| Nr. doc. | Classificazioni |
| 58 | 1 Contributo su Rivista |
| 53 | 4 Contributo in Atti di Convegno (Proceeding) |
| 6 | 2 Contributo in Volume |
| Anno | Risorsa |
|---|---|
| 2020 |
A robust least squares based approach to min-max model predictive control
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL Autore/i: Jetto, L.; Orsini, V. Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/283302  |
| 2020 |
A new approach to model predictive control based on two degrees of freedom control and B-splines input shaping
IEEE TRANSACTIONS ON AUTOMATIC CONTROL Autore/i: Orsini, Valentina; Jetto, L.; Romagnoli, Raffaele Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/283300 |
| 2020 |
Two degrees of freedom control and B-spline functions as tools for a reduced complexity approach to MPC
(2020) Proceedings of the American Control Conference Autore/i: Ietto, Leopoldo; Orsini, Valentina; Romagnoli, Raffaele Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/285610 |
| 2020 |
Robust pseudo-inversion of polytopic systems using second order cone programming
Proceedings of the 28th IEEE Mediterranean Conference on Control Automation Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/285609 |
| 2019 |
Simultaneous Achievement of Open and Closed Loop Diagonal Dominance Through Constant Feedback
ASIAN JOURNAL OF CONTROL Autore/i: Jetto, L.; Orsini, V.; Romagnoli, R. Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/254892 |
| 2019 |
From the Control Systems Theory to Intelligent Manufacturing and Services: Challenges and Future Perspectives
The First Outstanding 50 Years of “Università Politecnica delle Marche” Research Achievements in Physical Sciences and Engineering Autore/i: Bonci, Andrea; Conte, Giuseppe; Corradini, Maria Letizia; Freddi, Alessandro; Ietto, Leopoldo; Ippoliti, Gianluca; Longhi, Sauro; Monteriù, Andrea; Orlando, Giuseppe; Orsini, Valentina; Perdon, Anna Maria; Scaradozzi, David; Zanoli, Silvia Maria Editore: Springer Nature Luogo di pubblicazione: Berlin Classificazione: 2 Contributo in Volume Abstract: Control Science has played over time and still continues to have a key role for the development of human society such that, in the XX century, it has been recognized as an independent discipline. During the ‘50’s, one of the first international scientific congress to address the area of control theory, namely, the “Convegno Internazionale sui Problemi dell’Automatismo”, was held in Italy, at the Museum of Science and Technology in Milan, Italy. In this context, ten years later, the Automatic Control group of the Università di Ancona was born. In this chapter, we want to revisit the main results achieved in the last 50 years by the Automatic Control group of Ancona focusing, in particular, on the recent achievements about linear and nonlinear control; robust, stochastic, adaptive and optimal control; model predictive control; fault diagnosis and fault tolerant control; aerial, terrestrial and underwater unmanned vehicles control; automotive control; switching systems analysis and control; underwater robotics; intelligent manufacturing and cyber-physical production systems. The contribution aims to provide the main challenges on these topics and their future perspectives. Scheda della pubblicazione: https://iris.univpm.it/handle/11566/279926 |
| 2018 |
Constrained Optimal End-Effector Positioning Using Pseudo-Inversion and B-Splines: Numerical Simulation on the One Link Flexible Manipulator Linearized Model
MED 2018 - 26th Mediterranean Conference on Control and Automation Autore/i: Jetto, Leopoldo; Orsini, Valentina; Romagnoli, Raffaele Editore: Institute of Electrical and Electronics Engineers Inc. Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262183 |
| 2018 |
Constrained Transient Optimization Using B-Splines Functions as Control Inputs
MED 2018 - 26th Mediterranean Conference on Control and Automation Autore/i: Jetto, Leopoldo; Orsini, Valentina; Romagnoli, Raffaele Editore: Institute of Electrical and Electronics Engineers Inc. Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262182 |
| 2018 |
Enhancing the near decoupling property of closed-loop control systems through external constant feedback loop
JOURNAL OF PROCESS CONTROL Autore/i: Jetto, L.; Orsini, V. Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/262181 |
| 2018 |
A B-spline-based pseudo-inversion approach for constrained optimal output transition
INTERNATIONAL JOURNAL OF CONTROL Autore/i: Jetto, L.; Orsini, V.; Romagnoli, R. Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/254884 |
| 2017 |
B-splines and pseudo-inversion as tools for handling saturation constraints in the optimal set-point regulation
2017 American Control Conference (ACC) Autore/i: Jetto, L.; Orsini, V.; Romagnoli, R. Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/254916 |
| 2017 |
A B-splines based feedforward action for constrained optimization of PID controllers performance
20th IFAC World Congress Autore/i: Jetto, L.; Orsini, V.; Romagnoli, R. Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/254909 |
| 2017 |
Gain margin based conditions for easy simultaneous achievement of open and closed loop diagonal dominance under unstructured uncertainties
20th IFAC World Congress Autore/i: Jetto, L.; Orsini, V.; Romagnoli, R. Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/254911 |
| 2017 |
Modeling and quadratic stabilization of a class of linear uncertain time-varying systems
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL Autore/i: Jetto, Leopoldo; ORSINI, Valentina; Romagnoli, Raffaele Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/247151 |
| 2016 |
Optimal transient performance under output set-point reset
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL Autore/i: IETTO, LEOPOLDO; ORSINI, Valentina; ROMAGNOLI, RAFFAELE Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228618 |
| 2015 |
Spline based pseudo-inversion of sampled data non minimum phase systems for an almost exact output tracking
ASIAN JOURNAL OF CONTROL Autore/i: IETTO, LEOPOLDO; ORSINI, Valentina; ROMAGNOLI, RAFFAELE Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/195505 |
| 2015 |
The quadratic stabilization problem for LTV plants with arbitrary mode-switch dynamics and non uniformly bounded parametric uncertainties
Proceedings of the 2015 IEEE Conference on Control Applications (CCA) Autore/i: IETTO, LEOPOLDO; ORSINI, Valentina; ROMAGNOLI, RAFFAELE Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/228620 |
| 2015 |
A mixed numerical-analytical stable pseudo-inversion method aimed at attaining an almost exact tracking
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL Autore/i: IETTO, LEOPOLDO; ORSINI, Valentina; ROMAGNOLI, RAFFAELE Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/159508 |
| 2015 |
BMI based stabilization of linear uncertain plants with polynomially time varying parameters
IEEE TRANSACTIONS ON AUTOMATIC CONTROL Autore/i: IETTO, LEOPOLDO; ORSINI, Valentina; ROMAGNOLI, RAFFAELE Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/195506 |
| 2014 |
A new event-driven output based discrete-time control for the sporadic MIMO tracking problem
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/120463 |
| 2014 |
Improved set-points tracking of remotely operated underwater vehicles through a supervised pid control scheme
JOURNAL OF MARINE ENGINEERING AND TECHNOLOGY Autore/i: Ippoliti, Gianluca; Jetto, Leopoldo; Longhi, Sauro Classificazione: 1 Contributo su Rivista Abstract: This paper considers the position control problem of an underwater vehicle used in the exploitation of combustible gas deposits at great water depths. The use of a single, time invariant PID controller may result in an unsatisfactory set-point tracking. To cope with this problem, a globally non-linear regulator given by the connection of a supervisor with a finite family of properly chosen PID controllers is here proposed. Each PID is designed to obtain a specific desired feature of the step response and the supervisor governs the switching among them to obtain an overall time-varying control law yielding a globally satisfactory output behaviour. The switching logic is driven by the numerical values assumed by some suitably defined cost functionals of output prediction errors. The performance of the switched controller so obtained is evaluated by numerical simulations. Scheda della pubblicazione: https://iris.univpm.it/handle/11566/259856 |
| 2014 |
A least squares based pseudoinversion approach for non hyperbolic linear systems
Proceedings of the 22nd IEEE Mediterranean Conference on Control and Automation Autore/i: Jetto L.; Orsini V.; Romagnoli R. Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/195502 |
| 2014 |
Output transition optimization through a multi-objective least square procedure
Proceedings of the 53rd IEEE Conference on Decision and Control Autore/i: Jetto L.; Orsini V.; Romagnoli R. Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/195503 |
| 2014 |
Robust stabilization of linear uncertain plants with polynomially time varying parameters
IFAC Proceedings Volumes (IFAC-PapersOnline) Autore/i: Ietto, Leopoldo; Orsini, Valentina; Romagnoli, Raffaele Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/159507 |
| 2014 |
Accurate output tracking for non minimum phase non hyperbolic and near non hyperbolic systems
EUROPEAN JOURNAL OF CONTROL Autore/i: Ietto, Leopoldo; Orsini, Valentina; Romagnoli, Raffaele Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/195504 |
| 2013 |
A spline-based technique for optimal set point regulation through pseudo-inversion of nonminimum phase linear systems
Proceedings of the 9th Asian Control Conference Autore/i: Leopoldo Jetto; Valentina Orsini; Raffaele Romagnoli Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/159505 |
| 2013 |
Almost perfect tracking through mixed numerical analytical stable pseudo inversion of non minimum phase plants
Proceedings of the 52nd IEEE conference on Decision and Control Autore/i: Leopoldo Jetto; Valentina Orsini; Raffaele Romagnoli Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/159506 |
| 2012 |
An iterative LMI scheme for output regulation of continuous-time LPV systems with inexactly measured parameters
Proceedings of the 20th Mediterranean Conference on Control and Automation Autore/i: Ietto, Leopoldo; Orsini, Valentina; Romagnoli, Raffaele Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/159504 |
| 2012 |
A supervised switching control policy for LPV systems with inaccurate parameter knowledge
IEEE TRANSACTIONS ON AUTOMATIC CONTROL Autore/i: Jetto L.; Orsini V. Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/63392 |
| 2011 |
Relaxed stability conditions for linear time varying systems with applications to the robust stabilization
Handbook of optimization theory: decision analysis and application Autore/i: L. IETTO; V. ORSINI Editore: Nova publisher science Classificazione: 2 Contributo in Volume Scheda della pubblicazione: https://iris.univpm.it/handle/11566/42242 |
| 2011 |
Event-Triggered Internally Stabilizing Sporadic Control for MIMO Plants with Non Measurable State
Proceedings of the 18th IFAC World Congress Autore/i: Leopoldo Jetto; Valentina Orsini Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/63393 |
| 2010 |
Stabilizing switching control for LPV systems with arbitrarily large uncertainty on parameter measures
4th IFAC Symposium on System Structure and Control Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/54313 |
| 2010 |
An efficient LMI approach for the quadratic stabilisation of a class of linear, uncertain, time-varying
systems
INTERNATIONAL JOURNAL OF CONTROL Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/36776 |
| 2010 |
Mixed LPV/robust stochastic stabilization of LTV systems with uncertain gaussian parametric measures
18th mediterranean conference on control and automation Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/54148 |
| 2010 |
Efficient LMI-based quadratic stabilization of interval LPV systems with noisy parameter measures
IEEE TRANSACTIONS ON AUTOMATIC CONTROL Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/36777 |
| 2009 |
An LMI approach with improved numerical efficiency for the quadratic stabilization of a class of linear
uncertain systems
Proceedings of the European Control Conference,2009 Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/45797 |
| 2009 |
Robust stability analysis of linear uncertain systems with polynomially time varying parameters
Proceedings of the European Control Conference 2009 Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/45841 |
| 2009 |
Some remarks on the robust Schur stability analysis of interval polynomials
INTERNATIONAL JOURNAL OF CONTROL Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/36774 |
| 2009 |
LMI conditions for the stability of linear uncertain polynomially time-varying systems
IEEE TRANSACTIONS ON AUTOMATIC CONTROL Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 1 Contributo su Rivista Abstract: This technical note investigates the robust stability of uncertain linear time-varying systems with a mode-switch dynamics. Each mode is characterized by a dynamical matrix containing elements whose time behavior over bounded time intervals is described by interval polynomials of arbitrary degree. Using a quadratic Lyapunov function polynomially depending on time, stability conditions for each mode are stated in terms of linear matrix inequalities (LMIs). The stability conditions of the switching system are stated both in terms of minimum and average dwell time. A salient feature of the technical note is that the single-mode stability conditions given here allow the parameters and their derivatives to take values over arbitrarily large uncertainty sets. Scheda della pubblicazione: https://iris.univpm.it/handle/11566/36775 |
| 2009 |
Relaxed conditions for the exponential stability of a class of linear time-varying systems
IEEE TRANSACTIONS ON AUTOMATIC CONTROL Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 1 Contributo su Rivista Abstract: This paper states new sufficient conditions for the exponential stability of linear time-varying (LTV) systems of the form $dot x(cdot) = A(t) x(t)$. The approach proposed derives and uses the notion of perturbed frozen time (PFT) form that can be associated to any LTV system. Exploiting the Bellman-Gronwall lemma, relaxed stability conditions are then stated in terms of "average" parameter variations. Salient features of the approach are: pointwise stability of $A(cdot)$ is not required, $|dot A(cdot)|$ may not be bounded, the stability conditions also apply to uncertain systems. The approach is illustrated by numerical examples. Scheda della pubblicazione: https://iris.univpm.it/handle/11566/36772 |
| 2008 |
LMI based stabilization of a class of switching LPV systems
Proceedings of the 17th IFAC WORLD CONGRESS Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/45796 |
| 2008 |
Some remarks on the schur stability of interval polynomials
Proceedings of the 16th Mediterranean conference on Control and Automation, Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46043 |
| 2008 |
A numerically efficient minimum variance filter for noise reduction in RGB color images
Proceedings of the 16th Mediterranean Conference on Control and Automation Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46042 |
| 2008 |
Supervised stabilisation of linear discrete-time systems with bounded variation rate
IET CONTROL THEORY & APPLICATIONS Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/36773 |
| 2007 |
Switched supervised stabilization of linear time-varying systems with bounded parameter variation rate
Proceedings of the American Control Conference Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/45793 |
| 2007 |
Relaxed sufficient conditions for the stability of continuous and discrete-time linear time-varying systems
Proceedings of the 46th IEEE Conference on Decision and Control Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/45794 |
| 2007 |
Comparative Analysis of Mobile Robot Localization Methods Based on Proprioceptive and Exteroceptive Sensors
Mobile Robots Perception & Navigation Autore/i: IPPOLITI, Gianluca; IETTO, LEOPOLDO; LONGHI, SAURO; MONTERIU', Andrea Editore: Advanced Robotic Systems International Luogo di pubblicazione: MAMMENDORF Classificazione: 2 Contributo in Volume Scheda della pubblicazione: https://iris.univpm.it/handle/11566/50394 |
| 2006 |
Switching Based Supervisory Control of Underwater Vehicles
Advances in Unmanned Marine Vehicles. IEE Control Engineering Series 69 Autore/i: Ippoliti, Gianluca; Ietto, Leopoldo; Longhi, Sauro Editore: The Institution of Electrical Engineers Luogo di pubblicazione: STEVENAGE Classificazione: 2 Contributo in Volume Abstract: Underwater vehicles operate in dynamical environments where sudden changes of the working conditions occur from time to time. The need for an effective control action calls for refined techniques with a high degree of robustness with respect to large parametric variations and/or uncertainties. Supervised switching control gives the theoretical framework where appropriate control strategies can be developed. Both the switching algorithms proposed here are based on a multiple models approach to describe the different operating conditions. Scheda della pubblicazione: https://iris.univpm.it/handle/11566/38741 |
| 2006 |
Minimum variance recursive estimation of n-D gaussian random fields
6th Asian Control Conference Autore/i: L. IETTO; VALENTINA ORSINI Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/45973 |
| 2006 |
A supervised switching technique for the robust stabilization of a class of linear discrete time time varying systems”,
IEEE 9th International Conference on Control, Automation, Robotics and Vision Autore/i: CORRADINI M., L; Ietto, Leopoldo; Orlando, Giuseppe; Orsini, V. Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53797 |
| 2006 |
An eigenvalue perturbation result for stability bound with respect to biased structured perturbations
Proceedings of the 14th Mediterranean Conference on Control Automation Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/45795 |
| 2006 |
Robust stabilization of a class of linear discrete-time time-varying systems: A LMI approach
Proceedings of the 2006 IEEE International Conference on Control Applications Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/45792 |
| 2006 |
Hierarchically supervised control of linear plants with unpredictable mode-switch dynamics
INTERNATIONAL JOURNAL OF CONTROL Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35237 |
| 2006 |
Adaptive finite-dimensional optimal linear filtering of nD smooth Gaussian random fields
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35238 |
| 2005 |
Hierarchically supervised output regulation of linear plants with unpredicatable parameter step changes
IFAC Proceedings Volumes (IFAC-PapersOnline) Autore/i: Ietto, Leopoldo; Orsini, Valentina Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/45790 |
| 2005 |
Improved set-points tracking of remotely operated underwater vehicles through a supervised PID control scheme
PROCEEDINGS OF THE INSTITUTE OF MARINE ENGINEERING, SCIENCE AND TECHNOLOGY (PART A) JOURNAL OF MARINE ENGINEERING AND TECHNOLOGY Autore/i: Ippoliti, Gianluca; Ietto, Leopoldo; Longhi, Sauro Classificazione: 1 Contributo su Rivista Abstract: This paper considers the position control problem of an underwater vehicle used in the exploitation of combustible gas deposits at great water depths. The use of a single, time-invariant PID controller may result in an unsatisfactory set-point tracking. To cope with this problem, a globally non linear regulator given by the connection of a supervisor with a finite family of properly chosen PID controllers is here proposed. Each PID is designed to obtain a specific desired feature of the step response and the supervisor governs the switching among them to obtain an overall time-varying control law yielding a globally satisfactory output behaviour The switching logic is driven by the numerical values assumed by some suitably defined cost functionals of output prediction errors. The performance of the switched controller so obtained is evaluated by numerical simulations. Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53109 |
| 2005 |
Improving the robustness properties of robot localization procedures with respect to environment features uncertainties
Proceedings - 2005 IEEE International Conference on Robotics and Automation Autore/i: Ippoliti, Gianluca; Ietto, Leopoldo; La Manna, Alessia; Longhi, Sauro Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53539 |
| 2005 |
Localization of mobile robots: Development and comparative evaluation of algorithms based on odometric and inertial sensors
JOURNAL OF ROBOTIC SYSTEMS Autore/i: Ippoliti, Gianluca; Ietto, Leopoldo; Longhi, Sauro Classificazione: 1 Contributo su Rivista Abstract: An autonomous mobile robot must be able to elaborate the measures provided by the sensor equipment to localize itself with respect to a coordinate system. The precision of the location estimate depends on the sensor accuracy and on the reliability of the measure processing algorithm. The purpose of this article is to propose a low cost positioning system using internal sensors like odometers and optical fiber gyroscopes. Three simple localization algorithms based on different sensor data processing procedures are presented. Two of them operate in a deterministic framework, the third operates in a stochastic framework where the uncertainty is induced by sensing and unmodeled robot dynamics. The performance of the proposed localization algorithms are tested through a wide set of laboratory experiments and compared in terms of localization accuracy and computational cost. Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51032 |
| 2004 |
Adaptively Switched Set-point Tracking PID Controllers
In Proceedings of the 12th Mediterranean Conference on Control and Automation Autore/i: Ippoliti G.; Jetto L.; Longhi S.; Orsini V. Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Abstract: This paper investigates the problem of improving the output step response obtainable with PID controllers. The solution proposed is based on a supervisory switching control. First, a family of candidate stabilizing conventional PID regulators are designed on the basis of a suitable plant model. For each controller the corresponding feedback connection with a plant model is defined and the resultant output prediction error is used to form a real, positive definite functional giving a measure of the future controller performance. At any time instant, the supervisor exploits these measures for on-line selecting the most appropriate controller to be connected to the plant at the same time instant. The stability of the control system is guaranteed by the introduction of a suitably defined dwell time into the switching logic. Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46660 |
| 2004 |
A properly designed extended Kalman filtering approach for robot localization by sensors with different degree of accuracy
Proceedings of the International Symposium on Robotics and Automation (ISRA'2004) Autore/i: IPPOLITI G.; JETTO L.; LONGHI S.; MONTERIU' A. Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48071 |
| 2004 |
Consistent on line estimation of environment features aimed at enhancing the efficiency of the localization procedure for a powered wheelchair
Robotics: Trends, Principles, and Applications - International Symposium on Robotics and Applications, ISORA - Sixth Biannual World Automation Congress, WAC 2004 Autore/i: Ippoliti, Gianluca; Ietto, Leopoldo; La Manna, Alessia; Longhi, Sauro Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/48067 |
| 2004 |
Methods and Algorithms for Sensor Data Fusion Aimed at Improving the Autonomy of a Mobile Robot
Advances in Control of Articulated and Mobile Robots Autore/i: BONCI, Andrea; IPPOLITI, Gianluca; IETTO, LEOPOLDO; LEO, TOMMASO; LONGHI, SAURO Editore: Springer-Verlag Luogo di pubblicazione: BERLIN Classificazione: 2 Contributo in Volume Abstract: A basic requirement for an autonomous mobile robot is to localize itself with repect to a given coordinate system. In this regard two different operating conditions exist: structured and unstructured environment. The relative method and algorithms are strongly influenced by the a priori knowledge on the environment where the robot operates. If the environment is known, a proper multisensor system endowed with an efficient data fusion algorithm may provide a very accurate localization. In this chapter the localization problem is formulated in a stochastic setting and a Kalman filtering approach is proposed for the integration of odometric, gyrocope, sonar and video camera measures. If the environment is only partially known the localization algorithm need preliminary definition of suitable environment map. Different probabilistic methods for sensory data fusion aimed at increasing the environment knowledge are proposed and discussed. Scheda della pubblicazione: https://iris.univpm.it/handle/11566/51659 |
| 2004 |
Hierarchical switching scheme for PID control of underwater vehicles
Proceedings of the IFAC Conference on Control Applications in Marine Systems (CAMS 2004) Autore/i: IPPOLITI G.; JETTO L.; LONGHI S. Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/47884 |
| 2004 |
Robust Stabilization of Multivariable Uncertain Plants via Switching Control
IEEE TRANSACTIONS ON AUTOMATIC CONTROL Autore/i: CORRADINI M.L.; JETTO L.; G. ORLANDO Editore: IEEE / Institute of Electrical and Electronics Engineers Incorporated:445 Hoes Lane:Piscataway, NJ 08854:(800)701-4333, (732)981-0060, EMAIL: subscription-service@ieee.org, INTERNET: http://www.ieee.org, Fax: (732)981-9667 Classificazione: 1 Contributo su Rivista Abstract: In general, interval plants with a large uncertainty can not be robustly stabilized by a linear, time-invariant controller. The solution presented in this paper is in terms of an overall non linear control law given by the connection of a linear, deterministic, time-varying compensator and of a supervisor. The compensator may assume a finite number of possible different configurations, at least one of the which stabilizes the plant. The task of the supervisor is that of determining the switching instants of a scanning among the elements of the family, according to a suitably defined experimental test on the output of the system Scheda della pubblicazione: https://iris.univpm.it/handle/11566/34955 |
| 2003 |
" Regional assignment of invariant polynomial roots with stable controllers",
CIRCUITS SYSTEMS AND SIGNAL PROCESSING Autore/i: Ietto, Leopoldo Editore: Birkhauser Boston Incorporated:c/o Springer Verlag, PO Box 2485:Secaucus, NJ 07096:(800)777-4643, (973)348-4033, Fax: (973)348-4505 Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35392 |
| 2003 |
Improving PID Control of Underwater Vehicles through a Hybrid Control Scheme
1st IFAC Workshop on Guidance and Control of Underwater Vehicles Autore/i: Ippoliti, Gianluca; Ietto, Leopoldo; Longhi, Sauro Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Scheda della pubblicazione: https://iris.univpm.it/handle/11566/46659 |
| 2002 |
An invariant approach for image registration in digital subtraction angiography
PATTERN RECOGNITION Autore/i: BENTOUTOU Y.; TALEB N.; EL MEZOUAR M.C.; BENTOUTOU Y.; TALEB N.; L. IETTO Editore: Elsevier Science Limited:Oxford Fulfillment Center, PO Box 800, Kidlington Oxford OX5 1DX United Kingdom:011 44 1865 843000, 011 44 1865 843699, EMAIL: asianfo@elsevier.com, tcb@elsevier.co.UK, INTERNET: http://www.elsevier.com, http://www.elsevier.com/locate/shpsa/, Fax: 011 44 1865 843010 Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35234 |
| 2001 |
"Space-variant two-dimensional filtering of noisy images"
Advances in Imaging and Electron Physics Autore/i: DE SANTIS A.; GERMANI A.; L. IETTO Editore: Academic Press Classificazione: 2 Contributo in Volume Scheda della pubblicazione: https://iris.univpm.it/handle/11566/38508 |
| 2000 |
Robust Output Tracking with Structured Perturbations: A Multiple Model Based Approach
EUROPEAN JOURNAL OF CONTROL Autore/i: M.L. CORRADINI; L. IETTO Editore: LAVOISIER, 14, RUE DE PROVIGNY, CACHAN, FRANCE, 94236 Primo editore Springer-Verl. London Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35383 |
| 2000 |
Localization of industrial mobile robots: development and comparative evaluation of algorithms based on odometric and inertial sensors
Second International Conference on Computers in Industry Autore/i: L. Jetto; S. Longhi; I. Sanchini Editore: The Bahrain Society of Engineers Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Abstract: B87 Scheda della pubblicazione: https://iris.univpm.it/handle/11566/78167 |
| 2000 |
Parameterized solution of periodic deadbeat control
IEEE TRANSACTIONS ON AUTOMATIC CONTROL Autore/i: L. IETTO; LONGHI S. Editore: IEEE / Institute of Electrical and Electronics Engineers Incorporated:445 Hoes Lane:Piscataway, NJ 08854:(800)701-4333, (732)981-0060, EMAIL: subscription-service@ieee.org, INTERNET: http://www.ieee.org, Fax: (732)981-9667 Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35389 |
| 1999 |
Development and experimental validation of an adaptive extended Kalman filter for the localization of mobile robots
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION Autore/i: L. IETTO; LONGHI S.; VENTURINI G. Editore: IEEE / Institute of Electrical and Electronics Engineers Incorporated:445 Hoes Lane:Piscataway, NJ 08854:(800)701-4333, (732)981-0060, EMAIL: subscription-service@ieee.org, INTERNET: http://www.ieee.org, Fax: (732)981-9667 Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35386 |
| 1999 |
Localization of a wheeled mobile robot by sensor data fusion based on a fuzzy logic adapted Kalman filter
CONTROL ENGINEERING PRACTICE Autore/i: JETTO L.; S. LONGHI; VITALI D. Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/52568 |
| 1999 |
A multiple-model based approach for the intelligent control of underwater remotely operated vehicles
Preprints of the 14th IFAC World Congress Autore/i: M. Baldini; M.L. Corradini; L. Jetto; S. Longhi Editore: Elsevier Science Ltd Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Abstract: B75 Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65365 |
| 1999 |
Parameterized solution of the dead-beat ripple-free control problem for multirate sampled-data systems
Proceedings od the 38th th IEEE Conference on Decision and Control Autore/i: L. Jetto; S. Longhi Editore: IEEE Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Abstract: B81 Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65405 |
| 1999 |
"Stochastic modelling and 3D minimum variance recursive estimation of image sequences"
MULTIDIMENSIONAL SYSTEMS AND SIGNAL PROCESSING Autore/i: L. IETTO Editore: Kluwer Academic Publishers:Journals Department, PO Box 322, 3300 AH Dordrecht Netherlands:011 31 78 6576050, EMAIL: frontoffice@wkap.nl, kluweronline@wkap.nl, INTERNET: http://www.kluwerlaw.com, Fax: 011 31 78 6576254 Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35387 |
| 1999 |
On the optimality of a new class of 2D recursive filters
KYBERNETIKA Autore/i: L. IETTO Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35391 |
| 1999 |
Assigning closed-loop invariant polynomials over polytopes for linear periodic systems
AUTOMATICA Autore/i: L. IETTO; LONGHI S. Editore: Elsevier Science Limited:Oxford Fulfillment Center, PO Box 800, Kidlington Oxford OX5 1DX United Kingdom:011 44 1865 843000, 011 44 1865 843699, EMAIL: asianfo@elsevier.com, tcb@elsevier.co.UK, INTERNET: http://www.elsevier.com, http://www.elsevier.com/locate/shpsa/, Fax: 011 44 1865 843010 Classificazione: 1 Contributo su Rivista Abstract: This paper provides a parameterization of all output feedback periodic controllers providing closed loop invariant polynomials varying over some assigned polytopes for linear discrete-time periodic plants. Using the notion of time invariant system associated to a periodic system the parameterization is provided in terms of the general solution of a suitably defined matrix diophantine equation. (C) 1999 Elsevier Science Ltd. All rights reserved. Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35385 |
| 1999 |
Strong stabilization over polytopes
IEEE TRANSACTIONS ON AUTOMATIC CONTROL Autore/i: L. IETTO Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/53093 |
| 1998 |
On line fusion of sonar maps for multirobot systems cooperating in a partially unknown environment
Theory and Practice of Control and Systems, (Eds. A Tornambè, G. Conte and A.M. Perdon) Autore/i: A. Barchiesi; L. Jetto; S. Longhi Editore: World Scientific Luogo di pubblicazione: Singapore Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Abstract: B72 Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65362 |
| 1998 |
Development and experimental validation of an adaptive estimation algorithm for the on-line localization of mobile robots by multisensor fusion
Robot control 1997: SYROCO '97 Autore/i: L. Jetto; S. Longhi; G Venturini Editore: Published for the International Federation of Automatic Control by Pergamon Luogo di pubblicazione: Oxford Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Abstract: B67 Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65327 |
| 1998 |
Correction of odometric errors in mobile robot localization using inertial sensors
Intelligent components for vehicles (ICV '98), A. Ollero (Ed) Autore/i: L. Jetto; S. Longhi; S. Zanoli Editore: Published for the International Federation of Automatic Control by Pergamon Luogo di pubblicazione: Oxford Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Abstract: B68 Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65328 |
| 1998 |
Localization of a wheeled mobile robot by sensor data fusion based on a fuzzy logic adapted Kalman filter
Intelligent autonomous vehicles 1998 (IAV'98) Autore/i: L. Jetto; S. Longhi; D. Vitali Editore: Published for the International Federation of Automatic Control by Pergamon Luogo di pubblicazione: Oxford Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Abstract: B69 Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65329 |
| 1998 |
Image registration for applications in digital subtraction angiography
CONTROL ENGINEERING PRACTICE Autore/i: N. Taleb; L. Ietto Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64804 |
| 1998 |
Optimal adaptive filtering of noisy images
ADVANCES IN MODELLING & ANALYSIS. B. SIGNALS, INFORMATION, DATA, PATTERNS. Autore/i: Jetto, L; Taleb, N. Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/246118 |
| 1997 |
Two-dimensional recursive filtering algorithm with edge-preserving properties and reduced numerical complexity
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS. 2, ANALOG AND DIGITAL SIGNAL PROCESSING Autore/i: A. Concetti; L. Ietto Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64803 |
| 1997 |
Parameterization of periodic dead-beat controllers
Proceedings of the European Control Conference (ECC97) Autore/i: L. Jetto; S. Longhi Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Abstract: B65 Scheda della pubblicazione: https://iris.univpm.it/handle/11566/78166 |
| 1996 |
The invariant polynomial assignment problem for linear periodic discrete-time systems
KYBERNETIKA Autore/i: Ietto L.; Longhi S. Classificazione: 1 Contributo su Rivista Abstract: Available on: http://pdf.dml.cz/bitstream/handle/10338.dmlcz/125363/Kybernetika_32-1996-6_8.pdf Scheda della pubblicazione: https://iris.univpm.it/handle/11566/58590 |
| 1996 |
Invariant polynomial assignment over polytopes for linear discrete-time periodic systems
13th Ifac World Congress 1996 Autore/i: L. Jetto; S. Longhi Editore: Elsevier Science Ltd Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Abstract: B62 Scheda della pubblicazione: https://iris.univpm.it/handle/11566/65323 |
| 1996 |
Exact output control for a family of linear plants with parameter uncertainties
AUTOMATICA Autore/i: Conte G.; Ietto L.; Longhi S.; Perdon A.M. Editore: Elsevier Science Limited:Oxford Fulfillment Center, PO Box 800, Kidlington Oxford OX5 1DX United Kingdom:011 44 1865 843000, 011 44 1865 843699, EMAIL: asianfo@elsevier.com, tcb@elsevier.co.UK, INTERNET: http://www.elsevier.com, http://www.elsevier.com/locate/shpsa/, Fax: 011 44 1865 843010 Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35862 |
| 1996 |
Assigning invariant polynomials over polytopes
IEEE TRANSACTIONS ON AUTOMATIC CONTROL Autore/i: L. IETTO Editore: IEEE / Institute of Electrical and Electronics Engineers Incorporated:445 Hoes Lane:Piscataway, NJ 08854:(800)701-4333, (732)981-0060, EMAIL: subscription-service@ieee.org, INTERNET: http://www.ieee.org, Fax: (732)981-9667 Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/35170 |
| 1995 |
A polynomial approach to the solution of the invariant polynomials assignment problem for periodic systems
Proceedings of the 3rd IEEE Mediterranean Symposium on New Directions in Control and Automation Autore/i: L. Jetto; S. Longhi Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Abstract: B55 Scheda della pubblicazione: https://iris.univpm.it/handle/11566/78161 |
| 1995 |
Ripple-free dead-beat tracking for multirate sampled-data systems
INTERNATIONAL JOURNAL OF CONTROL Autore/i: GRASSELLI O.M.; IETTO L.; LONGHI S. Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/58581 |
| 1994 |
Space-variant recursive restoration of noisy images
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS. 2, ANALOG AND DIGITAL SIGNAL PROCESSING Autore/i: A. De Santis; A. Germani; L. Ietto Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64800 |
| 1994 |
Output tracking for a family of linear plants
KYBERNETIKA Autore/i: Ietto L.; Longhi S.; Perdon A.M. Classificazione: 1 Contributo su Rivista Abstract: Available on: http://pdf.dml.cz/bitstream/handle/10338.dmlcz/125490/Kybernetika_30-1994-6_13.pdf Scheda della pubblicazione: https://iris.univpm.it/handle/11566/58574 |
| 1994 |
Adaptive dead-beat control law for trajectory tracking of robotic manipulators
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING Autore/i: Ietto L.; Longhi S.; Papini A. Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/58573 |
| 1994 |
Low "a priori" statistical information signal model for optimal smoothing and differentiation
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING Autore/i: S. Fioretti; L Ietto Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64801 |
| 1994 |
Deadbeat ripple-free tracking with disturbance rejection: a polynomial approach
IEEE TRANSACTIONS ON AUTOMATIC CONTROL Autore/i: L. Ietto Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64802 |
| 1993 |
Exact output control for a family of linear plants with parameter uncertainties
Proceedings of the 12th IFAC World Congress Autore/i: G. Conte; L. Jetto; S. Longhi; A.M. Perdon Classificazione: 4 Contributo in Atti di Convegno (Proceeding) Abstract: B36 Scheda della pubblicazione: https://iris.univpm.it/handle/11566/78151 |
| 1993 |
Approximation of the algebraic Riccati equation in the Hilbert space of Hilbert-Schmidt operators
SIAM JOURNAL ON CONTROL AND OPTIMIZATION Autore/i: A. De Santis; A. Germani ; L. Jetto; Classificazione: 1 Contributo su Rivista Scheda della pubblicazione: https://iris.univpm.it/handle/11566/64799 |
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