References of "Voos, Holger 50003283"
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See detailAn LMI-Based H_infty Discrete-Time Nonlinear State Observer Design for an Anaerobic Digestion Model
Chaib Draa, Khadidja UL; Voos, Holger UL

in World Congress of the International Federation of Automatic Control, Toulouse 9-14 July 2017 (2017, July)

This paper is devoted to the design of an H1 discrete-time nonlinear state observer for an anaerobic digestion model. Indeed, the designed observer can be used for di erent class of systems, mainly linear ... [more ▼]

This paper is devoted to the design of an H1 discrete-time nonlinear state observer for an anaerobic digestion model. Indeed, the designed observer can be used for di erent class of systems, mainly linear systems, LPV systems with known and bounded parameters, and nonlinear Lipschitz systems. We use an LMI approach to guarantee the H1 asymptotic stability of the estimation error despite the disturbances a ecting the system dynamics and measurements. The synthesised LMI is relaxed due to the inclusion of additional decision variables which enhance its feasibility. This was possible due to the use of a suitable reformulation of the Young's inequality. Simulation results are given to show the robustness of the designed observer. [less ▲]

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See detailFast Stochastic Non-linear Model Predictive Control for Electric Vehicle Advanced Driver Assistance Systems
Sajadi Alamdari, Seyed Amin UL; Voos, Holger UL; Darouach, Mohamed

in 13th IEEE International Conference on Vehicular Electronics and Safety, Vienna, Austria 27-28 June 2017 (2017, June 27)

Semi-autonomous driving assistance systems have a high potential to improve the safety and efficiency of the battery electric vehicles that are enduring limited cruising range. This paper presents an ... [more ▼]

Semi-autonomous driving assistance systems have a high potential to improve the safety and efficiency of the battery electric vehicles that are enduring limited cruising range. This paper presents an ecologically advanced driver assistance system to extend the functionality of the adaptive cruise control system. A real-time stochastic non-linear model predictive controller with probabilistic constraints is presented to compute on-line the safe and energy-efficient cruising velocity profile. The individual chance-constraint is reformulated into a convex second-order cone constraint which is robust for a general class of probability distributions. Finally, the performance of proposed approach in terms of states regulation, constraints fulfilment, and energy efficiency is evaluated on a battery electric vehicle. [less ▲]

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See detailReal time degradation identification of UAV using machine learning techniques
Manukyan, Anush UL; Olivares Mendez, Miguel Angel UL; Geist, Matthieu et al

in International Conference on Unmanned Aircraft Systems ICUAS. Miami, USA, 2017 (2017, June 13)

The usages and functionalities of Unmanned Aerial Vehicles (UAV) have grown rapidly during the last years. They are being engaged in many types of missions, ranging from military to agriculture passing by ... [more ▼]

The usages and functionalities of Unmanned Aerial Vehicles (UAV) have grown rapidly during the last years. They are being engaged in many types of missions, ranging from military to agriculture passing by entertainment and rescue or even delivery. Nonetheless, for being able to perform such tasks, UAVs have to navigate safely in an often dynamic and partly unknown environment. This brings many challenges to overcome, some of which can lead to damages or degradations of different body parts. Thus, new tools and methods are required to allow the successful analysis and identification of the different threats that UAVs have to manage during their missions or flights. Various approaches, addressing this domain, have been proposed. However, most of them typically identify the changes in the UAVs behavior rather than the issue. This work presents an approach, which focuses not only on identifying degradations of UAVs during flights, but estimate the source of the failure as well. [less ▲]

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See detailUnknown Input Functional Observers Design for Polytopic Discrete Time Systems
Bezzaoucha, Souad UL; Voos, Holger UL; Darouach, Mohemed

in Proceedings of 6th IEEE International Conference on Systems and Control (ICSC) 2017 (2017, May)

In this paper, a step by step algorithm is given to design functional unknown input observer for nonlinear discrete time systems under the Polytopic Takagi-Sugeno framework (also known as multiple models ... [more ▼]

In this paper, a step by step algorithm is given to design functional unknown input observer for nonlinear discrete time systems under the Polytopic Takagi-Sugeno framework (also known as multiple models systems). Applying the Lyapunov theory and the L2 attenuation, Linear Matrix Inequalities (LMI)s conditions are deduced which are solved for feasibility to obtain observer design matrices. To reject the effect of unknown input, classical approach of decoupling the unknown input for the linear case is used. A solver based solution is proposed. The novelty of the proposed approach consists in solving simultaneously both structural constraints and LMIs, which ensure a mean for the efficient design of the gains of the observers. To illustrate the proposed theoretical results, an application example of model reference tracking control applied to an electro-mechanical model of a motor with a time varying parameter is discussed. [less ▲]

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See detailA contribution to Cyber-Security of Networked Control Systems: an Event-based Control Approach
Bezzaoucha, Souad UL; Voos, Holger UL; Darouach, Mohamed

in Proceedings of 2017 3rd International Conference on Event-Based Control, Communication and Signal Processing (EBCCSP 2017) (2017, May)

In the present paper, a networked control system under both cyber and physical attacks is considered. An adapted formulation of the problem under physical attacks, data deception and false data injection ... [more ▼]

In the present paper, a networked control system under both cyber and physical attacks is considered. An adapted formulation of the problem under physical attacks, data deception and false data injection attacks, is used for controller synthesis. Based on the classical fault tolerant detection (FTD) tools, a residual generator for attack/fault detection based on observers is proposed. An event-triggered and Bilinear Matrix Inequality (BMI) implementation is proposed in order to achieve novel and better security strategy. The purpose in using this implementation would be to reduce (limit) the total number of transmissions to only instances when the networked control system (NCS) needs attention. It is important to note that the main contribution of this paper is to establish the adequate event-triggered and BMI-based methodology so that the particular structure of the mixed attacked/faulty structure can be re-formulated within the classical FTD paradigm. Experimental results are given to illustrate the developed approach efficiency on a pilot three-tank system. The plant model is presented and the proposed control design is applied to the system. [less ▲]

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See detailLMI-Based Discrete-Time Nonlinear State Observer for an Anaerobic Digestion Model
Chaib Draa, Khadidja UL; Voos, Holger UL; Alma, Marouane et al

in IEEE International Conference on Systems and Control, Batna 7-9 May 2017 (2017, May)

This paper deals with the design of a discrete time nonlinear observer for an anaerobic digestion process. The designed observer is devoted to a general class of systems, precisely linear systems, LPV ... [more ▼]

This paper deals with the design of a discrete time nonlinear observer for an anaerobic digestion process. The designed observer is devoted to a general class of systems, precisely linear systems, LPV systems with known and bounded parameters, and nonlinear Lipschitz systems. In order to ensure stability of the estimation error, a new LMI condition is proposed. In this LMI, additional decision variables are included to enhance its feasibility. Indeed, this was possible due to the use of a suitable reformulation of the Young’s inequality. Numerical simulations using the investigated two-step anaerobic digestion model show the effectiveness of the proposed LMI methodology. [less ▲]

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See detailA New Polytopic Approach for the Unknown Input Functional Observer Design
Bezzaoucha, Souad UL; Voos, Holger UL; Darouach, Mohamed

in International Journal of Control (2017)

In this paper, a constructive procedure to design Functional Unknown Input Observers for nonlin ear continuous time systems is proposed under the Polytopic Takagi-Sugeno framework. An equivalent ... [more ▼]

In this paper, a constructive procedure to design Functional Unknown Input Observers for nonlin ear continuous time systems is proposed under the Polytopic Takagi-Sugeno framework. An equivalent representation for the nonlinear model is achieved using the Sector Nonlinearity Transformation (SNT). Applying the Lyapunov theory and the L2 attenuation, Linear Matrix Inequalities (LMI)s conditions are deduced which are solved for feasibility to obtain the observer design matrices. To cope with the e ffect of unknown inputs, classical approach of decoupling the unknown input for the linear case is used. Both algebraic and solver based solutions are proposed (relaxed conditions). Necessary and su fficient conditions for the existence of the functional polytopic observer are given. For both approaches, the general and particular cases (measurable premise variables, full state estimation with full and reduced order cases) are considered and it is shown that the proposed conditions correspond to the one presented for standard linear case. To illustrate the proposed theoretical results, detailed numerical simulations are presented for a Quadrotor Aerial Robots Landing and a Waste Water Treatment Plant (WWTP). Both systems are highly nonlinear and represented in a T-S polytopic form with unmeasurable premise variables and unknown inputs. [less ▲]

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See detailModel predictive control for cooperative control of space robots
Kannan, Somasundar UL; Sajadi Alamdari, Seyed Amin UL; Dentler, Jan Eric UL et al

in Model predictive control for cooperative control of space robots (2017, January)

The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through ... [more ▼]

The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through manipulators are discussed. The Model Predictive Control (MPC) technique is briefly presented and successfully tested through simulations on two cases of position control of passive body in the orbit. [less ▲]

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See detailChapter 4:A Survey on The Polytopic Takagi-Sugeno Approach: Application to the Inverted Pendulum
Bezzaoucha, Souad UL; Voos, Holger UL; Darouach, Mohamed

in The Inverted Pendulum: From Theory to New Innovations in Control and Robotics (2017)

This book chapter gives a general scope, states the main results obtained and methods used for the Polytopic Takagi-Sugeno approach with a detailed application to the inverted pendulum. Modeling, observer ... [more ▼]

This book chapter gives a general scope, states the main results obtained and methods used for the Polytopic Takagi-Sugeno approach with a detailed application to the inverted pendulum. Modeling, observer and controller design will be considered. [less ▲]

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See detailObserver design for Lightweight Robotic arm actuated by Shape Memory Alloy (SMA) wire
Quintanar Guzman, Serket UL; Kannan, Somasundar UL; Voos, Holger UL et al

in Quintanar Guzman, Serket; Kannan, Somasundar; Voos, Holger (Eds.) et al 14th International Workshop on Advanced Control and Diagnosis, Bucharest, Romania, 16-17 November 2017 (2017)

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See detailReal-time graph-based SLAM in unknown environments using a small UAV
Annaiyan, Arun UL; Olivares Mendez, Miguel Angel UL; Voos, Holger UL

in 2017 International Conference on Unmanned Aircraft Systems (ICUAS); Miami 13-16 June 2017 (2017)

Autonomous navigation of small Unmanned Aerial Vehicles (UAVs) in cluttered environments is still a challenging problem. In this work, we present an approach based on graph slam and loop closure detection ... [more ▼]

Autonomous navigation of small Unmanned Aerial Vehicles (UAVs) in cluttered environments is still a challenging problem. In this work, we present an approach based on graph slam and loop closure detection for online mapping of unknown outdoor environments using a small UAV. Here, we used an onboard front facing stereo camera as the primary sensor. The data extracted by the cameras are used by the graph-based slam algorithm to estimate the position and create the graph-nodes and construct the map. To avoid multiple detections of one object as different objects and to identify re-visited locations, a loop closure detection is applied with optimization algorithm using the g2o toolbox to minimize the error. Furthermore, 3D occupancy map is used to represent the environment. This technique is used to save memory and computational time for the online processing. Real experiments are conducted in outdoor cluttered and open field environments.The experiment results show that our presented approach works under real time constraints, with an average time to process the nodes of the 3D map is 17.79ms. [less ▲]

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See detailHierarchical control of aerial manipulation vehicle
Kannan, Somasundar UL; Bezzaoucha, Souad UL; Quintanar Guzman, Serket UL et al

in AIP Conference Proceedings (2017), 1798(1), 020069

Hierarchical Control of the Aerial Manipulator is treated here. The modelling aspect of the highly coupled Aerial Vehicle which includes Quadrotor and manipulator is discussed. The control design to ... [more ▼]

Hierarchical Control of the Aerial Manipulator is treated here. The modelling aspect of the highly coupled Aerial Vehicle which includes Quadrotor and manipulator is discussed. The control design to perform tasks in operational space is addressed along with stability discussion. The simulation studies are successfully performed to validate the design methodology. [less ▲]

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See detailCooperative localization of unmanned aerial vehicles in ROS - The Atlas node
Kremer, Paul; Dentler, Jan Eric UL; Kannan, Somasundar UL et al

in 2017 IEEE 15th International Conference on Industrial Informatics (INDIN) (2017)

This paper is presenting the implementation and experimental validation of the cooperative robot localization framework “Atlas”. For ease of application, Atlas is implemented as a package for the Robot ... [more ▼]

This paper is presenting the implementation and experimental validation of the cooperative robot localization framework “Atlas”. For ease of application, Atlas is implemented as a package for the Robot Operating System (ROS). ATLAS is based on dynamic cooperative sensor fusion which optimizes the estimated pose with respect to noise, respective variance. This paper validates the applicability of Atlas by cooperatively localizing multiple real quadrotors using cameras and fiduciary markers. [less ▲]

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See detailAdaptive Control of Hysteretic Robotic arm in Operational Space
Kannan, Somasundar UL; Quintanar Guzman, Serket UL; Bezzaoucha, Souad UL et al

in 5th International Conference on Mechatronics and Control Engineering ICMCE, venice, Italy, 2016 (2016, December 14)

The focus of the current article is on Operational Space Control of a single degree of freedom robotic arm with hysteretic joint behaviour due to actuation by a single Shape Memory Alloy (SMA) wire. A ... [more ▼]

The focus of the current article is on Operational Space Control of a single degree of freedom robotic arm with hysteretic joint behaviour due to actuation by a single Shape Memory Alloy (SMA) wire. A Closed Loop Inverse Kinematics Algorithm is used in the outer loop with Adaptive joint control in the inner loop. A composite stability analysis is used to analyse the stability of the closed loop system and finally successfully validated through simulation study. [less ▲]

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See detailA tracking error control approach for model predictive position control of a quadrotor with time varying reference
Dentler, Jan Eric UL; Kannan, Somasundar UL; Olivares Mendez, Miguel Angel UL et al

in IEEE International Conference on Robotics and Biomimetics ROBIO, Qingdao, China, 2016 (2016, December 06)

In mobile robotic applications, a common problem is the following of a given trajectory with a constant velocity. Using standard model predictive control (MPC) for tracking of time varying trajectories ... [more ▼]

In mobile robotic applications, a common problem is the following of a given trajectory with a constant velocity. Using standard model predictive control (MPC) for tracking of time varying trajectories leads to a constant tracking error. This problem is modelled in this paper as quadrotor position tracking problem. The presented solution is a computationally light-weight target position control (T PC), that controls the tracking error of MPCs for constantly moving targets. The proposed technique is assessed mathematically in the Laplace domain, in simulation, as well as experimentally on a real quadrotor system. [less ▲]

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See detailStates and unknown input estimation via non-linear sliding mode high-gain observers for a glucose-insulin system
Aguilera Gonzalez, Adriana UL; Voos, Holger UL; Darouach, Mohamed

in IEEE EMBS Conference on Biomedical Engineering and Sciences (IECBES), Kuala Lumpur, Malaysia, 2016 (2016, December 04)

A meal-estimation algorithm is developed based on an extended mathematical model of the glucose-insulin system. The proposed model describes the dynamics of glucose levels in blood and in subcutaneous ... [more ▼]

A meal-estimation algorithm is developed based on an extended mathematical model of the glucose-insulin system. The proposed model describes the dynamics of glucose levels in blood and in subcutaneous layer, as well as the meal intake which is considered an unknown input of the system. This model seeks to represent in a more realistic manner, the pancreas malfunction in patients with Type 1 Diabetes Mellitus. Based on model, a non-linear high gain observer (NHGO) with a sliding mode is designed in order to estimate the unmeasured states and the external disturbances of the system. This scheme is useful to maintain frequent monitoring of glucose levels and any changes in its behaviour. The unknown input or disturbance is estimated through the sliding mode based only the estimation error. Data from a real patient is used to evaluate the effectiveness of the proposed estimation scheme. [less ▲]

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See detailGraph-based Software Knowledge: Storage and Semantic Querying of Domain Models for Run-Time Adaptation
Hochgeschwender, Nico UL; Schneider, Sven; Voos, Holger UL et al

in IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots SIMPAR, San Francisco, Dec 2016 (2016, December)

Software development for robots is a knowledge intensive exercise. To capture this knowledge explicitly and formally in the form of various domain models, roboticists have recently employed model-driven ... [more ▼]

Software development for robots is a knowledge intensive exercise. To capture this knowledge explicitly and formally in the form of various domain models, roboticists have recently employed model-driven engineering (MDE) approaches. However, these models are merely seen as a way to support humans during the robot's software design process. We argue that the robots themselves should be first-class consumers of this knowledge to autonomously adapt their software to the various and changing run-time requirements induced, for instance, by the robot's tasks or environment. Motivated by knowledge-enabled approaches, we address this problem by employing a graph-based knowledge representation that allows us not only to persistently store domain models, but also to formulate powerful queries for the sake of run time adaptation. We have evaluated our approach in an integrated, real-world system using the neo4j graph database and we report some lessons learned. Further, we show that the graph database imposes only little overhead on the system's overall performance. [less ▲]

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See detailA real-time model predictive position control with collision avoidance for commercial low-cost quadrotors
Dentler, Jan Eric UL; Kannan, Somasundar UL; Olivares Mendez, Miguel Angel UL et al

in IEEE Multi-Conference on Systems and Control (MSC 2016), Buenos Aires, Argentina, 2016 (2016, September 20)

Unmanned aerial vehicles (UAVs) are the future technology for autonomous fast transportation of individual goods. They have the advantage of being small, fast and not to be limited to the local ... [more ▼]

Unmanned aerial vehicles (UAVs) are the future technology for autonomous fast transportation of individual goods. They have the advantage of being small, fast and not to be limited to the local infrastructure. This is not only interesting for delivery of private consumption goods up to the doorstep, but also particularly for smart factories. One drawback of autonomous drone technology is the high development costs, that limit research and development to a small audience. This work is introducing a position control with collision avoidance as a first step to make low-cost drones more accessible to the execution of autonomous tasks. The paper introduces a semilinear state-space model for a commercial quadrotor and its adaptation to the commercially available AR.Drone 2 system. The position control introduced in this paper is a model predictive control (MPC) based on a condensed multiple-shooting continuation generalized minimal residual method (CMSCGMRES). The collision avoidance is implemented in the MPC based on a sigmoid function. The real-time applicability of the proposed methods is demonstrated in two experiments with a real AR.Drone quadrotor, adressing position tracking and collision avoidance. The experiments show the computational efficiency of the proposed control design with a measured maximum computation time of less than 2ms. [less ▲]

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See detailUAV degradation identification for pilot notification using machine learning techniques
Manukyan, Anush UL; Olivares Mendez, Miguel Angel UL; Bissyande, Tegawendé François D Assise UL et al

in Proceedings of 21st IEEE International Conference on Emerging Technologies and Factory Automation ETFA 2016 (2016, September 06)

Unmanned Aerial Vehicles are currently investigated as an important sub-domain of robotics, a fast growing and truly multidisciplinary research field. UAVs are increasingly deployed in real-world settings ... [more ▼]

Unmanned Aerial Vehicles are currently investigated as an important sub-domain of robotics, a fast growing and truly multidisciplinary research field. UAVs are increasingly deployed in real-world settings for missions in dangerous environments or in environments which are challenging to access. Combined with autonomous flying capabilities, many new possibilities, but also challenges, open up. To overcome the challenge of early identification of degradation, machine learning based on flight features is a promising direction. Existing approaches build classifiers that consider their features to be correlated. This prevents a fine-grained detection of degradation for the different hardware components. This work presents an approach where the data is considered uncorrelated and, using machine learning <br />techniques, allows the precise identification of UAV’s damages. [less ▲]

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See detailInvariant Observer Applied to Anaerobic Digestion Model
Chaib Draa, Khadidja UL; Voos, Holger UL; Alma, Marouane et al

in IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), Berlin, Germany, 2016 (2016, September)

In this note, we design an invariant observer for a two step (acidogenesis-methanogenesis) mass balance nonlinear model, in order to estimate simultaneously all bacteria and substrate concentrations found ... [more ▼]

In this note, we design an invariant observer for a two step (acidogenesis-methanogenesis) mass balance nonlinear model, in order to estimate simultaneously all bacteria and substrate concentrations found in the anaerobic digestion process. The particularity of the designed observer is the use of only the methane flow rate which is cheap to measure and commonly measured online even at industrial scale. [less ▲]

Detailed reference viewed: 62 (5 UL)