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Papers by Miguel Pedro Silva

2003 European Control Conference (ECC), 2003

This paper proposes an approach to extend the mixed logical dynamical modelling framework for syn... more This paper proposes an approach to extend the mixed logical dynamical modelling framework for synthesizing robust optimal control actions for constrained piecewise affine systems subject to bounded additive input disturbances. Rather than using closed-loop dynamic programming arguments, robustness is achieved here with an open-loop optimization strategy, such that the optimal control sequence optimizes nominal performance while robustly guaranteeing that safety/performance constraints are respected. The proposed approach is based on the robust mode control concept, which enforces the control input to generate trajectories such that the mode of the system, at each time instant, is independent of the disturbances.

Lecture Notes in Electrical Engineering, 2016

Speed control of an experimental pneumatic engine is used to implement and compare performance of... more Speed control of an experimental pneumatic engine is used to implement and compare performance of different controllers. Firstly, the system static characteristics and transfer functions are identified so that controllers can be tuned and simulations can be done. Secondly, feedback, cascade and model free controllers are tuned, simulated and implemented. Finally, the controllers performances are compared and conclusions are drawn.

EUROMICRO 97. Proceedings of the 23rd EUROMICRO Conference: New Frontiers of Information Technology (Cat. No.97TB100167)

Page 1. Solving Real-Time Scheduling Problems with Hopfield-type Neural Networks Miguel P. SILVA,... more Page 1. Solving Real-Time Scheduling Problems with Hopfield-type Neural Networks Miguel P. SILVA, Carlos CARDEIRA Zoubir MAMMERI IDMEC / IST FCT / Le Havre P-1096 Lisboa Codex, Portugal F-76058 Le Havre, France {msilva, cardeira}@gcar.ist.utl.pt ...

Proceedings of the 16th IFAC World Congress, 2005, 2005

This paper presents a Receding Horizon Control (RHC) strategy to robustly control linear hybrid s... more This paper presents a Receding Horizon Control (RHC) strategy to robustly control linear hybrid systems subject to bounded additive disturbances. First, the openloop finite horizon min-max optimal control problem associated with the RHC strategy is presented, defining a mixed-integer optimization problem. The goal of the minmax formulation is to minimize the worst-case cost of the performance index, while guaranteeing performance/safety constraints for all possible disturbance realizations. Then it will be proved that feasibility at the initial time as well as convexity arguments and set-invariance assumptions are sufficient conditions to guarantee robust stability and performance of the closed-loop system. Simulation results for a perturbed hybrid system will demonstrate the potential of the proposed robust optimal control design.

IECON Proceedings (Industrial Electronics Conference), 2009

Control of vehicle formations is an area of great interest that requires knowhow from several sci... more Control of vehicle formations is an area of great interest that requires knowhow from several scientific areas such as control theory, vision, communication system, etc. In this work, several approaches to maintain a formation of vehicles are explained and tested. In this paper, the approach towards formation control is achieved through Position Based Visual Servoing (PBVS). In PBVS, a cartesian space controller is used for target tracking. Two 2D pose estimation methods are described and two local controllers developed (Discrete Linear Quadratic Regulator and an explicit Model Predictive Controller). To maintain the mobile robots in formation, a Neighbor Referenced (NR) control scheme is used. NR-based control allows decentralized formation control schemes since each member of the formation only has information of its neighbors and not of the entire robots in the formation. Finally, simulation and experimental results of the developed work are presented.

2009 IEEE Conference on Emerging Technologies & Factory Automation, 2009

Diverse systems have been proposed to aid the navigation of mobile robots in indoor environments.... more Diverse systems have been proposed to aid the navigation of mobile robots in indoor environments. Simultaneously, communication technologies that allow the integration of diverse systems even when these are developed on different platforms, have been proposed. The indoor Global Position Systems (iGPS) Web Service architecture proposed by Christo [7] joins the emerging standard Web Services technologies with the iGPS idea to allow the integration of mobile robots in indoor environments in a fast and easy way. In this paper, we suggest an architecture for the use of multiples iGPS Web Services for mobile robots localization. To emphasize the usefulness of the multiple iGPS web services localization system, an application of localization of mobile robots is presented.

2010 IEEE International Symposium on Industrial Electronics, 2010

Highly flexible systems require that Automatic Guided Vehicles (AGVs) in a plant navigate autonom... more Highly flexible systems require that Automatic Guided Vehicles (AGVs) in a plant navigate autonomously and changes in their missions should not require difficult setup procedures. In this paper we address the problem of localization of a mobile robot in a indoor environment. The robot is able to find its position without any grounded wires, landmarks or laser beacons. The robot uses images acquired in the roof to compute its position and navigate between coordinates. The main contribution is the absence of external services to solve the AGV localization problem, allowing fast reconfiguration.

This paper presents a robustly stabilizing Model Predictive Control (MPC) strategy based on min-m... more This paper presents a robustly stabilizing Model Predictive Control (MPC) strategy based on min-max feedback MPC for PieceWise A-ne (PWA) systems subject to additive unknown-but-bounded disturbances. In order to min- imize the worst-case cost of the performance index, while guaranteeing perfor- mance/safety constraints for all possible disturbance realizations, a flnite-horizon min-max feedback Optimal Control Problem (OCP) is flrst presented, deflning a mixed-integer optimization problem. Then, su-cient conditions to guarantee robust stability and performance of the closed-loop system are presented. Finally, a simulation example shows the applicability of the method.

A methodology for synthesizing robust optimal input trajectories for constrained linear hybrid sy... more A methodology for synthesizing robust optimal input trajectories for constrained linear hybrid systems subject to bounded additive disturbances is presented. The computed control sequence optimizes nominal performance while robustly guarantees that safety/performance constraints are respected. Specifically, for hybrid systems representable in the piecewise affine form, robustness is achieved with an open-loop optimization strategy based on the mixed logical dynamical modelling framework.

2003 European Control Conference (ECC), 2003

This paper proposes an approach to extend the mixed logical dynamical modelling framework for syn... more This paper proposes an approach to extend the mixed logical dynamical modelling framework for synthesizing robust optimal control actions for constrained piecewise affine systems subject to bounded additive input disturbances. Rather than using closed-loop dynamic programming arguments, robustness is achieved here with an open-loop optimization strategy, such that the optimal control sequence optimizes nominal performance while robustly guaranteeing that safety/performance constraints are respected. The proposed approach is based on the robust mode control concept, which enforces the control input to generate trajectories such that the mode of the system, at each time instant, is independent of the disturbances.

Lecture Notes in Electrical Engineering, 2016

Speed control of an experimental pneumatic engine is used to implement and compare performance of... more Speed control of an experimental pneumatic engine is used to implement and compare performance of different controllers. Firstly, the system static characteristics and transfer functions are identified so that controllers can be tuned and simulations can be done. Secondly, feedback, cascade and model free controllers are tuned, simulated and implemented. Finally, the controllers performances are compared and conclusions are drawn.

EUROMICRO 97. Proceedings of the 23rd EUROMICRO Conference: New Frontiers of Information Technology (Cat. No.97TB100167)

Page 1. Solving Real-Time Scheduling Problems with Hopfield-type Neural Networks Miguel P. SILVA,... more Page 1. Solving Real-Time Scheduling Problems with Hopfield-type Neural Networks Miguel P. SILVA, Carlos CARDEIRA Zoubir MAMMERI IDMEC / IST FCT / Le Havre P-1096 Lisboa Codex, Portugal F-76058 Le Havre, France {msilva, cardeira}@gcar.ist.utl.pt ...

Proceedings of the 16th IFAC World Congress, 2005, 2005

This paper presents a Receding Horizon Control (RHC) strategy to robustly control linear hybrid s... more This paper presents a Receding Horizon Control (RHC) strategy to robustly control linear hybrid systems subject to bounded additive disturbances. First, the openloop finite horizon min-max optimal control problem associated with the RHC strategy is presented, defining a mixed-integer optimization problem. The goal of the minmax formulation is to minimize the worst-case cost of the performance index, while guaranteeing performance/safety constraints for all possible disturbance realizations. Then it will be proved that feasibility at the initial time as well as convexity arguments and set-invariance assumptions are sufficient conditions to guarantee robust stability and performance of the closed-loop system. Simulation results for a perturbed hybrid system will demonstrate the potential of the proposed robust optimal control design.

IECON Proceedings (Industrial Electronics Conference), 2009

Control of vehicle formations is an area of great interest that requires knowhow from several sci... more Control of vehicle formations is an area of great interest that requires knowhow from several scientific areas such as control theory, vision, communication system, etc. In this work, several approaches to maintain a formation of vehicles are explained and tested. In this paper, the approach towards formation control is achieved through Position Based Visual Servoing (PBVS). In PBVS, a cartesian space controller is used for target tracking. Two 2D pose estimation methods are described and two local controllers developed (Discrete Linear Quadratic Regulator and an explicit Model Predictive Controller). To maintain the mobile robots in formation, a Neighbor Referenced (NR) control scheme is used. NR-based control allows decentralized formation control schemes since each member of the formation only has information of its neighbors and not of the entire robots in the formation. Finally, simulation and experimental results of the developed work are presented.

2009 IEEE Conference on Emerging Technologies & Factory Automation, 2009

Diverse systems have been proposed to aid the navigation of mobile robots in indoor environments.... more Diverse systems have been proposed to aid the navigation of mobile robots in indoor environments. Simultaneously, communication technologies that allow the integration of diverse systems even when these are developed on different platforms, have been proposed. The indoor Global Position Systems (iGPS) Web Service architecture proposed by Christo [7] joins the emerging standard Web Services technologies with the iGPS idea to allow the integration of mobile robots in indoor environments in a fast and easy way. In this paper, we suggest an architecture for the use of multiples iGPS Web Services for mobile robots localization. To emphasize the usefulness of the multiple iGPS web services localization system, an application of localization of mobile robots is presented.

2010 IEEE International Symposium on Industrial Electronics, 2010

Highly flexible systems require that Automatic Guided Vehicles (AGVs) in a plant navigate autonom... more Highly flexible systems require that Automatic Guided Vehicles (AGVs) in a plant navigate autonomously and changes in their missions should not require difficult setup procedures. In this paper we address the problem of localization of a mobile robot in a indoor environment. The robot is able to find its position without any grounded wires, landmarks or laser beacons. The robot uses images acquired in the roof to compute its position and navigate between coordinates. The main contribution is the absence of external services to solve the AGV localization problem, allowing fast reconfiguration.

This paper presents a robustly stabilizing Model Predictive Control (MPC) strategy based on min-m... more This paper presents a robustly stabilizing Model Predictive Control (MPC) strategy based on min-max feedback MPC for PieceWise A-ne (PWA) systems subject to additive unknown-but-bounded disturbances. In order to min- imize the worst-case cost of the performance index, while guaranteeing perfor- mance/safety constraints for all possible disturbance realizations, a flnite-horizon min-max feedback Optimal Control Problem (OCP) is flrst presented, deflning a mixed-integer optimization problem. Then, su-cient conditions to guarantee robust stability and performance of the closed-loop system are presented. Finally, a simulation example shows the applicability of the method.

A methodology for synthesizing robust optimal input trajectories for constrained linear hybrid sy... more A methodology for synthesizing robust optimal input trajectories for constrained linear hybrid systems subject to bounded additive disturbances is presented. The computed control sequence optimizes nominal performance while robustly guarantees that safety/performance constraints are respected. Specifically, for hybrid systems representable in the piecewise affine form, robustness is achieved with an open-loop optimization strategy based on the mixed logical dynamical modelling framework.