems, human-automation systems as well as fault and attack identification in cyber-physical systems. However, the literature on feedback control and estimation approaches for such systems is rather sparse. The main contribution of this thesis is the development of fundamental theory and computationally efficient algorithms for feedback control and estimation of hidden mode hybrid systems. In the first part of the thesis, we consider the feedback control problem of hidden mode hybrid systems with input amplitude and rate constraints. We propose a single hidden mode control law that applies to all modes, as opposed to existing control designs in which a controller is designed for each mode and the switching between controllers are based on mode estimates. This technique was applied to the problems of dynamic landing of a helicopter and robot walking without ground contact sensors and to the control of a car with automatic transmission. In the second part of the thesis, we develop inference algorithms for simultaneously estimating states, unknown inputs and hidden modes of stochastic switched linear systems, along with an analysis of their properties. We first design simultaneous state and input estimators for a more general class of linear systems. Then, we make use of a multiple model framework to additionally estimate the hidden mode. These inference algorithms provide the initial steps towards the realization of smart vehicles that can infer the hidden intention of other drivers without explicit communication, as well as smart power grids with reliable estimates despite faults or malicious attacks on its topology, actuators and sensors.
Download or read book Hybrid Systems Computation and Control written by Nancy Lynch and published by Springer Science & Business Media. This book was released on 2007-10-28 with total page 465 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the Third International Workshop on Hybrid Systems: Computation and Control, HSCC 2000, held in Pittsburgh, PA, USA in March 2000.; The 32 revised full papers presented together with abstracts of four invited talks were carefully reviewed and selected from a total of 71 papers submitted.; The focus of the works presented is on modeling, control, synthesis, design and verification of hybrid systems.; Among the application areas covered are control of electromechanical systems, air traffic control, control of automated freeways, and chemical process control.
Download or read book H Systems written by Elena De Santis and published by Springer Nature. This book was released on 2023-05-08 with total page 305 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the observability of hybrid systems. It enables the reader to determine whether and how a hybrid system’s state can be reconstructed from sometimes necessarily partial information. By explaining how available measurements can be used to deduce past and future behaviours of a system, the authors extend this study of observability to embrace the properties of diagnosability and predictability. H-systems shows how continuous and discrete dynamics and their interaction affect the observability of this general class of hybrid systems and demonstrates that hybrid characteristics are not simply generalizations of well-known aspects of traditional dynamics. The authors identify conditions for state reconstruction, prediction and diagnosis of the occurrence of possibly faulty states. The formal approach to proving those properties for hybrid systems is accompanied by simple illustrative examples. For readers who are interested in the use of state estimation for controller design, the book also provides design methods for hybrid state observers and covers their application in some industrial cases. The book’s tutorial approach to the various forms of observability of hybrid systems helps to make H-systems of interest to academic researchers and graduate students working in control and to practitioners using control in an industrial environment.
Download or read book Control and Estimation of Hybrid Systems with Mathematical Optimization written by Domenico Mignone and published by . This book was released on 2002 with total page 294 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Theory of Hybrid Systems Deterministic and Stochastic written by Mohamad S. Alwan and published by Springer. This book was released on 2018-10-04 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first to present the application of the hybrid system theory to systems with EPCA (equations with piecewise continuous arguments). The hybrid system paradigm is a valuable modeling tool for describing a wide range of real-world applications. Moreover, although new technology has produced, and continues to produce highly hierarchical sophisticated machinery that cannot be analyzed as a whole system, hybrid system representation can be used to reduce the structural complexity of these systems. That is to say, hybrid systems have become a modeling priority, which in turn has led to the creation of a promising research field with several application areas. As such, the book explores recent developments in the area of deterministic and stochastic hybrid systems using the Lyapunov and Razumikhin–Lyapunov methods to investigate the systems’ properties. It also describes properties such as stability, stabilization, reliable control, H-infinity optimal control, input-to-state stability (ISS)/stabilization, state estimation, and large-scale singularly perturbed systems.
Download or read book Hybrid Systems Computation and Control written by Claire J. Tomlin and published by Springer Science & Business Media. This book was released on 2002-03-06 with total page 492 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control, HSCC 2002, held in Stanford, California, USA, in March 2002. The 33 revised full papers presented were carefully reviewed and selected from 73 submissions. All current issues in hybrid systems are addressed including formal models and methods and computational representations, algorithms and heuristics, computational tools, and innovative applications.
Download or read book Autonomous Systems and Intelligent Agents in Power System Control and Operation written by Christian Rehtanz and published by Springer Science & Business Media. This book was released on 2003-07-15 with total page 328 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous systems are one of the most important trends for the next generation of control systems. This book is the first to transfer autonomous systems concepts and intelligent agents theory into the control and operation environment of power systems. The focus of this book is to design a future control system architecture for electrical power systems, which copes with the changed requirements concerning complexity and flexibility and includes several applications for power systems. This book draws the whole circle from the theoretical and IT-concept of autonomous systems for power system control over the required knowledge-based methods and their capabilities to concrete applications within this field.
Download or read book Hybrid System Identification written by Fabien Lauer and published by Springer. This book was released on 2018-10-04 with total page 267 pages. Available in PDF, EPUB and Kindle. Book excerpt: Hybrid System Identification helps readers to build mathematical models of dynamical systems switching between different operating modes, from their experimental observations. It provides an overview of the interaction between system identification, machine learning and pattern recognition fields in explaining and analysing hybrid system identification. It emphasises the optimization and computational complexity issues that lie at the core of the problems considered and sets them aside from standard system identification problems. The book presents practical methods that leverage this complexity, as well as a broad view of state-of-the-art machine learning methods. The authors illustrate the key technical points using examples and figures to help the reader understand the material. The book includes an in-depth discussion and computational analysis of hybrid system identification problems, moving from the basic questions of the definition of hybrid systems and system identification to methods of hybrid system identification and the estimation of switched linear/affine and piecewise affine models. The authors also give an overview of the various applications of hybrid systems, discuss the connections to other fields, and describe more advanced material on recursive, state-space and nonlinear hybrid system identification. Hybrid System Identification includes a detailed exposition of major methods, which allows researchers and practitioners to acquaint themselves rapidly with state-of-the-art tools. The book is also a sound basis for graduate and undergraduate students studying this area of control, as the presentation and form of the book provides the background and coverage necessary for a full understanding of hybrid system identification, whether the reader is initially familiar with system identification related to hybrid systems or not.
Download or read book Hybrid Control for Autonomous Systems written by Alexander Ferrein and published by . This book was released on 2010 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Special Issue Hybrid Control for Autonomous Systems written by Alexander Antoine Ferrein and published by . This book was released on 2010 with total page 5 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Improving Sequential Decision Making in Human In The Loop Systems written by Chi Pang Lam and published by . This book was released on 2005 with total page 88 pages. Available in PDF, EPUB and Kindle. Book excerpt: Interactions between humans and autonomous systems are always necessary. They could be very simple interactions such as a person pushing a button to trigger a specific function, or more complicated interactions such as an autonomous vehicle interacting with other human drivers. Therefore, a safe and efficient interaction is crucial for advancing autonomous systems, especially those requiring persistent interactions with humans. One common type of such systems is the human-assistance system such as warning systems in the aircraft and automatic braking systems in automobile. Traditionally, they only monitor the states of the machine to prevent human errors and enhance safety, but not take into account the state of the human in their decision-making processes, arguably the greatest variability affecting the safety. In light of the above drawbacks, we believe that more desirable autonomous systems should take the human state into account in their decision-making processes. In other words, other than the task completion, the exploration, estimation or even control of the human state should be a part of the decision-making loop in such human-in-the-loop systems. Moreover, to estimate the state of the human, most autonomous systems just passively gain information from their sensors, while ignoring the fact that the action of the autonomous system can actually help understand and estimate the human state better, and a better understanding of the human state will better achieve its goal as well. In this thesis, we will develop frameworks and computational tools for human-in-the-loop systems to achieve a safe and efficient interaction. Beginning with a general form of the interactive model using a partially observable discrete-time stochastic hybrid system, we describe how its discrete form, partially observable Markov decision process, can be used to integrate the human model, the machine dynamical model and their interaction in a probabilistic framework. We will further advance the discrete version to hidden mode stochastic hybrid systems that can consider continuous states with discrete hidden modes used to model the hidden human intents. We tackle the computational challenge of the optimal control problem in hidden mode stochastic hybrid systems and show a significant improvement in the computational time. A driver-assistance application shows the efficacy of our proposed method. Finally, we propose to incorporate the safety constraint by a novel model predictive control based framework, which will encourage the exploration of the hidden human intent as well as achieving its goal with hard safety constraints. Taking them together, these contributions advance the computational framework for next generation human-in-the-loop systems, which are capable to monitor both the human and the machine states, actively explore the human intent, and give appropriate feedbacks to them in order to enhance both safety and efficiency.
Download or read book Hybrid Dynamical Systems written by Hai Lin and published by . This book was released on 2014 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Hybrid dynamical systems are a class of complex systems that involve interacting discrete-event and continuous-variable dynamics. They are important in applications in embedded systems, cyber-physical systems, robotics, manufacturing systems, traffic management, biomolecular networks, and have recently been at the center of intense research activity in the control theory, computer-aided verification, and artificial intelligence communities. This paper provides a tutorial introduction to this multidisciplinary research area. A number of fundamental topics, such as modeling, abstraction, verification, supervisory control, stability analysis, stabilization, and optimal control of hybrid systems are introduced and discussed. Additionally, more advanced topics are briefly discussed at the end of each chapter with references given for further reading.
Download or read book Hybrid Systems Computation and Control written by Nancy Lynch and published by Springer. This book was released on 2000-03-13 with total page 465 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the Third International Workshop on Hybrid Systems: Computation and Control, HSCC 2000, held in Pittsburgh, PA, USA in March 2000. The 32 revised full papers presented together with abstracts of four invited talks were carefully reviewed and selected from a total of 71 papers submitted. The focus of the works presented is on modeling, control, synthesis, design and verification of hybrid systems. Among the application areas covered are control of electromechanical systems, air traffic control, control of automated freeways, and chemical process control.
Download or read book Advances and Applications in Sliding Mode Control systems written by Ahmad Taher Azar and published by Springer. This book was released on 2014-11-01 with total page 592 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the advances and applications in Sliding mode control (SMC) which is widely used as a powerful method to tackle uncertain nonlinear systems. The book is organized into 21 chapters which have been organised by the editors to reflect the various themes of sliding mode control. The book provides the reader with a broad range of material from first principles up to the current state of the art in the area of SMC and observation presented in a clear, matter-of-fact style. As such it is appropriate for graduate students with a basic knowledge of classical control theory and some knowledge of state-space methods and nonlinear systems. The resulting design procedures are emphasized using Matlab/Simulink software.
Download or read book Unmanned Aerial Systems written by Anis Koubaa and published by Academic Press. This book was released on 2021-01-21 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Systems: Theoretical Foundation and Applications presents some of the latest innovative approaches to drones from the point-of-view of dynamic modeling, system analysis, optimization, control, communications, 3D-mapping, search and rescue, surveillance, farmland and construction monitoring, and more. With the emergence of low-cost UAS, a vast array of research works in academia and products in the industrial sectors have evolved. The book covers the safe operation of UAS, including, but not limited to, fundamental design, mission and path planning, control theory, computer vision, artificial intelligence, applications requirements, and more. This book provides a unique reference of the state-of-the-art research and development of unmanned aerial systems, making it an essential resource for researchers, instructors and practitioners. Covers some of the most innovative approaches to drones Provides the latest state-of-the-art research and development surrounding unmanned aerial systems Presents a comprehensive reference on unmanned aerial systems, with a focus on cutting-edge technologies and recent research trends in the area
Download or read book Handbook of Hybrid Systems Control written by Jan Lunze and published by . This book was released on 2014-05-14 with total page 583 pages. Available in PDF, EPUB and Kindle. Book excerpt: Sets out core theory and reviews new methods and applications to show how hybrid systems can be modelled and understood.
Download or read book Simulation and Control of Hybrid Systems with Applications to Mobile Robotics written by Joel M. Esposito and published by . This book was released on 2002 with total page 175 pages. Available in PDF, EPUB and Kindle. Book excerpt:
