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Last updated on July 28, 2017. This conference program is tentative and subject to change
Technical Program for Monday July 10, 2017
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Mo11 Plenary Session, Palais des sports |
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Systems Engineering in Water Networks |
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Chair: Craig, Ian | Univ. of Pretoria |
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08:30-09:30, Paper Mo11.1 | Add to My Program |
Systems Engineering in Water Networks |
Mareels, Iven | The Univ. of Melbourne |
Keywords: Water quality and quantity management
Abstract: Planet earth is endowed with plenty of water, but as all the World Water Reports make abundantly clear, that water is often poorly managed just because of its accepted abundance. The World Bank’s 2030 Water Resources Group, in its inaugural report goes as far as stating that “we are managing our way to water scarcity”. It predicts that by 2030 a significant and increasing portion of the world population will struggle with water shortages over extended periods of time in almost every year. This is further underscored by the observation that the majority of the main river basins already suffer from “over” exploitation. Climate change, population growth and an increasingly middle class life style are the main drivers putting pressure on water use. In this presentation, we describe a systems engineering approach for water management, and articulate a number of value propositions for significant investments in improved water management and control as well as automation. The main value propositions are derived from an economic productivity point of view and/or a social licence to use water as well as providing economically quantified options. Although, as the European Committee on Climate Change has pointed out in early 2017, water access under climate change should also provide a significant incentive for much needed investment.
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MoA01 Interactive Session, Caravelle 1.2 |
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Smart Grid Control |
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Chair: Hangos, Katalin M. | Computer and Automation Res. Inst. HAS |
Co-Chair: Soares, João | Pol. of Porto |
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10:00-12:00, Paper MoA01.1 | Add to My Program |
Voltage Control Using Limited Communication |
Magnusson, Sindri | KTH Royal Inst. of Tech |
Li, Na (Lina) | SEAS Harvard |
Fischione, Carlo | Royal Inst. of Tech |
Keywords: Power systems stability, Control of renewable energy resources, Smart grids
Abstract: In electricity distribution networks, the increasing penetration of renewable energy generation necessitates faster and more sophisticated voltage controls. Unfortunately, recent research shows that local voltage control fails in achieving the desired regulation, unless there is some communication between the controllers. However, the communication infrastructure for distribution systems are less reliable and less ubiquitous as compared to that for the bulk transmission system. In this paper, we design distributed voltage control that use limited communication. That is, only neighboring buses need to communicate few bits between each other before each control step. We investigate how these controllers can achieve the desired asymptotic behavior of the voltage regulation and we provide upper bounds on the number of bits that are needed to ensure a predefined accuracy of the regulation. Finally, we illustrate the results by numerical simulations.
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10:00-12:00, Paper MoA01.2 | Add to My Program |
A Local Stability Condition for DC Grids with Constant Power Loads |
Arocas-Pérez, José | Univ. Pol. De Catalunya (UPC) |
Grino, Robert | Univ. Pol. De Catalunya |
Keywords: Power systems stability, Smart grids, Application of power electronics
Abstract: Currently, there are an increasing number of power electronics converters in electrical grids performing the most diverse tasks but, most of them, work as constant power loads (CPLs). This work presents a sufficient condition for the local stability of dc linear time-invariant circuits with constant power loads for all the possible equilibria (depending on the drained power) of the systems. The condition is shown as a method with successive steps that should be met. Its main step is expressed as a linear matrix inequality test which is important for easiness of verification reasons. The method is illustrated with two examples: a single-port RLC circuit connected to a CPL and a two-port linear dc circuit connected to two CPLs.
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10:00-12:00, Paper MoA01.3 | Add to My Program |
VSC-HVDC System Robust Stability Analysis Based on a Modified Mixed Small Gain and Passivity Theorem |
Song, Yujiao | Chalmers Univ. of Tech |
Breitholtz, Claes | Chalmers Univ. of Tech |
Keywords: Power systems stability, Application of power electronics, Modeling and simulation of power systems
Abstract: In a VSC-HVDC system, when the input power to the converter is controlled to a positive constant, the converter acts a differential negative resistance -P0/i0^2 which may cause instability in case of a connected weak AC-grid. In order to analyze the robust stability of such a system, a modified mixed small gain and passivity theorem is proposed, which shows that the negative feedback interconnection of two linear time invariant stable subsystems (converter admittance and AC-grid impedance) is input to output stable if in certain frequency bands, both subsystems are passive and at least one of them is strictly passive; at the remaining frequency bands, the loop gain is to be strictly less than one. Under different AC-grid topologies, the stability sufficient conditions with respect to the AC-grid inductance are studied. It shows that for AC-grid consists of series RgLg-circuit, an introduced series capacitor can improve the system robustness but not for the shunt capacitor.
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10:00-12:00, Paper MoA01.4 | Add to My Program |
Power Balancing in a DC Microgrid Elevator System through Constrained Optimization |
Pham, Thanh Hung | Univ. Grenoble Alpes, LCIS, F-26902 Valence |
Prodan, Ionela | INP Grenoble |
Genon-Catalot, Denis | Univ. Grenoble Alpes, LCIS, F-26902 Valence |
Lefevre, Laurent | Univ. Grenoble Alpes |
Keywords: Optimal operation and control of power systems
Abstract: This paper considers the problem of power balancing in a DC microgrid. A PH (port Hamiltonian) formalism is used to describe the system components and interconnections. Energy and power conservation are kept for the discretized model. An economic model predictive controller is used for scheduling the microgrid power management. The proposed approach is validated through simulation results on a particular DC microgrid elevator system.
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10:00-12:00, Paper MoA01.5 | Add to My Program |
Optimal Power Flow for Resistive DC Networks: A Port-Hamiltonian Approach |
Benedito, Ernest | Univ. Pol. De Catalunya |
Del Puerto-Flores, Dunstano | Univ. of Guadalajara (UdeG) |
Doria-Cerezo, Arnau | Tech. Univ. of Catalonia (UPC) |
Scherpen, Jacquelien M.A. | Univ. of Groningen |
Keywords: Optimal operation and control of power systems, Smart grids, Control of renewable energy resources
Abstract: This paper studies the optimal power flow problem for resistive DC networks. The gradient method algorithm is written in a port-Hamiltonian form and the stability of the resulting dynamics is studied. Stability conditions are provided for general cyclic networks and a solution, when these conditions fail, is proposed. In addition, the results are exemplified by means of numerical simulations.
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10:00-12:00, Paper MoA01.6 | Add to My Program |
Advanced Control for Energy Management of Grid-Connected Hybrid Power Systems in the Sugar Cane Industry |
Morato, Marcelo Menezes | Univ. Federal De Santa Catarina |
da Costa Mendes, Paulo Renato | Federal Univ. of Santa Catarina |
Normey-Rico, Julio Elias | Federal Univ. of Santa Catarina |
Bordons, Carlos | Univ. De Sevilla |
Keywords: Modeling and simulation of power systems, Model predictive and optimization-based control, Advanced control technology
Abstract: This work presents a process supervision and advanced control structure, based on Model Predictive Control (MPC) coupled with disturbance estimation techniques and a finite-state machine decision system, responsible for setting energy productions set-points. This control scheme is applied to energy generation optimization in a sugar cane power plant, with non-dispatchable renewable sources, such as photovoltaic and wind power generation, as well as dispatchable sources, as biomass. The energy plant is bound to produce steam in different pressures, cold water and, imperiously, has to produce and maintain an amount of electric power throughout each month, defined by contract rules with a local distribution network operator (DNO). The proposed predictive control structure uses feedforward compensation of estimated future disturbances, obtained by the Double Exponential Smoothing (DES) method. The control algorithm has the task of performing the management of which energy system to use, maximize the use of the renewable energy sources, manage the use of energy storage units and optimize energy generation due to contract rules, while aiming to maximize economic profits. Through simulation, the proposed system is compared to a MPC structure, with standard techniques, and shows improved behavior.
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10:00-12:00, Paper MoA01.7 | Add to My Program |
A Fast Learning Neuro Adaptive Control of Buck Converter Driven PMDC Motor: Design, Analysis and Validation |
Khan Nizami, Tousif | Indian Inst. of Tech. Guwahati |
Chakravarty, Arghya | Indian Inst. of Tech. Guwahati |
Mahanta, Chitralekha | IITGuwahati |
Keywords: Application of power electronics, Control system design
Abstract: This paper presents a novel fast learning neural network for the estimation of load torque in PMDC motor. The control objective of angular velocity trajectory tracking is achieved by designing a controller for cascaded Buck converter PMDC motor system by utilizing an adaptive backstepping methodology augmented with a new Type-II Chebyshev neural network (CNN). The online learning laws for the neural network are developed, satisfying overall closed loop system stability using Lyapunov stability criterion. A rigorous stability analysis has been provided. Performance of the proposed control method is validated on a digital platform using dSPACE Control Desk DS1103 set-up with TM320F240 Digital Signal Processor. The dynamic response of Buck converter driven PMDC motor is examined for settling time, peak undershoot and overshoot guaranteeing the transient performance under conventional adaptive backstepping control and Type-I CNN based adaptive backstepping control techniques. Further, such results are compared with those obtained using the proposed method under start-up, wide range variations in load torque and reference trajectory.
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10:00-12:00, Paper MoA01.8 | Add to My Program |
Predictive Functional Control of Superheat in a Refrigeration System Using a Neural Network Model |
Pedersen, Tom S. | Aalborg Univ |
Nielsen, Kirsten Moelgaard | Aalborg Unversity |
Hindsborg, Jeff | Aalborg Univ |
Reichwald, Peter | Aalborg Univ |
Vinther, Kasper | Aalborg Univ |
Izadi-Zamanabadi, Roozbeh | Danfoss |
Keywords: Control system design, Optimal operation and control of power systems
Abstract: This paper compares three methods for control of the superheat in a refrigeration system. A traditional gain scheduled PI-based controller, a predictive functional controller (PFC) and a predictive functional controller with a neural network model (PFCNN). The aim is to investigate the performance of the three controllers with respect to disturbance rejection measured both at the superheat deviation from the reference and the actuation of the expansion valve. The controllers are designed and tested on a laboratory set-up. The performance of the controllers turns out to be similar and distinguish between the concepts must be based on other parameters like tuning and demands for computational power.
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10:00-12:00, Paper MoA01.9 | Add to My Program |
Event-Based Cubature Kalman Filter for Smart Grid Subject to Communication Constraint |
Li, Sen | Beijing Inst. of Tech |
Li, Zhen | Beijing Inst. of Tech |
Li, Jian | Beijing Inst. of Tech |
Wang, Qinglin | Beijing Inst. of Tech |
Song, Zhuoyue | Szhuoyue@bit.edu.cn |
Chen, Zhen | School of Automation, 231 Staff, Beijing Inst. Oftechnology |
Sheng, Yongzhi | Beijing Inst. of Tech |
Liu, Xiangdong | School of Automation, 231 Staff, Beijing Inst. Oftechnology |
Liu, Yang | Harbin Inst. of Tech |
Keywords: Smart grids, Constraint and security monitoring and control, Instrumentation and control systems
Abstract: Accurate real-time estimation plays an important role in smart grids. Although various filtering algorithms, such as unscented Kalman filter (UKF), have been proposed for phasor measurement unit (PMU), they occupy huge communication bandwidth without specific concern, which puts heavy burden on the communication network especially when wireless communications are applied. In order to relief this burden, the event-based cubature Kalman filter (EBCKF) is proposed based on event-based schemes in this paper. The event-based strategy guarantees that only the observations containing innovational information are transmitted, and cubature Kalman filter (CKF), which is based on the spherical cubature integration, provides more accurate estimation than UKF. Besides, the design-oriented communication rate is provided corresponding to the event-based strategy design. The proposed filter can effectively reduce the communication rate while ensuring the accuracy of filtering. Finally, the standard IEEE 39-bus system is utilized to verify the feasibility and performance of the proposed method.
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10:00-12:00, Paper MoA01.10 | Add to My Program |
Contingency Analysis Post-Processing with Advanced Computing and Visualization |
Chen, Yousu | Pacific Northwest National Lab |
Glaesemann, Kurt | Pacific Northwest National Lab |
Fitzhenry, Erin | Pacific Northwest National Lab |
Keywords: Modeling and simulation of power systems, Real time simulation and dispatching, Smart grids
Abstract: Contingency analysis is a critical function widely used in energy management systems to assess the impact of power system component failures. Its outputs are important for power system operation for improved situational awareness, power system planning studies, and power market operations. With the increased complexity of power system modeling and simulation caused by increased energy production and demand, the penetration of renewable energy and fast deployment of smart grid devices, and the trend of operating grids closer to their capacity for better efficiency, more and more contingencies must be executed and analyzed quickly in order to ensure grid reliability and accuracy for the power market. Currently, many researchers have proposed different techniques to accelerate the computational speed of contingency analysis, but not much work has been published on how to post-process the large amount of contingency outputs quickly. This paper proposes a parallel post-processing function that can analyze contingency analysis outputs faster and display them in a web-based visualization tool to help power engineers improve their work efficiency by fast information digestion. Case studies using an ESCA-60 bus system and a WECC planning system are presented to demonstrate the functionality of the parallel post-processing technique and the web-based visualization tool.
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10:00-12:00, Paper MoA01.11 | Add to My Program |
Electrical Power Distribution System Reconfiguration: Case Study of a Real-Life Grid in Croatia |
Novoselnik, Branimir | Univ. of Zagreb, Faculty of Electrical Engineering and Comp |
Bolfek, Martin | HEP-ODS |
Bošković, Marin | HEP-ODS |
Baotic, Mato | Univ. of Zagreb |
Keywords: Optimal operation and control of power systems, Model predictive and optimization-based control, Intelligent control of power systems
Abstract: This paper describes application of a nonlinear model predictive control algorithm to the problem of dynamic reconfiguration of an electrical power distribution system with distributed generation and storage. Power distribution systems usually operate in a radial topology despite being physically built as interconnected meshed networks. The meshed structure of the network allows one to modify the network topology by changing status of the line switches (open/closed). The goal of the control algorithm is to find the optimal radial network topology and the optimal power references for the controllable generators and energy storage units that will minimize cumulative active power losses while satisfying all system constraints. Validation of the developed algorithm is conducted on a case study of a real-life distribution grid in Croatia. The realistic simulations show that large loss reductions are feasible (more than 13%), i.e. that the developed control algorithm can contribute to significant savings for the grid operator.
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10:00-12:00, Paper MoA01.12 | Add to My Program |
Design and Implementation of a Wide-Area Damping Controller Using High Voltage DC Modulation and Synchrophasor Feedback (I) |
Pierre, Brian | Sandia National Lab |
Schoenwald, David | Sandia National Lab |
Wilches-Bernal, Felipe | Sandia National Lab |
Trudnowski, Dan | Montana Tech. of the Univ. of Montana |
Keywords: Power systems stability, Smart grids, Modeling and simulation of power systems
Abstract: This paper describes the design strategy and testing results of a control system to improve damping of inter-area oscillations in the western North American Power System (wNAPS) in order to maintain dynamic stability of the grid. Extensive simulation studies and actual test results on the wNAPS demonstrate significant improvements in damping of inter-area oscillations of most concern without reducing damping of peripheral oscillations. The design strategy of the control system features three novel attributes: (1) The feedback law for the control system is constructed using real-time measurements acquired from Phasor Measurement Units (PMUs) located throughout the power grid. (2) Control actuation is delivered by the modulation of real power flow through a High Voltage Direct Current (HVDC) transmission line. (3) A supervisory system, integrated into the control system is in charge of determining damping effectiveness, maintaining failsafe operation, and ensuring that no harm is done to the grid.
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10:00-12:00, Paper MoA01.13 | Add to My Program |
Observation and Applications of Electromechanical Wave Propagation Based on Wide-Area Synchronous Measurement (I) |
Liu, Yilu | Univ. of Tennessee |
You, Shutang | UTK |
Wu, Ling | Univ. of Tennessee |
Markham, Penn | Electric Power Res. Inst |
Zhou, Dao | Univ. of Tennessee |
Su, Yu | Univ. of Tennessee |
Keywords: Smart grids, Constraint and security monitoring and control, Power systems stability
Abstract: Electromechanical wave propagation affects many aspects of power grids, including control and protection. FNET/GridEye, a wide-area distribution-level measurement system, is found to be able to provide unprecedented insight into power system electromechanical wave behavior. This paper discusses the power system electromechanical wave propagation observed in FNET/GridEye and the implementation of algorithms based on wave propagation, including disturbance detection and location, and the development of the propagation speed distribution map.
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10:00-12:00, Paper MoA01.14 | Add to My Program |
Delay-Aware Control Designs of Wide-Area Power Networks |
Dibaji, Seyed Mehran | Massachusetts Inst. of Tech |
Yildiz, Yildiray | Bilkent Univ |
Annaswamy, Anuradha | Massachusetts Inst. of Tech |
Chakrabortty, Aranya | NC State Univ |
Soudbakhsh, Damoon | Massachusetts Inst. of Tech |
Keywords: Power systems stability, Control system design, Smart grids
Abstract: A co-design of the implementation platform and control strategies for wide-area power networks is addressed. Limited and shared resources among control and non-control applications introduce delays in transmitted messages. The design is based on a delay-aware architecture and cloud computing has been proposed for damping wide-area oscillations. We accommodate possibly large delays in the network and take into account their values in the designs. Moreover, we design output feedbacks for the cases that some state variables are not accessible. The designs are verified through a simulation on 50-bus Australian model.
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MoA02 Interactive Session, Caravelle 1.3 |
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Renewable Energy and Distributed Generation |
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Chair: Fadel, Maurice | Laplace - Inpt-Cnrs |
Co-Chair: Moga, Daniel | Tech. Univ. of Cluj-Napoca |
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10:00-12:00, Paper MoA02.1 | Add to My Program |
Damping Control of HVDC Links to Mitigate Controller Interaction with Resonances of the Offshore Wind Farm |
Korai, Abdulwahab | Univ. of Duisburg-Essen |
Erlich, Istvan | Univ. of Duisburg-Essen |
Keywords: Control of renewable energy resources, Control system design, Power systems stability
Abstract: This paper deals with the harmonic stability problem in offshore wind farms caused by the interaction of HVDC controller with the resonance frequencies of the grid. Due to the HVDC filters, transformers and long submarine cables wind farms have natural resonances, which are close to the operating frequency of the HVDC converter. Even through the grid resonances exhibit inherent damping, the converter control may amplify the oscillations resulting in harmonic instability. Therefore, the converter control has to be designed properly taking into account all possible operating conditions and grid topologies. In this paper a new damping control approach is presented that is using the dq components of the current for modulating the converter output voltage. The parameters of the damping controller are estimated by the heuristic optimization algorithm MVMO simultaneously for three different disturbance scenarios. Simulation results in the time domain demonstrate the effectiveness of the proposed method.
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10:00-12:00, Paper MoA02.2 | Add to My Program |
Management Controller for a DC MicroGrid Integrating Renewables and Storages (I) |
Iovine, Alessio | Univ. of L'Aquila |
Damm, Gilney | IBISC Lab. CNRS/Evry Univ |
De Santis, Elena | Univ. of L'Aquila |
Di Benedetto, M. Domenica | Univ. of L'Aquila |
Keywords: Optimal operation and control of power systems, Intelligent control of power systems, Control system design
Abstract: DC MicroGrids present an increasing interest as they represent an advantageous solution for interconnecting renewable energy sources, storage systems and loads as electric vehicles. A high-level management system able to calculate the optimal reference values for the local controllers of each of the DC MicroGrid interconnected devices is introduced in this paper. Both the changing environmental conditions and the expected load variations are taken into account. The controller considers power balance and the desired voltage level for the DC microgrid. Constraints taking into account the different nature of the storage devices are also considered.
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10:00-12:00, Paper MoA02.3 | Add to My Program |
Reduced-Order Robust Control of a Fuel Cell Air Supply System |
Hernandez-Torres, David | Univ. of Toulouse |
Delphine, Riu | Univ |
Sename, Olivier | Grenoble Inst. of Tech. / GIPSA-Lab |
Keywords: Optimal operation and control of power systems, Control of renewable energy resources, Modeling and simulation of power systems
Abstract: This paper presents the design of several reduced order robust control strategies for the air supply of a hybrid fuel cell power generator. The management of the air dynamic entering the fuel cell is assured by the control of the air flow of a compressor. The air supply sub-system is controlled to keep a desired oxygen excess ratio, this allow to improve the fuel cell dynamic performance. Robustness analysis studies are performed, these robust properties are contrasted with classic control strategies, demonstrating the advantage of the multivariable reduced order robust methodologies.
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10:00-12:00, Paper MoA02.4 | Add to My Program |
On the Way to Purge Volume Control During Purge Processes of a Fuel Cell System by a Predictive Control Strategy |
Hähnel, Christian | Helmut-Schmidt-Univ. / Univ. of the Federal Armed Forc |
Cloppenborg, Andreas | Helmut-Schmidt-Univ. Univ. of the Federal Armed Force |
Horn, Joachim | Helmut-Schmidt-Univ. / Univ. of the Federal Armed Forc |
Keywords: Control system design, Optimal operation and control of power systems, Model predictive and optimization-based control
Abstract: This paper deals with an Optimal Iterative Learning Control approach for the anode pressure during the periodic purge processes of a fuel cell system which is developed to a Predictive Control Strategy under consideration of the correct purge volume. Due to accumulation of diffused nitrogen and water condensate inside the anode volume the chemical reaction is restrained. This adverse effect is avoided through the purge process, by which a short-time opening of the exhaust valve forces the nitrogen and water out of the system. Unfortunately, the opening leads to a pressure drop along the anode volume that causes a force to the membrane. To avoid this mechanical stress the control aim is a constant anode pressure during the purge process by supplying additional hydrogen. Therefore, first an Optimal Iterative Learning Control approach is introduced. Due to an influence of the Optimal Iterative Learning Control on the purge volume, a correction of the purge time interval is applied for a constant purge volume. In the last step a Nonlinear Model Predictive Control approach is presented which allows a correction of the purge volume during load changes as well.
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10:00-12:00, Paper MoA02.5 | Add to My Program |
Optimum Control of Parabolic Trough Solar Fields with Partial Radiation |
Navas, Sergio Jesús | Univ. De Sevilla |
Rubio, Francisco R. | Univ. De Sevilla |
Ollero, Pedro | Univ. De Sevilla |
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10:00-12:00, Paper MoA02.6 | Add to My Program |
Economic MPC Applied to Generation Scheduling in CSP Plants |
Bravo, Jose Manuel | Huelva Univ |
Vasallo, Manuel Jesús | Univ. De Huelva |
Marin, Diego | Univ. De Huelva |
Gegúndez, Manuel Emilio | Univ. De Huelva |
Keywords: Optimal operation and control of power systems, Modeling and simulation of power systems, Model predictive and optimization-based control
Abstract: This paper proposes a model-based predictive control (MPC) approach with economic objective function to face the scheduling problem in concentrating solar power (CSP) plants with thermal energy storage (TES) in a day-ahead energy market context. By this approach, the most recent energy prices, weather forecast and the current plant's state can be used by the proposed economic MPC approach to reschedule the generation conveniently from time to time. The proposed approach is applied, in a simulation context, to a 50 MW parabolic trough collector-based CSP with TES under the assumption of perfect price forecast and participation in the Spanish day-ahead energy market. A case study based on a four-month period to test several meteorological conditions is performed. In this study, a complete economic analysis is carried out using actual values of energy price, penalty cost, solar resource data and its forecast. Results show an economic improvement in comparison with a traditional day-ahead scheduling strategy.
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10:00-12:00, Paper MoA02.7 | Add to My Program |
Web Application for OTEC Simulator Using Double-Stage Rankine Cycle |
Goto, Satoru | Saga Univ |
Matsuda, Yoshitaka | Saga Univ |
Sugi, Takenao | Saga Univ |
Morisaki, Takafumi | Saga Univ |
Yasunaga, Takeshi | Saga Univ |
Ikegami, Y. | Saga Univ. Japan |
Egashira, Naruto | Kurume National Coll. of Tech |
Keywords: Modeling and simulation of power systems, Control of renewable energy resources, Optimal operation and control of power systems
Abstract: In this research, a Web application for a simulator of an ocean thermal energy conversion (OTEC) plant with double-stage Rankine cycle is developed. A simple dynamic model of the OTEC plant with double-stage Rankine cycle which consists of steady state calculation of state variables based on mass balance and energy balance, and transient calculation of the heat exchanger dynamics is adopted for construction of the simulator. Performance indexes which are used for effective OTEC operation are also calculated in the simulator.
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10:00-12:00, Paper MoA02.8 | Add to My Program |
The Hydraulic Hammer Effect in Solar Tower Fluid Circuit Temperature Controller |
Igreja, José Manuel Cardoso | Inst. Superior De Engenharia De Lisboa |
Marakkos, Costas | The Cyprus Inst |
Lemos, Joao M. | Inesc-Id |
Keywords: Modeling and simulation of power systems, Constraint and security monitoring and control
Abstract: This article addresses the possible occurrence of hydraulic hammer effects in solar power towers and the limitations they impose on the response bandwidth of the control loop that governs the valve actuating on heating fluid flow. The partial differential equations that model the traveling waves associated to the hammer effect are solved with different methods. A finite dimensional approximation of the exact solution, by a transfer function with a finite number of poles is obtained. It is concluded that, for the speed of response of the temperature controller associated to the valve, there is no danger of inducing hydraulic hammer effects that can damage the equipment.
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10:00-12:00, Paper MoA02.9 | Add to My Program |
Control of OTEC Plant Using Double-Stage Rankine Cycle Considering Warm Seawater Temperature Variation |
Matsuda, Yoshitaka | Saga Univ |
Goto, Satoru | Saga Univ |
Sugi, Takenao | Saga Univ |
Morisaki, Takafumi | Saga Univ |
Yasunaga, Takeshi | Saga Univ |
Ikegami, Y. | Saga Univ. Japan |
Keywords: Control system design, Control of renewable energy resources, Modeling and simulation of power systems
Abstract: This research proposes a novel control strategy for the control of ocean thermal energy conversion (OTEC) plant using double-stage Rankine cycle with the variation of warm seawater temperature. The control strategy is derived based on the heat exchange in evaporator and condenser of OTEC plant, and realized by PI control law. The usefulness of the proposed control strategy is conrmed through numerical simulations using a simple dynamic model.
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10:00-12:00, Paper MoA02.10 | Add to My Program |
Robust Feedback Model Predictive Control of Sea Wave Energy Converters (I) |
Zhan, Siyuan | Queen Mary Univ. of London |
Li, Guang | Queen Mary Univ. of London |
He, Wei | UUniversity of Science and Tech. Beijing |
Keywords: Control of renewable energy resources, Power systems stability, Control system design
Abstract: This paper presents a robust feedback model predictive control (MPC) strategy for a sea wave energy converter (WEC). The control objective is to maximise the energy output while reducing the potential risk of device damage subject to sea wave excitation forces as persistent external disturbance. The robust feedback MPC proposed in this paper has the following prominent advantages: (i) the robust feasibility and stability can be guaranteed. (ii) the robust MPC method does not rely on the real time wave prediction. These features can not only reduce the unit cost of energy generation but also increase the reliability of the MPC controller.
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10:00-12:00, Paper MoA02.11 | Add to My Program |
Distributed Extremum Seeking Control for Wind Farm Power Maximization |
Ebegbulem, Judith | Queen's Univ |
Guay, Martin | Queen's Univ |
Keywords: Control of renewable energy resources, Dynamic interaction of power plants, Real time optimization and control
Abstract: A cooperative extremum seeking control technique is employed to overcome the need for accurate models of aerodynamic wake interactions among wind turbines thereby providing an effective technique for farm wide power capture. In this paper, a time-varying extremum seeking control (TVESC) approach is employed in a distributed fashion to maximize the power production of an array of wind turbines under constant and varying free stream wind speeds and directions. Each wind turbine (identified as an agent) has access to the measurement of its unknown local power generation. The goal is to maximize the unknown total power capture in the wind farm. A cooperative approach is employed where the agents work together to maximize this overall objective function. This approach requires every agent to exchange information with its neighbours over an undirected connected communication network. Each agent is also expected to estimate the mean of the overall cost function and this is achieved using a dynamic average consensus estimator. The dynamics of each agent's cost estimate is parametrized and a parameter estimation routine is used to estimate the unknown gradient information. A distributed extremum seeking controller is designed to ensure that the overall cost is maximized. This problem is tackled via numerical simulations, results are provided to show the effectiveness of this technique.
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10:00-12:00, Paper MoA02.12 | Add to My Program |
Induction in Optimal Control of Multiple-Kite Airborne Wind Energy Systems (I) |
Leuthold, Rachel | Univ. of Freiburg |
Gros, Sebastien | Assistant Pr. Chalmers Univ. Göteborg |
Diehl, Moritz | Univ. of Freiburg |
Keywords: Modeling and simulation of power systems, Optimal operation and control of power systems
Abstract: Multiple-kite Airborne Wind Energy Systems (MAWES) aim to decrease intermittency and cost over conventional wind turbines, while generating more power than other airborne wind energy systems. The purpose of this work is to estimate whether axial and angular induction are relevant phenomena in the modelling of pumping-cycle MAWES with two or more kites. Considering the modelling assumptions, axial induction is a relevant phenomenon and leads to significant changes in design-point, especially with respect to kite mass and secondary tether length. However, angular induction can be neglected in modelling for optimal design and control problems.
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10:00-12:00, Paper MoA02.13 | Add to My Program |
Decomposition Based Multi-Objective Optimization to Simultaneously Determine the Number and the Optimum Locations of Wind Turbines in a Wind Farm |
Mittal, Prateek | Indian Inst. of Tech. Hyderabad |
Mitra, Kishalay | IIT Hyderabad |
Keywords: Optimal operation and control of power systems, Control of renewable energy resources, Process optimisation
Abstract: Wind energy is one of the most progressive types of renewable energies deployed using wind turbines, which convert wind power into electrical energy. Various methodologies and layouts have been proposed to determine the optimal layout (numbers and locations) of wind turbines inside a wind farm to extract maximum energy. However, limited availability of land area has resulted in the construction of these wind farms near to human habitats causing a negative impact on human health. Compared to other factors, noise has become an immense concern for wind farm designers, as it needs to be constrained within the mandatory limits. Using a well-established wake model and ISO-9613-2 noise calculation, this study performs a wind farm layout optimization (WFLO) based on a multi-objective trade-off between minimization of noise propagation and maximization of energy generation. A novel hybrid methodology is proposed as a combination of proposed probabilistic variable decomposed multi-objective evolutionary algorithm (VdRBNSGA-II) and a newly developed gradient-based non-dominated normalized normal constraint (nD-NNC) method. As opposed to previous works, generated non-dominated front provides various alternative energy-noise solutions along with an additional information on turbine layouts, which allows a decision maker to select among different competing solutions based on the existing noise and other regulations.
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MoA03 Interactive Session, Caravelle 2.1 |
Add to My Program |
Smart Grid Operation |
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Chair: Giri, Fouad | Univ. of Caen Normandie |
Co-Chair: Weber, Harald | Univ. of Rostock |
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10:00-12:00, Paper MoA03.1 | Add to My Program |
A Distributed Scheme for Power Profile Market Clearing under High Battery Penetration |
Ishizaki, Takayuki | Tokyo Inst. of Tech |
Koike, Masakazu | Tokyo Univ. of Marine Science and Tech |
Yamaguchi, Nobuyuki | Tokyo Univ. of Science |
Ueda, Asami | Tokyo Inst. of Tech |
Bo, Tu | Tokyo Inst. of Tech |
Imura, Jun-ichi | Tokyo Inst. of Tech |
Keywords: Optimal operation and control of power systems, Smart grids, Modeling and simulation of power systems
Abstract: In this paper, we formulate a problem of power profile market clearing and develop a distributed market clearing scheme with explicit consideration of high battery penetration. The power profile market is a multiperiod electricity market in which each aggregator aims at making the highest profit by transacting a power profile, i.e., a time sequence of energy amounts at several time slots, that is generated by dispatchable power generation as well as the charge and discharge of batteries. It is theoretically shown that the clearing price profile during the time period of interest tends to level off in the high penetration of batteries. This finding enables to develop a distributed market clearing scheme that is implemented as a bidding strategy for the total energy amount during the period followed by a distributed iterative algorithm for profile imbalance minimization. Numerical simulations demonstrate the price leveling-off led by high battery penetration and the efficiency of the proposed distributed scheme.
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10:00-12:00, Paper MoA03.2 | Add to My Program |
A Portfolio Approach of Demand Side Management |
Wu, Zhou | Chongqing Univ |
Xia, Xiaohua | Univ. of Pretoria |
Keywords: Smart grids, Control system design, Real time simulation and dispatching
Abstract: Demand-side management, involving energy efficiency, demand response, and distributed generation, is an efficient and effective way to improve the security of electricity via changing the profile of power demand, but portfolio management of these resources still lack systematic and comprehensive investigation. In this paper, a optimization-based framework of demand-side management is proposed, with resource optimization at the bottom level and portfolio optimization at the top level. Resource optimization is modeled in terms of energy efficiency, demand response, and distributed generation. Portfolio optimization is also generalized into four categories, and for each category an instance of application is studied. Reported results shown that the portfolio approach is essential to reach full potential of demand-side resources and to achieve the best energy and cost savings.
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10:00-12:00, Paper MoA03.3 | Add to My Program |
Hybrid Consensus-Based Algorithm for Distributed Economic Dispatch Problem |
Liu, Xiao-Kang | Huazhong Univ. of Science and Tech |
Wang, Yan-Wu | Huazhong Univ. of Science and Tech |
Yan, Huaicheng | East China Univ. of Science and Tech |
Wang, Xiaoping | Huazhong Univ. of Sceince and Tech |
Hu, Xiaoya | Huazhong Univ. of Science and Tech |
Keywords: Distribution automation
Abstract: Economic dispatch is one of the fundamental problems in the power system research. The existing algorithms are either discrete iterative algorithms or continuous-time dynamical algorithms. By virtue of the hybrid techniques, a hybrid consensus-based algorithm is proposed in this paper, which consists of a finite-time continuous-time algorithm and a discrete-time interacted scheme. Moreover, inspired by the cluster synchronization and the benefit of the projection operator, a supervised strategy is carried out to ensure that each generator unit will work within its power generation constraint. For a better understanding of the supervised hybrid distributed algorithm, the detailed pseudo-code is presented. Finally, a numerical example is given to illustrate the effectiveness of the algorithm.
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10:00-12:00, Paper MoA03.4 | Add to My Program |
Market-Driven Energy Storage Planning for Microgrids with Renewable Energy Systems Using Stochastic Programming |
Habib, Abdulelah | UC San Diego |
Disfani, Vahid | UC San Diego |
Jan, Kleissl | UC San Diego |
de Callafon, Raymond | Univ. of California, San Diego |
Keywords: Modeling and simulation of power systems, Optimal operation and control of power systems, Smart grids
Abstract: Battery Energy Storage Systems (BESS) can mitigate effects of intermittent energy production from renewable energy sources and play a critical role in peak shaving and demand charge management. To optimally size the BESS from an economic perspective, the trade-off between BESS investment costs, lifetime, and revenue from utility bill savings along with microgrid ancillary services must be taken into account. The optimal size of a BESS is solved via a stochastic optimization problem considering wholesale market pricing. A stochastic model is used to schedule arbitrage services for energy storage based on the forecasted energy market pricing while accounting for BESS cost trends, the variability of renewable energy resources, and demand prediction. The uniqueness of the approach proposed in this paper lies in the convex optimization programming framework that computes a globally optimal solution to the financial trade-off solution. The approach is illustrated by application to various realistic case studies based on pricing and demand data from the California Independent System Operator (CAISO). The case study results give insight in optimal BESS sizing from a cost perspective, based on both yearly scheduling and daily BESS operation.
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10:00-12:00, Paper MoA03.5 | Add to My Program |
Exploring Vickrey-Clarke-Groves Mechanism for Electricity Markets |
Sessa, Pier Giuseppe | ETH Zurich |
Walton, Neil | Univ. of Manchester |
Kamgarpour, Maryam | Swiss Federal Inst. of Tech |
Keywords: Power systems stability
Abstract: Control reserves are power generation or consumption entities that ensure balance of supply and demand of electricity in real-time. In many countries, they are procured through a market mechanism in which entities provide bids. The system operator determines the accepted bids based on an optimization algorithm. We develop the Vickrey-Clarke-Groves (VCG) mechanism for these electricity markets. We show that all advantages of the VCG mechanism including incentive compatibility of the equilibria and efficiency of the outcome can be guaranteed in these markets. Furthermore, we derive conditions to ensure collusion and shill bidding are not profitable. Our results are verified with numerical examples.
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10:00-12:00, Paper MoA03.6 | Add to My Program |
The Design and Realization of Smart Energy Management System Based on Supply-Demand Coordination |
Okae, James | South China Univ. of Tech |
Du, Juan | South China Univ. of Tech |
Akowuah, Emmanuel Kofi | Kwame Nkrumah Univ. of Science and Tech |
Appiah, George | The Energy Center, Coll. of Engineering, Kwame Nkrumah Univ |
Anto, Emmanuel Kwaku | Kwame Nkrumah Univ. of Science and Tech |
Keywords: Distribution automation, Smart grids, Control of renewable energy resources
Abstract: Sub-Saharan Africa in recent years have been faced with many power challenges including limited and unreliable power supply, high cost of power supply and underdeveloped power infrastructures with serious negative impacts on the socio-economic development. This paper presents the development of Smart Energy Management Solution (SEMS) for buildings. The work seeks to propose a generic algorithm that supports existing wiring infrastructure of buildings in Africa to provide 24/7 reliable power supply and efficient management of limited power supply in buildings. SEMS focuses on the use of robust, distributed and heterogeneous power sources connected in islanding phenomenon to ensure reliability and also using a dynamic approach with energy efficiency measures to provide a balance between power supply and demand in buildings. A demonstration of SEMS for buildings was performed in MATLAB Simulink using actual data obtained from selected buildings at Kwame Nkrumah University of Science and Technology (KNUST), Ghana. SEMS revealed higher power reliability and efficiency in energy usage.
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10:00-12:00, Paper MoA03.7 | Add to My Program |
Total Optimization of Smart Community by Differential Evolutionary Particle Swarm Optimization |
Sato, Mayuko | Meiji Univ |
Fukuyama, Yoshikazu | Meiji Univ |
Keywords: Smart grids, Intelligent control of power systems, Optimal operation and control of power systems
Abstract: This paper proposes a total optimization method of a smart community (SC) by Differential evolutionary particle swarm optimization (DEEPSO). Various sectors of SC models such as an electric utility model, an industry model, and a building model are utilized in this paper. Whole of a SC is optimized in order to minimize energy costs, shift electric power load peak at high load hours, and minimize total CO2 emission of the SC using the models. The simulation results by the proposed method are compared with those by Particle swarm optimization (PSO), Differential Evolution (DE), and Evolutionary particle swarm optimization (EPSO) based methods.
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10:00-12:00, Paper MoA03.8 | Add to My Program |
Differentiated Energy Services: Multiple Arrival Times and Multiple Deadlines |
Mo, Yanfang | Hong Kong Univ. of Science and Tech |
Chen, Wei | The Royal Inst. of Tech. (KTH) |
Qiu, Li | Hong Kong Univ. of Sci. & Tech |
Keywords: Smart grids, Control of renewable energy resources, Optimal operation and control of power systems
Abstract: The supply/demand balance problem plays a pivotal role in the electricity grid, especially when an increasing proportion of power is generated from renewable resources. Enormous supply/demand models have been put forward in order to handle the balance problem in the smart grid, in the presence of high renewable penetration. This has brought an awareness that the flexibilities in the demand can be exploited to alleviate the burden on the supply. In view of this, we apply and study differentiated energy services, which distinguish demands in terms of their available flexibilities. As a starting point, we concentrate on two problems regarding adequacy. On the one hand, we find both numerical and analytical ways to check the adequacy of a supply. On the other hand, we characterize the adequacy gap in the case of an inadequate supply.
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10:00-12:00, Paper MoA03.9 | Add to My Program |
A Systematic V2G Control Scheme Assisted by Negative Feedforward DC Voltage Stabilization for Frequency Response (I) |
Sahoo, Subham | Indian Inst. of Tech. Delhi |
Mishra, Sukumar | Indian Inst. of Tech. Delhi |
Keywords: Modeling and simulation of power systems, Control system design
Abstract: This paper proposes a vehicle-to-grid (V2G) charging framework has been proposed in this paper owing to the optimal charging/discharging characteristics of the electric vehicles'(EVs) batteries with respect to the change in frequency in the grid. Since battery overcharging deteriorates its lifetime, the proposed charging framework ensures virtual tripping of the vehicles from the plug-in charging terminal once it is fully charged. Additionally, a faster DC bus voltage droop controller has been used for the voltage source converter (VSC) instead of the conventional low bandwidth PI controller to overcome the sluggish response. A negative feedforward signal alongwith the droop controller has been used to achieve DC voltage regulation. On basis of extensive simulation carried out in MATLAB/SIMULINK, the results demonstrate the effective performance of the V2G charging strategy as well as the faster performance of droop controller over PI controller.
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10:00-12:00, Paper MoA03.10 | Add to My Program |
Generating High Dynamic Range Images Using a Sky Imager |
Chauvin, Rémi | PROMES-CNRS |
Nou, Julien | Univ. of Perpignan |
Thil, Stéphane | Lab. PROMES (UPR 8521) |
Grieu, Stéphane | Univ. of Perpignan Via Domitia |
Keywords: Instrumentation and control systems, Control of renewable energy resources
Abstract: One way to optimize their operation of Concentrated Solar Power (CSP) plants is to obtain accurate short-term forecasts of Direct Normal Irradiance (DNI). To do so, the use of sky imagers is developing. They should provide high-quality images, especially in the circumsolar area, where pixels are usually saturated. To reduce the saturated area around the Sun, High Dynamic Range (HDR) imaging is needed. This paper describes the steps required to obtain HDR images from a sequence of low dynamic range images acquired using a sky imager. Since the HDR image will be used to study the sky radiance and the circumsolar area, a particular care is taken to maintain a linear sensor's response throughout the process.
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10:00-12:00, Paper MoA03.11 | Add to My Program |
Virtual Bidding: Equilibrium, Learning, and the Wisdom of Crowds |
Mather, Jonathan | UC Berkeley |
Bitar, Eilyan | Univ. of California at Berkeley |
Poolla, Kameshwar | Univ. of California at Berkeley |
Keywords: Analysis and control in deregulated power systems, Modeling and simulation of power systems, Optimal operation and control of power systems
Abstract: We present a theoretical analysis of virtual bidding in a stylized model of a single bus, two-settlement electricity market. North-American ISOs typically take a conservative approach to uncertainty, scheduling supply myopically in day-ahead (DA) markets to meet expected demand, neglecting the subsequent cost of recourse required to correct imbalances in the real-time (RT) market. This can result in generation costs that far exceed the minimum expected cost of supply. We explore the idea that virtual bidding can mitigate this excess cost incurred by myopic scheduling on the part of the ISO. Adopting a game-theoretic model of virtual bidding, we show that as the number of virtual bidders increases, the equilibrium market outcome tends to the socially optimal DA schedule, and prices converge between the DA and RT markets. We additionally analyze the effects of virtual bidding on social welfare and the variance of the price spread. Finally, we establish a repeated game formulation of virtual bidding, and investigate simple learning strategies for virtual bidders that guarantee convergence to the Nash equilibrium.
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10:00-12:00, Paper MoA03.12 | Add to My Program |
Interior Point Decomposition for Multi-Agent Optimization |
Bitlislioglu, Altug | Ec. Pol. Fédérale De Lausanne |
Pejcic, Ivan | EPFL |
Jones, Colin, N | Ec. Pol. Federale De Lausanne (EPFL) |
Keywords: Intelligent control of power systems, Distribution automation, Control of distributed systems
Abstract: In this paper we present the application of the interior-point decomposition (IPD) method, which was originally formulated for stochastic programming, to optimization problems involving multiple agents that are coupled through constraints and objectives. IPD eliminates the need to communicate local constraints and cost functions for all variables that relate to internal dynamics and objectives of the agents. Instead, by using embedded barrier functions, the problem is solved in the space of coupling variables, which are in general much lower in dimension compared to internal variables of individual agents. Therefore, IPD contributes to both problem size reduction as well as data hiding. The method is a distributed version of the primal barrier method, with locally and globally feasible iterations and faster convergence compared to first-order distributed optimization methods. Hence, IPD is suitable for early termination in time-critical applications. We illustrate these attractive properties of the IPD method with a distributed Model Predictive Control (MPC) application in the context of smart-grids, where a collection of commercial buildings provide voltage support to a distribution grid operator.
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10:00-12:00, Paper MoA03.13 | Add to My Program |
Solving the Optimal Power Flow Quadratic Cost Functions Using Vortex Search Algorithm |
Aydin, Ömer | Gazi Univ |
Tezcan, Suleyman Sungur | Gazi Univ |
Eke, Ibrahim | KIRIKKALE Univ |
Taplamacıoğlu, Müslüm Cengiz | Gazi Univ |
Keywords: Modeling and simulation of power systems, Optimal operation and control of power systems, Process optimisation
Abstract: This study proposes solving the constraint optimal power flow problem (OPF) by using vortex search algorithm (VSA). VSA is inspired by natural vortexes. Piecewise quadratic fuel cost and quadratic cost curve with valve point loadings test cases are solved on IEEE-30 bus test system by taking into consideration the system constraints such as generation limits, voltages at nodes, tap settings. The obtained test results show that VSA gives better results than any other algorithms which are used to solve the OPF problem.
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10:00-12:00, Paper MoA03.14 | Add to My Program |
Day-Ahead Scheduling of Multiple Thermal Power Plants with Output Constraints Based on PV Interval Prediction |
Koike, Masakazu | Tokyo Univ. of Marine Science and Tech |
Ishizaki, Takayuki | Tokyo Inst. of Tech |
Ramdani, Nacim | Univ. D'orléans |
Imura, Jun-ichi | Tokyo Inst. of Tech |
Keywords: Optimal operation and control of power systems, Control of renewable energy resources, Smart grids
Abstract: This paper studies a day-ahead scheduling problem on power generation of thermal power plants and charge/discharge of battery energy storage systems, where the confidence intervals of the prediction of photovoltaic (PV) and demand power are available. This problem is reduced to an interval optimization problem, where parameters having any values in certain intervals are included. We have developed a method for efficiently solving this kind of problems using tools from the interval analysis. However, the class of the problem that we have studied there is limited in the sense that the output capacity constraints of thermal power plants are not taken into account. This paper proposes a new method for efficiently solving a more practical scheduling problem with the capacity constraints of thermal power plants added. To use our method, we need to analyze a matrix corresponding to a Jacobian of a solution to an optimization with respect to parameters on demand deviation, which is too complex to analyze in general. The key to overcome this difficulty is that we introduce a virtual thermal power plant whose output capacity constraint is not imposed. By using this idea, we can transform the above matrix into an appropriate matrix that is analyzed as easily as possible. The efficiency of the proposed method is shown by numerical simulations on the power system in the Tokyo area.
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MoA04 Interactive Session, Caravelle 2.2 |
Add to My Program |
Intelligent Autonomous Vehicles |
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Chair: Plöger, Paul | Hochschule Bonn Rhein Sieg |
Co-Chair: Visala, Arto | Aalto Univ. ELEC School |
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10:00-12:00, Paper MoA04.1 | Add to My Program |
Digital Map Generation and Localization for Vehicles in Urban Intersections Using LiDAR and GNSS Data |
Quack, Tobias | RWTH Aachen Univ |
Reiter, Matthias | RWTH Aachen Univ |
Abel, Dirk | RWTH-Aachen Univ |
Keywords: Map building, Localization, Intelligent transportation systems
Abstract: Automated vehicles require robust and precise ego-localization, especially when operating in challenging environments such as urban intersections. One possibility to improve localization accuracy is the utilization of high-definition digital maps combined with on-board sensors capable of recognizing the mapped features. In this paper, a framework for the creation of digital maps based on LiDAR data and for localization using these maps is presented. Graph SLAM is used to calculate optimal maps given LiDAR, IMU, odometry and GNSS data and a particle filter-based localization approach is proposed for localization. The performance of the framework is experimentally demonstrated by conducting mapping and localization tests in an outdoor test environment.
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10:00-12:00, Paper MoA04.2 | Add to My Program |
A Complete Framework for Developing and Testing Automated Driving Controllers |
Lattarulo, Ray | Tecnalia |
Perez Rastelli, Joshue M | Tecnalia |
Dendaluce Jahnke, Martin | Tecnalia - Transport |
Keywords: Trajectory Tracking and Path Following, Autonomous Vehicles, Control architectures in automotive control
Abstract: Intelligent vehicles have improved their highly and fully automated driving capacities in the last years. Most of the developments are driven by the fast evolution of embedded systems for the acquisition, perception and communication modules. However, the fast growing of the automated vehicle market demands modern tools for validation, integration and testing of these new embedded functionalities, specially related to Advanced Driving Assistance Systems (ADAS). In this paper, a testing methodology for validation of path planning and control algorithms for current and future automated vehicles is presented. A high degree of modularity and adaptability have been considered in the design of the proposed method. It is based on a software tool for vehicle modeling, called Dynacar, which allows a good trajectory definition, cooperative maneuvers interaction and virtual validation. Different types of vehicles, scenarios (i.e.: urban, interurban, highways under different environmental conditions) and controllers can be tested. Moreover, Hardware-In-the-Loop configuration (i.e. electronic control units) can be also tested. Simulation results show a good performance in the implementation and configuration of urban scenarios, using different controllers in the proposed framework.
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10:00-12:00, Paper MoA04.3 | Add to My Program |
Cooperative Object Detection in Road Traffic |
Törő, Olivér | Budapest Univ. of Tech. and Ec |
Bécsi, Tamás | Budapest Univ. of Tech. and Ec |
Aradi, Szilárd | Budapest Univ. of Tech. and Ec |
Gaspar, Peter | Mta Sztaki |
Keywords: Sensor integration and perception, Sensing, Autonomous Vehicles
Abstract: Multi-sensor object detection and tracking on a highway scene with radar measurements is presented. The estimation algorithm is the random finite set based Bernoulli filter, working in the Bayesian framework. The recursion for calculating the Bayes estimation is implemented as a particle filter. %The sensors are attached to moving platforms, which poses difficulties in the information fusion process. A method is presented for calculating the likelihoods, suitable for particle filtering performed with moving sensors, assuming additive Gaussian measurement noise. In our approach, for calculating the posterior estimate of the object state, the measurement likelihoods are computed in the state space, instead of the measurement space, by mapping each measurement to the global coordinate system. The map consists of a nonlinear and an affine part. While the affine transformation trivially preserves the Gaussian nature, the nonlinear is well-proven to be approximated as affine too. This approach allows the particles to be drawn directly from the state space, hence the evaluation of the measurement model is not needed, which saves computational power.
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10:00-12:00, Paper MoA04.4 | Add to My Program |
A Control Effectiveness Estimator with a Moving Horizon Robustness Modification for Fault-Tolerant Hexacopter Control |
Niermeyer, Philipp | Tech. Univ. of Munich |
Pak, Mikhail | Tech. Univ. of Munich |
Lohmann, Boris | Tech. Univ. München |
Keywords: Fault Detection, Diagnosis, Identification, Isolation and Tolerance for Autonomous Vehicles, Autonomous Mobile Robots, Health monitoring and diagnosis
Abstract: Online estimation of control effectiveness in combination with appropriate controller reconfiguration is a promising method for introducing a certain fault-tolerance into a control system. The contribution of this paper is twofold. First, it investigates the observability of the parameters to be determined for a hexacopter; second, a novel approach is introduced which combines moving horizon estimator (MHE) and Lyapunov-based methods. Conventional and proposed estimators are tuned and validated to assess their performance. Ease of implementation along with beneficial error characteristics are the main strength of the presented nonlinear MHE-augmented Lyapunov-based estimator.
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10:00-12:00, Paper MoA04.5 | Add to My Program |
Map-Based Localization Method for Autonomous Vehicles Using 3D-LIDAR |
Wang, Liang | Tongji Univ |
Zhang, Yihuan | Tongji Univ |
Wang, Jun | Tongji Univ |
Keywords: Autonomous Vehicles, Sensing, Positioning Systems
Abstract: Precise and robust localization is a significant task for autonomous vehicles in complex scenarios. The accurate position of autonomous vehicles is necessary for decision making and path planning. In this paper, a novel method is proposed to precisely locate the autonomous vehicle using a 3D-LIDAR sensor. First, a curb detection algorithm is performed. Next, a beam model is utilized to extract the contour of the multi-frame curbs. Then, the iterative closest point algorithm and two Kalman filters are employed to estimate the position of autonomous vehicles based on the high-precision map. Finally, experimental results demonstrate the accuracy and robustness of the proposed method.
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10:00-12:00, Paper MoA04.6 | Add to My Program |
Collision-Free Rendezvous Maneuvers for Formations of Unmanned Aerial Vehicles |
Papen, Alexander | KU Leuven |
Vandenhoeck, Ray | ISAE |
Bolting, Jan | ISAE |
Defay, Francois | ISAE |
Keywords: Trajectory and Path Planning, Cooperative navigation, Autonomous Vehicles
Abstract: This article discusses the rendezvous maneuver for a fleet of small fixed-wing Unmanned Aerial Vehicles (UAVs). Trajectories have to be generated on-line while avoiding collision with static and dynamic obstacles and minimizing rendezvous time. An approach based on Model Predictive Control (MPC) is investigated which assures that the dynamic constraints of the UAVs are satisfied at every time step. By introducing binary variables, a Mixed Integer Linear Programming (MILP) problem is formulated. Computation time is limited by incorporating the receding horizon technique. A shorter planning horizon strongly reduces computation time, but delays detection of obstacles which can lead to an infeasible path. The result is a robust path planning algorithm that satisfies the imposed constraints. However, further relaxation of the constraints and fine-tuning is necessary to limit complexity.
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10:00-12:00, Paper MoA04.7 | Add to My Program |
Optimal Driving Policies for Autonomous Vehicles Based on Stochastic Drift Counteraction |
Zidek, Robert A. E. | Univ. of Michigan |
Kolmanovsky, Ilya V. | Univ. of Michigan |
Keywords: Autonomous Vehicles, Nonlinear and optimal automotive control
Abstract: This paper focuses on high-level control and decision-making for an autonomous car. We develop a hybrid probabilistic model that describes the motion of a car and its surrounding traffic on a two-lane highway/road, where the acceleration of the car and the lane changes serve as control variables. Using approximate dynamic programming (ADP) techniques and an enhanced version of the value iteration algorithm, a control policy is obtained that maximizes the expected time that the car maintains a prescribed minimum (safe) headway. Simulation results for different settings are provided to validate the approach.
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10:00-12:00, Paper MoA04.8 | Add to My Program |
Robust H-Infinity Control for Autonomous Scooters |
Jiang, Jingjing | Imperial Coll. London |
Evangelou, Simos | Imperial Coll |
Ross-Martin, Torquil | Autord Limited |
Astolfi, Alessandro | Imperial Col. London & Univ. of Rome Tor Vergata |
Keywords: Autonomous Vehicles, Trajectory Tracking and Path Following, Motion control
Abstract: This paper studies the trajectory tracking problem for the nonlinear model of a scooter and presents a robust H-infinity controller based on measurements of the tracking errors, the roll angle, the yaw angle and the steering angle. The study first introduces the full nonlinear model developed in Autosim which has 12 degrees of freedom. This is far more complex than a simple bicycle model and provides a good description of the scooter. Then a robust H-infinity controller based on the linearization of the nonlinear model is designed. Finally, the effectiveness of the controller is verified by means of two case studies.
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10:00-12:00, Paper MoA04.9 | Add to My Program |
Optimal Trajectory Tracking Control for Automated Guided Vehicles |
Das, Amritam | EINDHOVEN Univ. OF Tech |
Kasemsinsup, Yanin | Eindhoven Univ. of Tech |
Weiland, Siep | Eindhoven Univ. of Tech |
Keywords: Trajectory Tracking and Path Following, Decentralized Control and Systems, Autonomous Vehicles
Abstract: This work presents a control strategy for the trajectory tracking problem of an Automated Guided Vehicle (AGV). In contrast to the current methods, this design strategy remains invariant and flexible to arbitrary number of wheels. A three-stage cascade control strategy is proposed in which the control design of the vehicle chassis is separated from the wheel-tire modules. For a given vehicle reference trajectory, the outer controller determines the required forces and moment inputs to the vehicle chassis in a time-receding fashion. At the second stage, the required forces and moment inputs are optimally allocated for each module of wheel and tire. At each wheel-tire module, a nonlinear controller is used to determine the actual control input for the wheel actuators. The performance of the presented control strategy is illustrated through simulation results with a realistic driving scenario for a six-wheeled vehicle. We demonstrate that the proposed controller architecture is configurable for an arbitrary number of wheels and capable of handling large steering angles efficiently.
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10:00-12:00, Paper MoA04.10 | Add to My Program |
Time-Varying Formation Tracking with Collision Avoidance for Multi-Agent Systems |
Santiaguillo-Salinas, Jesús | CINVESTAV |
Aranda-Bricaire, Eduardo | CINVESTAV |
Keywords: Multi-vehicle systems, Motion control, Autonomous Mobile Robots
Abstract: This paper studies the collision avoidance problem in the time-varying formation tracking control for multi-agent systems. The proposed control strategy is decentralized, since agents have no global knowledge of the goal to achieve, knowing only the position and velocity of some agents. This control strategy allows a set of mobile agents to track a predetermined trajectory while they achieve a time-varying formation. For the collision avoidance, we add a repulsive vector field of the unstable focus type to the time-varying formation tracking control law. A leader-followers scheme is employed, using formation graphs to represent interactions between agents. The results are presented for the front points of differential-drive mobile robots. The theoretical results are verified by numerical simulation.
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10:00-12:00, Paper MoA04.11 | Add to My Program |
Bogie Fault Identification Based on EEMD Information Entropy and Manifold Learning |
Qin, Na | Southwest Jiaotong Univ |
Sun, Yongkui | Southwest Jiaotong Univ |
Gu, Pengju | School of Electrical Engineering, Southwest Jiao Tong Univ |
Ma, Lei | Southwest Jiaotong Univ |
Keywords: Fault Detection, Diagnosis, Identification, Isolation and Tolerance for Autonomous Vehicles, Safety
Abstract: In order to realize high-speed train bogie’s fault intelligent identification by data driven method, this paper proposes a new fault diagnosis framework. The main idea of the framework is to use features of ensemble empirical mode decomposition entropy, to reduce the feature dimension by Isometric Feature Mapping Manifold Learning, and identify the faults using support vector machine. The proposed method increases the fault detection rate effectively. Experimental results verify that the new method increases the accuracy of fault detection rate of the bogie failure.
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10:00-12:00, Paper MoA04.12 | Add to My Program |
A Fast On-Line Global Path Planning Algorithm Based on Regionalized Roadmap for Robot Navigation |
Zhong, Chaoliang | Intelligent Mobile Robotics Lab. of Hangzhou Dianzi Univ |
Liu, Shirong | Hangzhou Dianzi Univ |
Zhang, Botao | Hangzhou Dianzi Univ |
Lu, Qiang | Hangzhou Dianzi Univ |
Wang, Jian | Hangzhou Dianzi Univ |
Wu, Qiuxuan | HANGZHOU DIANZI Univ |
Gao, Farong | Hangzhou Dianzi Univ |
Keywords: Trajectory and Path Planning, Navigation, Robot Navigation, Programming and Vision
Abstract: Inspired by the 'fine-to-coarse' way-finding strategy that human utilized in the process of navigation, the paper proposed a fast on-line global path planning algorithm based on regionalized roadmap. First, a regionalized roadmap(RRM) that has a multi-layered structure is proposed for representing environments. Then, the RRM based FTC-A* algorithm is designed to plan an FTC-route(`fine-to-coarse' route) with being fine in vicinity yet coarse at a distance. This algorithm can be applied to on-line global path planning in navigation system of mobile robots or vehicles. Finally, the simulation and physical experiments have been carried out to show the efficacy of the proposed path planning algorithm which can be applied to such occasions as large-scale environment and dynamic changes of the destination.
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10:00-12:00, Paper MoA04.13 | Add to My Program |
Path Following Control Tuning for an Autonomous Unmanned Quadrotor Using Particle Swarm Optimization |
Rendón, Manuel A. | Federal Univ. of Juiz De Fora |
Ferraz Martins, Felipe | Federal Univ. of Juiz De Fora |
Keywords: Autonomous Vehicles, Trajectory and Path Planning, Trajectory Tracking and Path Following
Abstract: The goal of this work is to present the particle swarm optimization application for quadrotor attitude and path following control tuning. To perform this task a path following feed-forward plus proportional-derivative control strategy was implemented, using particle swarm for tuning gains, and root mean square error for validating. The basic of quadrotor kinematics and dynamics model will be presented. Path planning will be executed through Euler-Lagrange equations to minimize the snap cost function and guarantee a soft trajectory through a set of intermediary waypoints. The reliability of this approach will be tested through several simulations.
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MoA05 Regular Session, Latécoère |
Add to My Program |
IT-Based Remote Control and Communication Technology |
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Chair: Schilling, Klaus | Univ. Wuerzburg |
Co-Chair: Liu, Guoping | Univ. of South Wales |
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10:00-10:20, Paper MoA05.1 | Add to My Program |
Tracking Algorithms for Cooperative Telemaintenance Repair Operations |
Rojkov, Michael | Univ. of Würzburg |
Aschenbrenner, Doris | Zentrum Für Telematik E.v |
Schilling, Klaus | Univ. Wuerzburg |
Latoschik, Marc Erich | Univ. of Würzburg - HCI Group |
Keywords: Tele-maintenance, Remote servicing, Tele-presence
Abstract: This paper broaches the issue of using tracking algorithm frameworks on mobile devices in order to enable cooperative repair tasks. A local service technician can be supervised remotely by an external expert in the context of telemaintenance. At first we introduce several tracking libraries and test them on low-performance mobile devices. After that we conduct a test run on a large amount of pictures derived from video streams with different characteristics of the application area in order to find the best suited algorithm. At the end we describe the implementation on several mobile devices and delay considerations.
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10:20-10:40, Paper MoA05.2 | Add to My Program |
Proposal of Component Based Architecture for Internet of Things: Online Laboratory Case Study |
Gula, Miroslav | Slovak Univ. of Tech. in Bratislava, Faculty of Electr |
Žáková, Katarína | Slovak Univ. of Tech. in Bratislava |
Keywords: Internet of things
Abstract: The paper introduces new generic architecture for Internet of Things (IoT) applications with focus on online experimentation. The proposed architecture was inspired by many common features shared between IoT applications and online laboratories. The architecture follows principles of component based design of software systems, and reusability of components. The main goal of the proposed architecture and its implementations is to simplify and accelerate future development and deployment of new online laboratories and IoT applications as well.
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10:40-11:00, Paper MoA05.3 | Add to My Program |
Application of Feedback Control on Cloud-Based Web Simulation System |
Luo, Yiyou | Central South Univ |
Liu, Guoping | Univ. of South Wales |
Keywords: Tele-education, Real-time algorithms, scheduling, and programming, Remote servicing
Abstract: This article illustrated the development of a web simulation system based on Matlab distributed parallel cluster. The web simulation system construct a visual and controllable simulation interface using javascript and Asynchronous JavaScript and XML(AJAX) technology. In order to realize the Matlab resources dynamic allocation and management, elastic resources management method has been adopted. To achieve the multi-user concurrent access, the resource management system has been designed by adopting principle of feedback control and principle of Apache Hadoop Yet Another Resource Negotiator(YARN). The feasibility of this system demonstrated through application of simulation and practical use.
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11:00-11:20, Paper MoA05.4 | Add to My Program |
H_{infty} - Optimal Control Over Erasure Channel |
Mazumdar, Abhijit | Indian Inst. of Tech. Guwahati |
Krishnaswamy, Srinivasan | Indian Inst. of Tech. Guwahati |
Majhi, Somanath | Indian Inst. of Tech. Guwahati |
Keywords: Remote and distributed control, Tele-robotics, Remote servicing
Abstract: In this paper, the optimal H_{infty} control of a linear time invariant (LTI) Networked Control System (NCS) over a lossy network is analyzed. Specically, we consider a TCP-like data network where packet drops are modelled using a two-state Markov process. By employing the theory of dynamic games, a state-feedback H_{infty} controller is obtained. It is shown that, subjected to a suitable H1 disturbance attenuation level and suitable packet loss probabilities such a controller exists for both finite and infinite horizon cases. We also show the asymptotic stability of the NCS in the mean-square sense. Finally a numerical example is presented to demonstrate our work.
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11:20-11:40, Paper MoA05.5 | Add to My Program |
Coexistence Plant Model for an Automated Coexistence Management |
Schulze, Darina | Ifak, Inst. F. Automation Und Kommunikation E.v. Magdeburg |
Rauchhaupt, Lutz | Res. Inst |
Krätzig, Marko | Inst. Für Automation Und Kommunikation E.v |
Jumar, Ulrich | Ifak - Inst. F. Automation U. Kommunikation |
Keywords: Internet of things, Remote and distributed control, Telecommunication-based automation systems
Abstract: For data transmission of industrial applications parallel operations of various wireless communication systems are required in an industrial application environment. For guaranteeing that every application communication requirement of each wireless communication is fulfilled, those systems have to be coexistent between each other. The process ensuring coexistence is called coexistence management process. In current approaches this holistic management is not considered yet. We want to develop an automated coexistence management with control engineering considerations. In this contribution we propose a basic model approach for a coexistence plant. For describing the structure and the time behaviour of a coexistence plant, Petri-net graphs are used. Therefore we split the state space into two description types. The first one describes the transfer of messages and the second one describes the time behaviour of state transition in the coexistence plant. Finally, the derived model on measurements in a 2.4 GHz frequency spectrum within a WiFi test environment is parametrised and validated.
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11:40-12:00, Paper MoA05.6 | Add to My Program |
POWERLINK and Ethernet/IP Comparison As Robust Industrial Ethernet Protocols |
Barrios-Aviles, Juan | Univ. De Valencia. GPDD-ETSE |
Rosado-Muñoz, Alfredo | ETSE. Univ. of Valencia |
Iakymchuk, Taras | GPDS. Dpt. Electronic Engineering. Univ. Valencia |
Garcia-Chulvi, Marcos | B&R Automation |
Keywords: Remote and distributed control, Programmable logic controllers
Abstract: Industrial protocols based on Ethernet are common in automation and control systems nowadays. As different protocols claim the advantages over competitors based on their own experimental results, it is necessary to perform independent analyses where the industrial networks are analyzed. In this work, five different tests are perfomred to compare a well known protocol as Ethenet/IP with POWERLINK, a relatively new and open protocol. The aim is to provide results able to point the applications where each of the protocols is best suited. Commercial automation controllers from Omron Electronics and B&R are used. Results show that, for general purpose applications, both protocols provide similar result, is only in case of cyber-attack (identity supplantation) or remote management provides some differences.
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MoA06 Regular Session, Mermoz |
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Robustness Analysis |
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Chair: Khorrami, Farshad | NYU Pol. School of Engineering |
Co-Chair: Alazard, Daniel | Univ. De Toulouse - ISAE |
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10:00-10:20, Paper MoA06.1 | Add to My Program |
Modeling and Control of a Virtual Skydiver |
Clarke, Anna | Tech. Israel Inst. of Tech |
Gutman, Per-Olof | Tech. - Israel Inst. of Tech |
Keywords: Quantitative feedback theory, Tracking, Disturbance rejection
Abstract: An innovative approach of gaining an insight into motor skills involved in human body flight is proposed. Body flight is the art of maneuvering during the free fall stage of skydiving, which is a rapidly developing sport. The key idea is creating an autonomous system capable of performing skydiving maneuvers in a virtual way, and turning it into a powerful tool for improving instruction methods. Towards this goal, the Skydiver Simulator is developed, comprising Biomechanical, Aerodynamic, and Kinematic Models, Dynamic Equations of Motion, and a Virtual Reality Environment. A Two-Input-Two-Output controller is designed to track the desired inertial motion, producing commands in terms of limbs movements. The natural kinematic redundancy of the human body is resolved by introducing movement patterns, constructed according to ergonomic considerations and empirical knowledge of how skydiving maneuvers are performed. The controller is designed with the use of Quantitative Feedback Theory, providing robustness for dealing with plant non-linearities and inaccurate execution of the movement patterns. The skydiver simulator allowed reconstruction of many challenging aspects of body-flight observed by practicing skydivers. The virtual skydiver, comprising a controller and a guidance algorithm, was shown to autonomously perform meaningful body flight missions.
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10:20-10:40, Paper MoA06.2 | Add to My Program |
Robust Stability of Uncertain Discrete-Time Linear Systems with Input and Output Quantization |
Su, Lanlan | The Univ. of Hong Kong |
Chesi, Graziano | The Univ. of Hong Kong |
Keywords: Robustness analysis, Time-varying systems, Quantized control
Abstract: This paper investigates the robust stability of uncertain discrete-time linear systems with both input and output quantization. Specifically, the output of the plant and the output of the dynamic controller are quantized via two independent static logarithmic quantizers. In fact, there are three blocks of uncertainties under consideration due to the double quantization and uncertain plant. First, a necessary and sufficient condition in terms of LMI is proposed for the quadratic stability of the closed-loop system with double quantization. Second, the necessary and sufficient condition is further improved for the case with uncertainty in the plant. Moreover, it is shown that the proposed condition can be exploited to derive the coarsest logarithmic quantization density under which the uncertain plant can be quadratically stabilized via quantized state feedback. Lastly, a new class of Lyapunov function which depends on the quantization errors in a multilinear way is developed to obtain less conservative results.
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10:40-11:00, Paper MoA06.3 | Add to My Program |
Optimal Tracking and Disturbance Rejection with Invariant Zeros on the Unit Circle: A Polynomial Spectral Factorization Design |
Bunjaku, Drilon | FMCE at Univ. of Mitrovica |
Stefanovski, Jovan | JP Strezevo, Bitola |
Dimirovski, Georgi Marko | Dogus Univ. of Istanbul |
Stankovski, Mile | SS Cyril and Methodius Univ |
Keywords: Robustness analysis, Disturbance rejection (linear case), Optimal control theory
Abstract: We present a simple algorithm for computation of H2-optimal tracking and disturbance rejection controller of discrete-time systems possessing invariant zeros on the unit circle, based on polynomial spectral factorization. We prove that the column degrees of the associated para-hermitian polynomial matrix to be factorized are equal to the plant controllability indices. A numerical/computer simulation example is given.
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11:00-11:20, Paper MoA06.4 | Add to My Program |
A Game Theoretic Approach to Design a Resilient Controller for a Nonlinear Discrete System |
Salehghaffari, Hossein | NYU Tandon School of Engineering |
Krishnamurthy, Prashanth | NYU Pol. School of Engineering |
Khorrami, Farshad | NYU Pol. School of Engineering |
Keywords: Robust control applications, Disturbance rejection, Probabilistic robustness
Abstract: In this paper, the problem of designing a cyber-resilient controller is studied for a class of nonlinear discrete systems subject to actuator attacks. We develop a coupled control design approach, which incorporates interaction between the intrusion detection system (IDS) and the attacker, with the controller design in the physical layer. In the considered cyber-attack scenario, the attacker attempts to first bypass the IDS to spoof the system actuator and then deteriorate the controller performance in the physical layer. The optimal attack strategy to deceive the IDS is obtained based on a zero-sum game in the detection layer. In the physical layer, it is assumed that the system has a secure compensator along with the actuator to deal with the injected attack values. Therefore, the controller and the compensator are designed based on the results of the game in the detection layer, and stochastic stability analysis and Lyapunov function methods are used to prove boundedness of the system state in the probabilistic sense. Finally, through numerical analysis of a representative example, the proposed design procedure is illustrated and its efficacy in maintaining robust stability of the cyber-physical system under actuator attacks is demonstrated.
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11:20-11:40, Paper MoA06.5 | Add to My Program |
Performance Resilience Analysis of Dynamic Feedback Controllers for Both Multiplicative and Additive Gain Perturbations |
Feng, Fan | Marquette Univ |
Schneider, Susan | Marquette Univ |
Yaz, Edwin | Marquette Univ |
Keywords: Robustness analysis, Robust linear matrix inequalities, Uncertainty descriptions
Abstract: In this work, a procedure is presented for performance resilience analysis of continuous-time systems controlled by full-order dynamic feedback compensators. The resilience property is defined in terms of defining maximum perturbations on both the controller and observer gains that will maintain controller and observer eigenvalues in disjoint regions in the complex plane so that the closed loop system will sustain certain performance characteristics. The desired performance is characterized by the response speed and magnitude bounds on the response. Therefore, the intersection of two regions are chosen, vertical strips and sector regions, to guarantee upper and lower bounds on the settling (or response) time and an upper bound on the percent overshoot simultaneously. Maximum allowable gain perturbations are obtained based on the designer’s choices of closed loop eigenvalues and the regions in which eigenvalues remain when the gains are perturbed. The linear matrix inequality technique is used throughout the analysis process. Illustrative examples are included to demonstrate the effectiveness of the proposed methodology.
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11:40-12:00, Paper MoA06.6 | Add to My Program |
Probabilistic Mu Analysis for System Performances Assessment |
Falcoz, Alexandre | EADS Astrium |
Alazard, Daniel | Univ. De Toulouse - ISAE |
Pittet, Christelle | CNES |
Keywords: Robustness analysis, Uncertainty descriptions, Linear systems
Abstract: mathcal{H}_{infty}/mu methods are commonly used in Airbus Defence and Space for the design and validation of control solutions. Formulated in a worst-case paradigm, these methods necessarly lead to overly conservative solutions since sized on the extreme cases. However, the acceptance for relaxed control performances requires mastering the risk associated to the detected unlikely events calling for probabilistic performances metrics in the validation process. A probabilistic mu-analysis method is presented in this paper to exhaustively explore the uncertain parametric domain while evaluating the cumulative probability density function of the performance index. Recent mu-analysis tools implemented in the ONERA's SMAC toolbox are coupled with a dichotomic search algorithm in order to delimite the safe parametric domain while incrementing the probability of success of criteria. The proposed algorithm is applied to a didactic second order system to demonstrate the performances of the method.
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MoA07 Regular Session, Spot |
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Applications of Estimation and Identification |
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Chair: Tsourdos, Antonios | Cranfield Univ |
Co-Chair: Zhang, Qinghua | INRIA |
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10:00-10:20, Paper MoA07.1 | Add to My Program |
Identification of Fractional Differential Models for Lithium-Ion Polymer Battery Dynamics |
Jiang, Yunfeng | Univ. of California, San Diego |
Xia, Bing | San Diego State Univ |
Zhao, Xin | Univ. of California, San Diego |
Nguyen, Truong | Univ. of California in San Diego |
Mi, Chris | Univ. of Michigan-Dearborn |
de Callafon, Raymond | Univ. of California, San Diego |
Keywords: Continuous time system estimation, Software for system identification, Filtering and smoothing
Abstract: This paper presents a non-integer order (fractional) derivative model for modeling lithium-ion (Li-ion) battery dynamics in which direct continuous-time (CT) model identification methods are used to estimate the battery model parameters. In particular, the CT least squares-based state-variable filter (lssvf) identification method is extended to be used in fractional differential model identification of a battery system. The model performance and validation accuracy are evaluated on the basis of experimental data of a Li-ion polymer (LiPo) battery. It is shown how the proposed lssvf identification method can accurately capture the fractional order battery dynamics and exhibit better performance than integer order differential models.
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10:20-10:40, Paper MoA07.2 | Add to My Program |
On the Fragility of Network Security Verification in Rare-Observation Regimes |
Roozbehani, Mardavij | Massachusetts Inst. of Tech |
Povilionis, Armanas | Fondazione Univ. INUIT "Tor Vergata" |
Schunck, Christian H | Univ. of Rome “Tor Vergata” |
Talamo, Maurizio | Univ. Degli Studi Di Roma “Tor Vergata” |
Keywords: Fault detection and diagnosis, Filtering and smoothing, Bayesian methods
Abstract: This paper develops a conceptual framework for network security verification, and provides an understanding of the inherent difficulties that arise due to two phenomena: (a) incomplete information, e.g., due to observation noise, and (b) rare observations, e.g., those triggered by an attack or very low probability failures. A Hidden Markov Model (HMM) is adopted as an abstraction of the network dynamics and information structure. It is shown that due to incomplete state information, certain rare observations can completely overhaul strong prior beliefs about the states of the network. In particular, certain rare observations may lead to situations in which the entropy of the best estimate of the past (or current) states becomes unacceptably large. Furthermore, these phenomena can occur even when the noise in sensory information is arbitrarily small. Simulation results over random, random regular, and scale free networks highlight remarkable similarities in patterns of emergence of fragility across different network topologies. These results are relevant for security applications such as intrusion detection, failure recovery and digital forensics in complex networks and cyber-physical systems.
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10:40-11:00, Paper MoA07.3 | Add to My Program |
Change Detection and Isolation in Mechanical System Parameters Based on Perturbation Analysis |
Döhler, Michael | Inria |
Zhang, Qinghua | INRIA |
Mevel, Laurent | INRIA |
Keywords: Fault detection and diagnosis, Vibration and modal analysis, Mechanical and aerospace estimation
Abstract: The monitoring of mechanical systems aims at detecting damages at an early stage, in general by using output-only vibration measurements under ambient excitation. In this paper, a method is proposed for the detection and isolation of small changes in the physical parameters of a linear mechanical system. Based on a recent work where the multiplicative change detection problem is transformed to an additive one by means of perturbation analysis, changes in the eigenvalues and eigenvectors of the mechanical system are considered in the first step. In a second step, these changes are related to physical parameters of the mechanical system. Finally, another transformation further simplifies the detection and isolation problem into the framework of a linear regression subject to additive white Gaussian noises, leading to a numerically efficient solution of the considered problems. A numerical example of a simulated mechanical structure is reported for damage detection and localization.
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11:00-11:20, Paper MoA07.4 | Add to My Program |
Constrained Multiple Model Bayesian Filtering for Target Tracking in Cluttered Environment |
He, Shaoming | Cranfield Univ |
Shin, Hyo-Sang | Cranfield Univ |
Tsourdos, Antonios | Cranfield Univ |
Keywords: Mechanical and aerospace estimation, Bayesian methods, Particle filtering/Monte Carlo methods
Abstract: This paper proposes a composite Bayesian filtering approach for unmanned aerial vehicle trajectory estimation in cluttered environments. More specifically, a complete model for the measurement likelihood function of all measurements, including target-generated observation and false alarms, is derived based on the random finite set theory. To accommodate several different manoeuvre modes and system state constraints, a recursive multiple model Bayesian filtering algorithm and its corresponding Sequential Monte Carlo implementation are established. Compared with classical approaches, the proposed method addresses the problem of measurement uncertainty without any data associations. Numerical simulations for estimating an unmanned aerial vehicle trajectory generated by generalised proportional navigation guidance law clearly demonstrate the effectiveness of the proposed formulation.
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11:20-11:40, Paper MoA07.5 | Add to My Program |
Three Examples of the Stability Properties of the Invariant Extended Kalman Filter |
Barrau, Axel | Safran |
Bonnabel, Silvere | Mines ParisTech |
Keywords: Mechanical and aerospace estimation, Estimation and filtering, Nonlinear system identification
Abstract: In the aerospace industry the (multiplicative) extended Kalman filter (EKF) is the most common method for sensor fusion for guidance and navigation. However, from a theoretical point of view, the EKF has been shown to possess local convergence properties only under restrictive assumptions. In a recent paper, we proved a slight variant of the EKF, namely the invariant extended Kalman filter (IEKF), when used as a *nonlinear observer*, possesses local convergence properties under the same assumptions as those of the linear case, for a class of systems defined on Lie groups. This is especially interesting as the IEKF also retains all the desirable features of the standard EKF, especially its relevant tuning in the presence of noises. In the present paper we provide three examples of engineering interest where the theory is shown to apply, yielding three EKF-like algorithms with guaranteed local convergence properties. Beyond those contributions, the present article is sufficiently accessible to help the practitioner understand through concrete examples the general IEKF theory, and to provide him with guidelines for the design of IEKFs.
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11:40-12:00, Paper MoA07.6 | Add to My Program |
A Low-Cost Non-Invasive Slag Detection System for Continuous Casting |
Takács, Gergely | Slovak Univ. of Tech |
Ondrejkovic, Karol | Slovak Univ. of Tech |
Hulko, Gabriel | Slovak Univ. of Tech |
Keywords: Vibration and modal analysis, Fault detection and diagnosis
Abstract: The majority of steel produced today is made by the technology known in the steel making industry as continuous casting. Deciding when to stop the flow of molten steel from the ladle is not trivial, since terminating the process too early affects yield negatively, while closing the outflow valve too late lets slag enter the casting process. There is a variety of automatic slag detection systems available now, but numerous casting operations still rely on the decision of a human operator. In this paper, we propose a cost-effective non-invasive slag detection system that is based on the vibration signal measured during the casting procedure. In this method, the vibration acceleration data is analyzed by a cumulative sum (CUSUM) control chart in real time, providing a violation signal that can be used to close the ladle outflow valve. The proposed algorithm is implemented in an embedded microcontroller unit and is verified through a simulation study and laboratory experiments. These trials suggest that the technique may perform similarly to the human operator, however, just as in the case of the human operator, the disadvantage is that it only identifies the change when a small amount of slag already enters the tundish. Its advantage lies in its simplicity, low-cost, portable and non-invasive nature; possibly aiding the decision of the operator or, it may be used to create a completely automated ladle outflow valve closing system.
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MoA08 Open Invited Session, Diamant |
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Nonlinear System Identification Benchmarks |
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Chair: Schoukens, Maarten | Vrije Univ. Brussel |
Co-Chair: Janot, Alexandre | ONERA |
Organizer: Schoukens, Maarten | Vrije Univ. Brussel |
Organizer: Noël, Jean-Philippe | Univ. of Liège |
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10:00-10:20, Paper MoA08.1 | Add to My Program |
Three Benchmarks Addressing Open Challenges in Nonlinear System Identification (I) |
Schoukens, Maarten | Vrije Univ. Brussel |
Noël, Jean-Philippe | Univ. of Liège |
Keywords: Nonlinear system identification
Abstract: Nonlinear system identification is a fast evolving field of research with contributions from different communities. It is not always straightforward to compare different models and identification approaches. Therefore it is of high importance to offer well chosen benchmarks to the nonlinear system identification community. The interaction generated by such a benchmark can push the state of the art in nonlinear system identification forward. This paper discusses some challenges that are present nowadays in the nonlinear system identification community. Three benchmarks are presented, a hysteretic benchmark, a Wiener-Hammerstein benchmark, and a cascaded tanks benchmark, each addressing one or more of these challenges.
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10:20-10:40, Paper MoA08.2 | Add to My Program |
An Unstructured Flexible Nonlinear Model for the Cascaded Water-Tanks Benchmark (I) |
Relan, Rishi | Vrije Univ. Brussel (VUB) |
Tiels, Koen | Vrije Univ. Brussel |
Marconato, Anna | Vrije Univ. Brussel |
Schoukens, Johan | Vrije Univ. Brussel |
Keywords: Nonlinear system identification, Frequency domain identification, Nonparametric methods
Abstract: Many real world systems exhibit a quasi linear or weakly nonlinear behavior during normal operation, and a hard saturation effect for high peaks of the input signal. A typical example of such systems is the cascaded water-tanks benchmark. This benchmark combines soft and hard nonlinearities to be identified based on relatively short data records. In this paper, a methodology to identify an unstructured flexible nonlinear state space model (NLSS) for the cascaded water-tanks benchmark is proposed. The flexibility of the NLSS model structure is demonstrated by introducing two different initialisation schemes. Furthermore the strengths and short-comings of the model structure are discussed with respect to the cascaded water-benchmark identification problem.
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10:40-11:00, Paper MoA08.3 | Add to My Program |
Polynomial State-Space Model Decoupling for the Identification of Hysteretic Systems (I) |
Fakhrizadeh Esfahani, Alireza | Vrije Univ. Brussel (VUB) |
Dreesen, Philippe | Vrije Univ. Brussel (VUB) |
Tiels, Koen | Vrije Univ. Brussel |
Noël, Jean-Philippe | Univ. of Liège |
Schoukens, Johan | Vrije Univ. Brussel |
Keywords: Nonlinear system identification, Frequency domain identification, Vibration and modal analysis
Abstract: Hysteresis is a nonlinear effect that shows up in a wide variety of engineering and scientific fields. The identification of hysteretic systems from input-output data is an important but challenging question, which has been studied by using both tailored parametric white-box identification methods as by using black-box identification methods. The white-box modeling approach is by far the most common in identifying hysteretic systems, and has the advantage of resulting into an interpretable model, but it requires to be adjusted to a specific hysteresis model. A black-box approach can be used more universally, but results in models containing many parameters that cannot easily be interpreted. In the current paper, we propose a two-step identification procedure that combines the best of the two approaches. We employ the Bouc-Wen hysteretic model to generate data that is used for identification. The system is identified using a black-box polynomial nonlinear state-space identification procedure. We reduce the number of parameters in this model by applying a polynomial decoupling method that results in a more parsimonious representation. We compare the full black-box model with the decoupled model and show that the proposed method results in a comparable performance, while significantly reducing the number of parameters.
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11:00-11:20, Paper MoA08.4 | Add to My Program |
Continuous-Time Nonlinear Systems Identification with Output Error Method Based on Derivative-Free Optimisation (I) |
Brunot, Mathieu | ONERA - ENI Tarbes |
Janot, Alexandre | ONERA |
Carrillo, Francisco | Ec. Nationale D'ingénieurs De Tarbes (ENIT) |
Keywords: Nonlinear system identification, Grey box modelling, Continuous time system estimation
Abstract: The purpose of this study is to tackle the nonlinear system identification benchmarks proposed by (Schoukens and Noël, 2016). Two of the three benchmarks are considered, namely the cascaded tanks setup and the Bouc-Wen hysteretic system. Our approach is an output error method based on continuous time models. Due to the nonlinearities, the derivatives of the output with respect to the parameters are not defined everywhere. We compare the performance of two derivative-free optimisation solvers: the Nelder-Mead simplex and the NOMAD algorithm. Both are available in the OPTI Toolbox. The results suggest that the method is appropriate for those systems. However, it is not possible to discriminate between both optimisation solvers.
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11:20-11:40, Paper MoA08.5 | Add to My Program |
Automatic Modeling with Local Model Networks for Benchmark Processes (I) |
Belz, Julian | Univ. of Siegen |
Münker, Tobias | Univ. of Siegen |
Heinz, Tim Oliver | Univ. of Siegen |
Kampmann, Geritt | Univ. of Siegen |
Nelles, Oliver | Univ. of Siegen |
Keywords: Nonlinear system identification, Identification for control, Software for system identification
Abstract: In this paper an automated model generation framework is used to identify three nonlinear dynamic benchmark processes. The nonlinearity is approximated using tree-based Local Model Networks (LMN) with external dynamics, which are represented by three different approaches: NARX, NFIR and NOBF. The automated method assumes no prior knowledge about the process, and aims to be a ready-to-use tool for system identification. Results are given for the different approaches and benchmark processes. The importance of the choice of training data for a good generalizing model performance is discussed.
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11:40-12:00, Paper MoA08.6 | Add to My Program |
Nonparametric Volterra Series Estimate of the Cascaded Water Tanks Using Multidimensional Regularization (I) |
Birpoutsoukis, Georgios | Vrije Univ. Brussel |
Csurcsia, Péter Zoltán | Vrije Univ. Brussel |
Schoukens, Johan | Vrije Univ. Brussel |
Keywords: Nonparametric methods
Abstract: This paper presents an efficient nonparametric time domain nonlinear system identification method applied to the measurement benchmark data of the cascaded water tanks. In this work a method to estimate efficiently finite Volterra kernels without the need of long records is presented. This work is a novel extension of the regularization methods that have been developed for impulse response estimates of linear time invariant systems. Due to the limited number of available data samples, the highest considered Volterra order is limited. In the paper the results for different scenarios varying from a simple Finite Impulse Response (FIR) model to a 3rd degree Volterra series are compared and studied. In each case, the transients are removed by a special regularization method based on the novel ideas of transient removal for Linear Time-Varying (LTV) systems. Using the proposed methodologies, the nonparametric Volterra models provide a very good data-fit, and their performance is comparable with the white-box (physical) models.
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MoA09 Open Invited Session, Argos |
Add to My Program |
Optimization-Based Controller Design for Nonlinear Systems: Analytic and
Geometric Analysis |
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Chair: Jean, Frederic | ENSTA ParisTech |
Co-Chair: Ferretti, Roberto | Roma Tre Univ |
Organizer: Jean, Frederic | ENSTA ParisTech |
Organizer: Zidani, Hasnaa | ENSTA ParisTech |
Organizer: Ferretti, Roberto | Roma Tre Univ |
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10:00-10:20, Paper MoA09.1 | Add to My Program |
Analytical Initialization of a Continuation-Based Indirect Method for Optimal Control of Endo-Atmospheric Launch Vehicle Systems (I) |
Bonalli, Riccardo | ONERA - the French Aerospace Lab |
Hérissé, Bruno | Onera - the French Aerospace Lab |
Trelat, Emmanuel | Univ. Pierre Et Marie Curie (Paris 6) |
Keywords: Real-time control, Aerospace
Abstract: In this paper, we propose a strategy to solve endo atmospheric launch vehicle optimal control problems using indirect methods. More specically, we combine shooting methods with an adequate continuation algorithm, taking advantage of the knowledge of an analytical solution of a simpler problem. This procedure is resumed in two main steps. We first simplify the physical dynamics to obtain a new analytical guidance law which is used as initial guess for a shooting method. Then, a continuation procedure makes the problem converge to the complete dynamics leading to the optimal solution of the original system. Numerical results are presented.
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10:20-10:40, Paper MoA09.2 | Add to My Program |
Optimal Control Theory and the Efficiency of the Swimming Mechanism of the Copepod Zooplankton (I) |
Rouot, Jérémy | INRIA Sophia Antipolis |
Bettiol, Piernicola | Univ. De Bretagne Occidentale |
Bonnard, Bernard | Inst. De Mathématiques De Bourgogne |
Nolot, Alice | Univ. De Bourgogne |
Keywords: Optimal control theory, Hamiltonian trajectories in optimal control, Systems biology
Abstract: In this article, the model of swimming at low Reynolds number introduced by D. Takagi (2015) to analyze the displacement of an abundant variety of zooplankton is used as a testbed to analyze the motion of symmetric microswimmers in the framework of optimal control theory assuming that the motion occurs minimizing the energy dissipated by the fluid drag forces in relation with the concept of efficiency of a stroke. The maximum principle is used to compute periodic controls candidates as minimizing controls and is a decisive tool combined with appropriate numerical simulations using indirect optimal control schemes to determine the most efficient stroke compared with standard computations using Stokes theorem and curvature control. Also the concept of graded approximations in SR-geometry is used to evaluate strokes with small amplitudes providing a fixed displacement and minimizing the dissipated energy.
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10:40-11:00, Paper MoA09.3 | Add to My Program |
A Monotone Scheme for Sparsity Optimization in L^p with P in (0, 1] (I) |
Ghilli, Daria | Univ. of Graz |
Kunisch, Karl | Univ. Graz |
Keywords: Non-smooth and discontinuous optimal control problems, Optimal control theory, Control of partial differential equations
Abstract: Nonsmooth nonconvex optimization problems are considered in infinite dimensional sequence spaces l^p with p in (0, 1]. Our starting points are necessary optimality conditions in the form of a complementary system and a monotonically convergent algorithm for a regularized version of the original problem. We propose an algorithm for solving the necessary optimality condition based on a combination of the monotone scheme and an active-set strategy. Numerical results for different test cases are provided, e.g. for optimal control problems and microscopy image reconstruction.
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11:00-11:20, Paper MoA09.4 | Add to My Program |
Inverse Optimal Control Problem: The Sub-Riemannian Case (I) |
Jean, Frederic | ENSTA ParisTech |
Maslovskaya, Sofya | ENSTA ParisTech |
Zelenko, Igor | Texas A&M |
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11:20-11:40, Paper MoA09.5 | Add to My Program |
Necessary Conditions for a Nonclassical Control Problem with State Constraints (I) |
Arroud, Chems Eddine | Univ. of Jijel |
Colombo, Giovanni | Univ. of Padova |
Keywords: Control of constrained systems, Optimal control theory, Non-smooth and discontinuous optimal control problems
Abstract: We consider the problem of minimizing the cost h(x(T)) at the endpoint of a trajectory x subject to the finite dimensional dynamics x' in - N_C(x) + f(x,u), x(0)=x_0, where N_C denotes the normal cone to a convex set C. Such differential inclusion is termed, after Moreau, sweeping process. We label it as a nonclassical control problem with state constraints, because the right hand side is discontinuous with respect to the state, and the constraint x(t) in C for all t is implicitly contained in the dynamics. We prove necessary optimality conditions in the form of Pontryagin Maximum Principle by requiring, essentially, that C is independent of time. If the reference trajectory is in the interior of C, necessary conditions coincide with the usual ones. In the general case, the adjoint vector is a BV function and a signed vector measure appears in the adjoint equation.
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11:40-12:00, Paper MoA09.6 | Add to My Program |
About the Minimal Time Crisis Problem and Application (I) |
Bayen, Terence | Univ. of Montpellier 2 |
Rapaport, Alain | INRA |
Keywords: Optimal control theory, Control design for hybrid systems
Abstract: We study the optimal control problem where the cost functional to be minimized represents the so-called time of crisis, i.e. the time spent by a trajectory solution of a control system outside a given set K. Such a problematic finds applications in population dynamics, such as in prey-predator models, which require to find a control strategy that may leave and enter the crisis domain K a number of time that increases with the time interval. One important feature of the time crisis function is that it can be expressed using the characteristic function of K that is discontinuous preventing the use of the standard Maximum Principle. We provide an approximation scheme of the problem based on the Moreau-Yosida approximation of the indicator function of K and prove the the convergence of an optimal sequence for the approximated problem to an optimal solution of the original problem when the regularization parameter goes to zero. We illustrate this approach on a simple example and then on the Lotka-Vo
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MoA10 Regular Session, Cassiopée |
Add to My Program |
Nonlinear Predictive Control |
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Chair: Kvasnica, Michal | Slovak Univ. of Tech. in Bratislava |
Co-Chair: Sopasakis, Pantelis | KU Leuven |
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10:00-10:20, Paper MoA10.1 | Add to My Program |
A Generalized Approach to Economic Model Predictive Control with Terminal Penalty Functions |
Dong, Zihang | Imperial Coll. London |
Angeli, David | Imperial Coll |
Keywords: Nonlinear predictive control, Asymptotic stabilization, Lyapunov methods
Abstract: In this paper, we first introduce upper and a lower bounds of the best asymptotic average performance for nonlinear control systems based on the concepts of dissipativity and control storage functions. This allows to extend the formulation and analysis of Economic Model Predictive Control to more general optimal operation regimes, such as periodic solutions. A performance and stability analysis is carried out within this generalized framework. Finally two examples are proposed and discussed to show the merits of the proposed approach.
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10:20-10:40, Paper MoA10.2 | Add to My Program |
Stochastic Economic Model Predictive Control for Markovian Switching Systems |
Sopasakis, Pantelis | KU Leuven |
Herceg, Domagoj | IMT School for Advanced Studies Lucca |
Patrinos, Panagiotis | KU Leuven |
Bemporad, Alberto | IMT Inst. for Advanced Studies Lucca |
Keywords: Nonlinear predictive control, Stochastic optimal control problems
Abstract: The optimization of process economics within the model predictive control (MPC) formulation has given rise to a new control paradigm known as economic MPC (EMPC). Several authors have studied the closed-loop properties of EMPC-controlled deterministic systems, however, little have uncertain systems been studied. In this paper we propose EMPC formulations for nonlinear Markovian switching systems which guarantee recursive feasibility, asymptotic performance bounds and constrained mean square stability.
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10:40-11:00, Paper MoA10.3 | Add to My Program |
OPTIPLAN: A Matlab Toolbox for Model Predictive Control with Obstacle Avoidance |
Janecek, Filip | Slovak Univ. of Tech. in Bratislava |
Klauco, Martin | Slovak Univ. of Tech. in Bratislava |
Kaluz, Martin | Slovak Univ. of Tech. in Bratislava, Slovakia |
Kvasnica, Michal | Slovak Univ. of Tech. in Bratislava |
Keywords: Control of constrained systems
Abstract: This paper introduces OPTIPLAN - a Matlab-based toolbox for formulating, solving, and simulating model predictive controllers (MPC) with embedded obstacle avoidance functionality. The toolbox offers a simple, yet powerful user interface that allows control researchers and practitioners to set up even complex control problems with just a few lines of code. OPTIPLAN fully automates tedious mathematical and technical details and let the user concentrate on the problem formulation. It features a rich set of tools to perform closed-loop simulations with MPC controllers and to visualize the results in an appealing way. From a theoretical point of view, OPTIPLAN tackles non-convex obstacle avoidance constraints in two ways: either by using binary variables or by resorting to suboptimal, but convex, time-varying constraints.
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11:00-11:20, Paper MoA10.4 | Add to My Program |
Nonlinear Model Predictive Control Based on Improved Bernstein Global Optimization Algorithm with Application to Power Systems |
Patil, Bhagyesh | Cambridge Center for Advanced Res. and Education |
Maciejowski, Jan | Univ. of Cambridge |
Ling, Keck-Voon | Nanyang Tech. Univ |
Keywords: Nonlinear predictive control, Power systems
Abstract: This paper presents an improved Bernstein global optimization algorithm based model predictive control (MPC) scheme for nonlinear systems. A new improvement in the Bernstein algorithm is the introduction of a box pruning operator, which during a branch-and-bound search, discards portions of the solution search-space that do not contain the global solution, thereby speeding up the algorithm. The applicability of this MPC scheme is demonstrated with a simulation study on a nonlinear single machine infinite bus power system. The simulation results show improvements in the system damping and settling time compared with the classical power system stabilizer and partial feedback linearization control schemes.
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11:20-11:40, Paper MoA10.5 | Add to My Program |
Implicit Integrators for Linear Dynamics Coupled to a Nonlinear Static Feedback and Application to Wind Turbine Control |
Gros, Sebastien | Assistant Pr. Chalmers Univ. Göteborg |
Quirynen, Rien | KU Leuven |
Schild, Axel | BASF |
Diehl, Moritz | Univ. of Freiburg |
Keywords: Nonlinear predictive control, Real-time control, Control of renewable energy resources
Abstract: Efficient integration schemes with sensitivity propagation are crucial for deploying real-time Nonlinear Model Predictive Control on systems described by continuous time dy- namics. Implicit integration schemes are preferred when stiff modes are present in the model equations, or when the equations are implicit. We consider here a class of models, where the dynamics are linear, but coupled to a general static nonlinear feedback function. We propose a collocation-based implicit integration scheme where a lifting-condensing approach is used to exploit this specific structure to reduce the size of the linear algebra underlying the integrator. This technique yields a significant reduction in the computational complexity of performing the system integration and sensitivity analysis, when the static nonlinearity is of much smaller dimensions than the complete dynamics. The proposed method is illustrated on a complex wind turbine model, resulting in a significant gain of computational time in the linear algebra, and an overall gain of computational time of a factor 2.
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11:40-12:00, Paper MoA10.6 | Add to My Program |
Nonlinear Model Predictive Congestion Control for Networks |
Han, Cunwu | North China Univ. of Tech |
Li, Mengqi | North China Univ. of Tech |
Jing, Yuanwei | Northeastern Univ |
Liu, Lei | Beijing Key Lab. of Fieldbus Tech. and Automation, No |
Pang, Zhong-Hua | North China Univ. of Tech |
Sun, De Hui | North China Univ. of Tech |
Keywords: Nonlinear predictive control, Uncertainty descriptions, Control under communication constraints (nonliearity)
Abstract: This paper addresses congestion control for networks. The main focus is the modeling and compensation of nonlinear disturbance in the network, which is seldom considered in the literature. A new congestion control method is presented to compensate for the effects of nonlinear disturbance, uncertainty, time-varying delay, and input constraint. A state feedback congestion controller is designed via model predictive control approach. The stability of the closed-loop system is analyzed by using Lyapunov-Krasovskii functional. The effectiveness and feasibility of the proposed controller are verified by simulation results.
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MoA11 Invited Session, Ariane 1 |
Add to My Program |
Thermodynamics in Control |
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Chair: Dochain, Denis | Univ. Catholique De Louvain |
Co-Chair: Le Gorrec, Yann | Femto-St, Ensmm |
Organizer: Dochain, Denis | Univ. Catholique De Louvain |
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10:00-10:20, Paper MoA11.1 | Add to My Program |
Reaction Flux versus Reaction Force: Easy to Stabilize? (I) |
Hoang, Ngoc Ha | Univ. of Tech. (VNU-HCM) and Univ. Cath. De Louvain (Belgiu |
Dochain, Denis | Univ. Catholique De Louvain |
Hudon, Nicolas | Queen's Univ |
Keywords: Chemical engineering, Lyapunov methods
Abstract: Chemical reaction rate, also known as the reaction flux involved in chemical reactors, plays a central role as the source generating the abnormal dynamics characteristics. This paper proposes a structural approach for the stabilization of such systems through the control of the reaction flux by considering the Lyapunov stability theory within a standard thermodynamic framework. More precisely, the reaction flux is structurally considered as a nonlinear function of conjugated reaction force. The thermodynamic constraint of such a relationship is that the inherent non-negative definiteness property of the irreversible entropy production due to chemical reaction has to be fulfilled. Consequently, it allows to re-express a large class of reaction rates described by the mass-action-law and more interestingly, the operation of the reaction system at a desired set-point consists in controlling the reaction force on the basis of an affinity-related storage function. Numerical simulations for a non isothermal continuous stirred tank reactor (CSTR) involving one reversible reaction operated with multiple steady states illustrate the application of the theoretical developments.
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10:20-10:40, Paper MoA11.2 | Add to My Program |
Wegscheider’s Condition and Passivity of Open Chemical Reaction Systems (I) |
Alonso, Antonio A. | IIM-CSIC |
Otero-Muras, Irene | IIM-CSIC |
Keywords: Stability of nonlinear systems, Passivity-based control
Abstract: The second law imposes a number of constraints on the set of feasible reaction rate coefficients that a chemical network can accept, known in the literature on CRNT (Chemical Reaction Network Theory) as Wegscheider's condition. % One main consequence is that any closed chemical reaction system operating at isothermal conditions, if compatible with thermodynamics, must be complex balanced, otherwise the Wegscheider's condition is violated. In this contribution we make use of this observation to conclude passivity of open reaction systems with respect to a Gibbs energy function, what in turn allows us to point on mass and energy exchanges with the environment, as the main causes that make chemical reactors unstable. As it will be discussed, control of open reaction systems can take advantage of this fact to design input-output stabilizing feed-back controllers.
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10:40-11:00, Paper MoA11.3 | Add to My Program |
Cascade Control of a Class of Chemical Reactors Based on Entropy Production Shaping (I) |
Zárate-Navarro, Marco Antonio | Univ. De Guadalajara |
Garcia-Sandoval, Juan Paulo | Univ. of Guadalajara |
Calderon, Cristian Jonathan | UNAM |
Keywords: Chemical engineering, Passivity-based control, Output regulation
Abstract: Abstract On this contribution a cascade control for a class of continuous chemical reactors is presented. Given that the internal entropy production of the reacting systems under study can be considered as a storage function, the inner loop is designed to shape the entropy production using the outflow rate as the control variable. The tracking reference for the entropy production of the inner loop is computed by an outer loop that regulates a typical process variable such as temperature, or pressure inside the reactor. In the resulting cascade control structure, the inner loop guarantees the stability of the reacting system, while the outer loop can be used to fulfill safety or operational conditions.
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11:00-11:20, Paper MoA11.4 | Add to My Program |
Control of Non-Isothermal Chemical Reaction Networks Using Irreversible Port-Hamiltonian Systems (I) |
Ramirez, Hector | Femto-St, Ufc |
Le Gorrec, Yann | Femto-St, Ensmm |
Keywords: Passivity-based control, Lagrangian and Hamiltonian systems, Stability of nonlinear systems
Abstract: In this work irreversible port-Hamiltonian systems are used to derive a passivity based controller which shapes the total energy of a non-isothermal reaction network and renders it asymptotically stable with respect to a desired dynamic equilibrium configuration. The closed- loop system is in IPHS form, hence it can be identified with a desired reaction network and the control parameters are related with thermodynamic variables, such as the reaction rates. A complex reaction network is used to illustrate the approach: the van der Vusse reaction mechanism.
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11:20-11:40, Paper MoA11.5 | Add to My Program |
The Geometric Structure of Interconnected Thermo-Mechanical Systems (I) |
Gromov, Dmitry | St. Petersburg State Univ |
Castaños, Fernando | CINVESTAV |
Keywords: Lagrangian and Hamiltonian systems, Energy systems, Control of interconnected systems
Abstract: This contribution reports on an ongoing research project aimed in developing a unified theoretical framework for the description of interconnected thermo-mechanical systems with a particular emphasis on thermodynamic engines. We analyse from the geometrical viewpoint the structure of thermodynamic and mechanical interconnection and propose an approach to the unified description of thermo-mechanical systems. The theoretical results are illustrated by a physical example.
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11:40-12:00, Paper MoA11.6 | Add to My Program |
Control Design for Thermodynamic Systems on Contact Manifolds (I) |
Hudon, Nicolas | Queen's Univ |
Guay, Martin | Queen's Univ |
Dochain, Denis | Univ. Catholique De Louvain |
Keywords: Stability of nonlinear systems, Process control, Passivity-based control
Abstract: We consider the problem of feedback control design for thermodynamic systems. Following past contributions, we consider the expression of closed-loop control in the Thermodynamic Phase Space (TPS) using contact geometry. Some of these past contributions identified restricted classes of admissible controllers by restricting the dynamics to a Legendre submanifold in the TPS. In this paper, we consider the problem of controlling a system through damping feedback control. By allowing this particular class of feedback design technique, we characterize the impact of control on the thermodynamic structure of the closed-loop system in the TPS. An example is considered to illustrate the proposed construction.
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MoA12 Regular Session, Ariane 2 |
Add to My Program |
Multi-Agent Systems I |
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Chair: Cao, Ming | Univ. of Groningen |
Co-Chair: Galeani, Sergio | Univ. Di Roma Tor Vergata |
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10:00-10:20, Paper MoA12.1 | Add to My Program |
Controlling a Triangular Flexible Formation of Autonomous Agents |
Garcia de Marina, Hector | Ec. Nationale De L'aviation Civil |
Sun, Zhiyong | Australian National Univ |
Cao, Ming | Univ. of Groningen |
Anderson, Brian D.O. | Australian National Univ |
Keywords: Coordination of multiple vehicle systems, Multi-agent systems, Distributed control and estimation
Abstract: In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the advantages of both position- and distance-based gradient descent control laws. For example, only two pairs of neighboring agents need to be controlled, agents can work in their own local frame of coordinates and the orientation of the formation with respect to a global frame of coordinates is not prescribed. We first present a novel technique based on adding artificial biases to neighboring agents' range sensors such that their eventual positions correspond to a collinear configuration. Right after, a small modification in the bias terms by introducing a prescribed rotation matrix will allow the control of the bearing of the neighboring agents.
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10:20-10:40, Paper MoA12.2 | Add to My Program |
Average Consensus with Asynchronous Updates and Unreliable Communication |
Bof, Nicoletta | Univ. of Padova |
Carli, Ruggero | Univ. of Padova |
Schenato, Luca | Univ. of Padova |
Keywords: Multi-agent systems, Distributed control and estimation, Control and estimation with data loss
Abstract: In this work we introduce an algorithm for distributed average consensus which is able to deal with asynchronous and unreliable communication systems. It is inspired by two algorithms for average consensus already present in the literature, one which deals with asynchronous but reliable communication and the other which deals with unreliable but synchronous communication. We show that the proposed algorithm is exponentially convergent under mild assumptions regarding the nodes update frequency and the link failures. The theoretical results are complemented with numerical simulations.
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10:40-11:00, Paper MoA12.3 | Add to My Program |
Distributed Endogenous Internal Model for Modal Consensus and Formation Control |
Galeani, Sergio | Univ. Di Roma Tor Vergata |
Sassano, Mario | Univ. of Rome, Tor Vergata |
Keywords: Multi-agent systems, Cooperative systems
Abstract: In this paper, the problems of (modal) consensus and formation control are tackled for a group of heterogeneous agents described by linear dynamics and communicating over a network with fixed topology. The classic approach to these problems prescribes that each agent is provided with its own complete internal model of the desired dynamics (which can be viewed as an exosystem). In this paper, the novel concept of Distributed Endogenous Internal Model is introduced and discussed. Such internal model is characterized by two features: i) it is actually distributed over the network, i.e. no single agent is provided with a complete internal model; ii) it is endogenous, namely it is generated by exploiting the dynamics already available to the overall group of agents, through the local cooperation between each agent and its neighbors. As a consequence, each agent is capable of generating the desired steady-state distributed static control input by only exchanging information with its neighbors, without the need for additional dynamics anywhere in the network.
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11:00-11:20, Paper MoA12.4 | Add to My Program |
Hybrid Coverage and Inspection Control for Anisotropic Mobile Sensor Teams |
Adaldo, Antonio | KTH |
Dimarogonas, Dimos V. | Royal Inst. of Tech |
Johansson, Karl H. | Royal Inst. of Tech |
Keywords: Multi-agent systems, Sensor networks, Hybrid and switched systems modeling
Abstract: In this paper, we present an algorithm for pose control of a team of mobile sensors for coverage and inspection applications. The region to cover is abstracted into a finite set of landmarks, and each sensor is responsible to cover some of the landmarks. The sensors progressively improve their coverage by adjusting their poses and by transferring the ownership of some landmarks to each other. Inter-sensor communication is pairwise and intermittent. The sensor team is formally modeled as a multi-agent hybrid system, and an invariance argument formally shows that the team reaches an equilibrium configuration, while a global coverage measure is improving monotonically. A numerical simulation corroborates the theoretical results.
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11:20-11:40, Paper MoA12.5 | Add to My Program |
Finite-Time Consensus Analysis under Directed Communication Topologies for Multi-Agent Systems |
Lu, Qiang | Hangzhou Dianzi Univ |
Wang, Jian | Hangzhou Dianzi Univ |
Wang, Jianzhong | Hangzhou Dianzi Univ |
Liu, Shirong | Hangzhou Dianzi Univ |
Han, Qing-Long | Swinburne Univ. of Tech |
Zhong, Chaoliang | Intelligent Mobile Robotics Lab. of Hangzhou Dianzi Univ |
Zhang, Botao | Hangzhou Dianzi Univ |
Keywords: Multi-agent systems
Abstract: This paper is concerned with the problem of finite-time consensus under directed communication topologies for multi-agent systems with double-integrator dynamics. First, a relationship between the weights of in-edges and the ones of out-edges for each agent is established and is used in finite-time consensus analysis. Second, based on our previously proposed finite-time consensus controller, the consensus conditions in the framework of directed topologies are derived. Finally, the effectiveness of the finite-time consensus conditions is illustrated by numerical examples.
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11:40-12:00, Paper MoA12.6 | Add to My Program |
Enhancing Convergence Toward Consensus in Leader-Follower Networks |
Parlangeli, Gianfranco | Univ. Degli Studi Del Salento |
Keywords: Multi-agent systems, Distributed control and estimation, Cooperative systems
Abstract: This paper is concerned with the consensus problem of a multi-agent system where some nodes can act as leaders and they are allowed to inject input signals to improve some group dynamics performances. After a brief introduction of some controller structures, the analysis is focused on those control laws allowing the group to reach a consensus on a linear function of the initial conditions of the whole group. Afterwards, the group dynamics is analyzed in terms of characteristic polynomial of the controlled system. As a straight application to compare them, we consider the design of a set of controllers to achieve a finite time consensus. Finally, an example on the proposed strategy is shown and simulation results are reported to validate theoretical results developed in the paper.
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MoA13 Invited Session, St Exupéry |
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A Tribute to Rudolf E. Kalman |
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Chair: Kucera, Vladimir | Czech Tech. Univ. in Prague |
Co-Chair: Yamamoto, Yutaka | Kyoto Univ |
Organizer: Kucera, Vladimir | Czech Tech. Univ. in Prague |
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10:00-10:20, Paper MoA13.1 | Add to My Program |
Rudolf E. Kalman: Life and Works (I) |
Kucera, Vladimir | Czech Tech. Univ. in Prague |
Keywords: Linear systems
Abstract: Rudolf Emil Kalman passed away peacefully on 2 July 2016, at his home in Gainesville, Florida. He was 86 years old. His passing marks the end of an era. This paper is to remember and celebrate the life, the works, and the impact of a giant whose influence extends over several fields and who is considered the founder of the modern theory of systems and control.
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10:20-10:40, Paper MoA13.2 | Add to My Program |
The Influence of R. E. Kalman - State Space Theory, Realization, and Sampled-Data Systems (I) |
Yamamoto, Yutaka | Kyoto Univ |
Keywords: Linear systems, Time-invariant systems, Digital implementation
Abstract: This note gives a brief historical account on Rudolf Kalman's influence on modern system theory, particularly, state space theory, realization, and sampled-data systems. Kalman made fundamental contributions to modern system and control theory, and laid the foundation of the field. Among such contributions, we review some aspects of state space theory in the context of 1960, and his ideas and philosophy for realization theory, and also look at the pioneering work on sampled-data control. We will view and examine their impacts on the field today.
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10:40-11:00, Paper MoA13.3 | Add to My Program |
Kalman's Expanding Influence in the Econometrics Discipline (I) |
Wilcox, Bruce | California State Univ. at Long Beach |
Hamano, Fumio | California State Univ. Long Beach |
Keywords: Linear systems, Model validation
Abstract: Kalman's original work was quickly adopted and explored throughout the engineering disciplines after the publishing of his seminal paper in 1960 (Kalman 1960). However, it would be several decades before the utility of his framework was understood and adopted in the econometrics discipline, which had traditionally based its analysis on the Box-Jenkins ARIMA time series models. This paper surveys how Kalman's work has been applied in developing econometric models and how econometricians have extended and built upon Kalman's framework to develop new techniques to model complex economic and financial systems over the past 20-25 years.
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11:00-11:20, Paper MoA13.4 | Add to My Program |
Professor R. E. Kalman - Reflections on His Way of Thinking (I) |
Khargonekar, Pramod | Univ. of California, Irvine |
Keywords: Structural properties, Optimal control theory
Abstract: Professor R. E. Kalman passed away on July 2, 2016. His remarkable impact on the field of system and control theory and wider domains of science and engineering is now enshrined in text books, archival scientific and engineering literature, and numerous products and achievements of modern technology. In this paper, I will share some thoughts on his way of thinking about research, science, and engineering.
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11:20-11:40, Paper MoA13.5 | Add to My Program |
Rudolf E. Kalman's Quest for Algebraic Characterizations of Positivity (I) |
Georgiou, Tryphon T. | Univ. of Minnesota |
Keywords: Positive systems, Linear systems, Structural properties
Abstract: The present paper is a tribute to Professor Rudolf Emil Kalman, father of Mathematical System Theory and a towering figure in the field of Control and Dynamical Systems. Amongst his seminal contributions was a series of results and insights into the role of positivity in System Theory and in Control Engineering. The paper contains a collection of reminiscences by the author together with brief technical references that touch upon the unparalleled influence of Professor Kalman on this topic.
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11:40-12:00, Paper MoA13.6 | Add to My Program |
Rudolf E. Kalman and the Riccati Equation (I) |
Kucera, Vladimir | Czech Tech. Univ. in Prague |
Keywords: Linear systems, Optimal control theory
Abstract: The aim of the paper is to highlight one of the seminal discoveries of Kalman – the central role the Riccati equation plays in optimal control and optimal estimation – and show how this result inspired researchers (including myself) to elaborate the subject and obtain remarkable results.
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MoA14 Regular Session, Guillaumet 1 |
Add to My Program |
Distributed Parameter Systems |
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Chair: Polyakov, Andrey | INRIA Lille Nord-Europe |
Co-Chair: Winkin, Joseph J. | Univ. of Namur (UNamur) |
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10:00-10:20, Paper MoA14.1 | Add to My Program |
Deadzone Compensation Based Boundary Control of a Flexible Aerial Refueling Hose with Output Constraint |
Liu, Zhijie | Beihang Univ |
Liu, Jinkun | Beijing Univ. of Aeronautics and Astronautics |
He, Wei | UUniversity of Science and Tech. Beijing |
Keywords: control and estimation of wave equations and systems of elasticity, Control of constrained systems, stability of distributed parameter systems
Abstract: In this paper, boundary control schemes are designed for a flexible aerial refueling hose subject to input deadzone, output constraint and external disturbances, based on partial differential equations (PDEs). Firstly, a basic boundary control scheme, based on the backstepping method, is proposed to regulate the hose’s vibration. A radial basis function (RBF) neural network is used to handle the effect of the input deadzone. Then we propose a new controller based on a barrier Lyapunov function to prevent constraint violation. It is shown that the states of the system are proven to converge to a small neighborhood of zero, and the output constraint is not violated in the presence of the input deadzone and external distrubances. Finally, simulation results are demonstrated for control performance verification.
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10:20-10:40, Paper MoA14.2 | Add to My Program |
Output Regulation of a Reaction-Diffusion PDE with Long Time Delay Using Backstepping Approach |
Wang, Jun-Min | Beijing Inst. of Tech |
Gu, Jianjun | Beijing Inst. of Tech |
Keywords: backstepping control of distributed parameter systems, output regulation for distributed parameter systems, delay compensation for linear and nonlinear systems
Abstract: In this paper, we are concerned with the output regulation of an unstable reaction-diffusion PDE with regulator delay and unmatched disturbances, which are generated by an exosystem. A backstepping regulator design procedure is presented by mapping the reaction-diffusion PDE cascaded with a transport equation into an error system, which is shown to be exponentially stable with a prescribed rate in a suitable Hilbert space. The output regulation is then verified by solving cascaded regulator equations. The solvability condition of the cascaded regulator equations is characterized by a transfer function and eigenvalues of the exosystem. Finally, the numerical simulations are provided to illustrate the effect of the regulator.
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10:40-11:00, Paper MoA14.3 | Add to My Program |
Time Synchronization in WSNs with Random Communication Delays: A Constant Gain Design |
Wang, Bo | Southeast Univ. Nanjing 210096 |
Tian, Yu-Ping | Southeast Univ |
Keywords: stability of distributed parameter systems, Time-varying systems
Abstract: In the framework of the consensus-based time synchronization (CBTS) algorithm structure, this paper gives a constant gain approach to the design of time synchronization algorithms for wireless sensor networks (WSNs) with random bounded communication delays. Under the assumption that the asynchronous updating topology is uniformly rooted (UR), it is proved that this design can ensure the asymptotic convergence of drift estimations and the boundedness of the global synchronization errors even if we do not compensate the offsets. A numerical experiment is presented to illustrate the effectiveness of this algorithm.
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11:00-11:20, Paper MoA14.4 | Add to My Program |
Output Feedback Boundary Control of Series Interconnections of 2x2 Semilinear Hyperbolic Systems |
Strecker, Timm | Norwegian Univ. of Science and Tech |
Aamo, Ole Morten | NTNU |
Keywords: control of hyperbolic systems and conservation laws
Abstract: In this paper, we present an output feedback controller for systems consisting of n 2x2 semilinear hyperbolic systems in series interconnection where actuation and sensing are restricted to one boundary. The output-feedback control law consists of a state-feedback controller combined with an observer. The control and estimation laws are based on the dynamics on the characteristic lines of the hyperbolic system, and achieve stabilization of the origin or tracking at one location, and full state estimation, respectively, globally and in minimum time. We demonstrate the controller performance in a numerical example, and apply the controller to a relevant disturbance rejection problem in oil well drilling.
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11:20-11:40, Paper MoA14.5 | Add to My Program |
On Boundary Finite-Time Feedback Control for Heat Equation |
Polyakov, Andrey | INRIA Lille Nord-Europe |
Coron, Jean-michel | Univ. Pierre Et Marie Curie |
Rosier, Lionel | Univ. De Lorraine |
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11:40-12:00, Paper MoA14.6 | Add to My Program |
Nice Port-Hamiltonian Systems Are Riesz-Spectral Systems |
Lamoline, François | Univ. of Namur |
Winkin, Joseph J. | Univ. of Namur (UNamur) |
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MoA15 Invited Session, Guillaumet 2 |
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Algebraic Methods and Symbolic-Numeric Computation in Systems Theory |
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Chair: Quadrat, Alban | Inria Lille - Nord Europe |
Co-Chair: Zerz, Eva | RWTH Aachen Univ |
Organizer: Cluzeau, Thomas | Univ. De Limoges |
Organizer: Quadrat, Alban | Inria Lille - Nord Europe |
Organizer: Zerz, Eva | RWTH Aachen Univ |
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10:00-10:20, Paper MoA15.1 | Add to My Program |
Polynomial Control Systems: Invariant Sets Given by Algebraic Equations/Inequations (I) |
Harms, Melanie | RWTH Aachen Univ |
Schilli, Christian | RWTH Aachen Univ |
Zerz, Eva | RWTH Aachen Univ |
Keywords: Structural properties, Polynomial methods
Abstract: Consider a nonlinear input-affine control system x'(t)=f(x(t))+g(x(t))u(t), y(t)=h(x(t)), where f,g,h are polynomial functions. Let S be a set given by algebraic equations and inequations (in the sense of non-equality). Such sets appear, for instance, in the theory of the Thomas decomposition, which is used to write a variety as a disjoint union of simpler subsets. The set S is called controlled invariant if there exists a polynomial state feedback law u(t)=alpha(x(t)) such that S is an invariant set of the closed loop system x'=(f+g*alpha)(x). If it is possible to achieve this goal with a polynomial output feedback law u(t)=beta(y(t)), then S is called controlled and conditioned invariant. These properties are discussed and algebraically characterized, and algorithms are provided for checking them with symbolic computation methods.
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10:20-10:40, Paper MoA15.2 | Add to My Program |
NLControl -- a Mathematica Package for Nonlinear Control Systems (I) |
Kotta, Ülle | Inst. of Cybernetics at TUT |
Tõnso, Maris | Tallinn Univ. of Tech |
Keywords: Structural properties, Application of nonlinear analysis and design
Abstract: The paper describes a symbolic computation software package NLControl, dedicated to the study of various modelling, analysis, synthesis problems for nonlinear control systems. Most of the developed functions are based on algebraic approach of differential forms, and on the theory of non-commutative polynomial rings. For a few control problems an alternative solution is implemented in terms of functions algebra. The package addresses both continuous- and discrete-time systems as well as systems, defined on homogeneous time scales. Comparison of NLControl and Mathematica built-in nonlinear control functions is given.
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10:40-11:00, Paper MoA15.3 | Add to My Program |
Conditioned Invariance and Detectability Subspaces in the Behavioral Approach (I) |
Pereira, Ricardo | Univ. of Aveiro |
Rocha, Paula | Univ. of Porto |
Keywords: Observers for linear systems, Time-invariant systems, Linear systems
Abstract: In this paper we extend the state space geometric notions of conditioned invariance and detectability subspaces to the behavioral framework. This is achieved based on the existing notions of behavioral tracking observer and of behavioral asymptotic observer introduced by Valcher, Willems, Trentelman and Trumph, combined with a notion of behavioral invariance introduced here. Moreover, we provide characterizations for the newly defined behavioral properties.
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11:00-11:20, Paper MoA15.4 | Add to My Program |
Robust Regulation of MIMO Systems: A Reformulation of the Internal Model Principle (I) |
Laakkonen, Petteri | Tampere Univ. of Tecnology |
Keywords: Robust control (linear case), Linear systems
Abstract: The internal model principle is a fundamental result stating a necessary and sufficient condition for a stabilizing controller to be robustly regulating. Its classical formulation is given in terms of coprime factorizations and the largest invariant factor of the signal generator which sets unnecessary restrictions for the theory and its applicability. In this article, the internal model principle is formulated using a general factorization approach and the generators of the fractional ideals generated by the elements of the signal generator. The proposed results are related to the classical ones.
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11:20-11:40, Paper MoA15.5 | Add to My Program |
Explicit H∞ Controllers for 1st to 3rd Order Single-Input Single-Output Systems with Parameters (I) |
Rance, Guillaume | Safran Electronics & Defense |
Bouzidi, Yacine | INRIA |
Quadrat, Alban | Inria Lille - Nord Europe |
Quadrat, Arnaud | SAFRAN Electronic & Defense |
Keywords: Robust control (linear case), Polynomial methods, Linear systems
Abstract: The purpose of this paper is to explicitly characterize H∞ controllers for single-input single-output (SISO) systems of order 1, 2 and 3 in terms of their coefficients considered as unknown parameters. In the SISO case, computing H∞ controllers requires to find the real positive definite solution of an algebraic Riccati equation. Due to the system parameters, no purely numerical method can be used to find such a solution, and thus parametric H∞ controllers. Using elimination techniques of zero-dimensional polynomial systems, we first give a parametrization of all the solutions of the algebraic Riccati equation associated with the H∞ control problem. Since the problem reduces to solving an univariate polynomial of degree less than or equal to 4, closed-form solutions are then obtained for the solutions of the algebraic Riccati equation by means of radicals. Using the concept of discriminant variety, we show that the maximal real root of this polynomial is always defined by the same closed-form expression, which yields the positive definite solution of the algebraic Riccati equation. Finally, we use the above results to explicitly compute the H∞ criteria and H∞ controllers in terms of the system parameters and study them with respect to parameter variations.
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11:40-12:00, Paper MoA15.6 | Add to My Program |
Explicit H∞ Controllers for 4th Order Single-Input Single-Output Systems with Parameters and Their Application to the Two Mass-Spring System with Damping (I) |
Rance, Guillaume | Safran Electronics & Defense |
Bouzidi, Yacine | INRIA |
Quadrat, Alban | Inria Lille - Nord Europe |
Quadrat, Arnaud | SAFRAN Electronic & Defense |
Rouillier, Fabrice | INRIA |
Keywords: Robust control (linear case), Polynomial methods, Linear systems
Abstract: The purpose of this paper is to explicitly characterize H∞ controllers for 4th order single-input single-output (SISO) systems in terms of their coefficients considered as unknown parameters. In the SISO case, computing H∞ controllers requires to find the real positive definite solution of an algebraic Riccati equation (ARE). Due to the system parameters, no purely numerical method can be used to find such a solution, and thus parametric H∞ controllers. Using elimination techniques for zero-dimensional polynomial systems, we first give a rational parametrization of all the solutions of the ARE. Then, as the problem reduces to solving polynomials of degree 4, closed-form solutions are obtained for all the solutions of this ARE by using expressions by radicals. Using the concept of discriminant variety, we then show that the maximal real root of one of these polynomials is encoded by two different closed-form expressions depending on the values of the system parameters, which yields to different positive definite solution of the ARE. The above results are then used to explicitly compute the H∞ criterion and H∞ controllers in terms of the system parameters. Finally, we study in detail a particular system: the two-mass-spring system with damping. Due to the low number of parameters, we can plot the variations of the H∞ criterion in function of the parameters, compute approximations of it at a working point, and derive the expression of a weight function of the parameters to set this H∞ criterion to a desired value.
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MoA16 Regular Session, Daurat |
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Nonlinear and Adaptive Control |
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Chair: Teel, Andrew R. | Univ. of California at Santa Barbara |
Co-Chair: Lin, Wei | Case Western Res. Univ |
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10:00-10:20, Paper MoA16.1 | Add to My Program |
Investigations of the Switching Dynamics in Sliding Mode Control |
Simonsen, Maria | Aalborg Univ |
Schiøler, Henrik | Aalborg Univ |
Leth, John | Aalborg Univ |
Keywords: Switching control
Abstract: In this paper, a (switching) sliding mode controller, applied to a mechanical system with additive white process noise, is investigated. The practical relevance of this study is a statistical characterization of system performance in terms of the stationary variance of the control error. The system is modeled with a two-dimensional stochastic differential equation, whose coordinate functions to an extend are analyzed separately. In order to determine the stationary variance of one of the coordinate functions, the auto-correlation function for the other coordinate function is approximated with a Fourier series. Finally analytical results are compared to results from Euler-Maruyama simulation over a wide range of model parameter settings.
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10:20-10:40, Paper MoA16.2 | Add to My Program |
Design of DOB-Based Sliding Mode Control for Fuzzy Systems |
Ma, Xiaowei | Beijing Univ. of Chemical Tech |
Zhang, Jinhui | Beijing Inst. of Tech |
Wang, Jing | Beijing Univ. of Chemical Tech |
Keywords: Nonlinear adaptive control
Abstract: As shown in this paper, disturbance observer (DOB) based sliding mode control for fuzzy system is proposed. Compared with conventional sliding mode control, this method incorporated the information of disturbance estimations into the design of sliding mode controllers and sliding surface. The new approach can manage the problem of mismatched disturbance for fuzzy system effectively and those problems can’t be solved by the traditional sliding mode control. There are a disturbance observer, a sliding surface and a sliding mode controller with disturbance observer proposed in this paper. The adaptive sliding mode controller is also proposed to deal with the unknown upper bound of parameters. In the last part, the effectiveness of the new approach has been proved by the ball-beam system.
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10:40-11:00, Paper MoA16.3 | Add to My Program |
Adaptive Regulation of Time-Delay Cascade Systems with Parameter Uncertainty |
Zhang, Xu | Beijing Univ. of Aeronautics and Astronautics |
Lin, Wei | Case Western Res. Univ |
Lin, Yan | Beijing Univ. of Aeronautics and Astronautics |
Keywords: Nonlinear adaptive control, Adaptive system and control
Abstract: Under a suitable condition on the zero-dynamics with time-delay, we prove that global state regulation can be achieved by a partial state adaptive controller for certain time-delay cascade systems with unknown parameters. A delay-independent, partial state adaptive control scheme is developed based on a dynamic gain-based design, the idea of changing supply rate and the feedback domination approach. With the help of appropriate Lyapunov-Krasovskii functionals, it is shown that the resulting closed-loop system is globally bounded and all the states of the time-delay cascade system converge to the origin.
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11:00-11:20, Paper MoA16.4 | Add to My Program |
A Necessary and Sufficient Condition for Total Observability of Discrete-Time Linear Time-Varying Systems |
Witczak, Marcin | Univ. of Zielona Gora |
Puig, Vicenc | Univ. Pol. De Catalunya |
Rotondo, Damiano | NTNU |
Witczak, Piotr | Univ. of Zielona Gora |
Keywords: Linear parametrically varying (LPV) methodologies, Gain scheduling
Abstract: This paper deals with the total observability problem of discrete-time linear time-varying systems. In particular, a review and suitable analysis of the state-of-the-art of this emerging area are provided. Subsequently, the total observability problem of discrete-time linear time-varying systems is transformed into the one of checking the rank of a convex sum of matrices. As a result, a new total observability test is proposed, along with a suitable computational strategy. The final part of this paper shows examples regarding observability analysis that clearly exhibit the benefits of using the proposed approach.
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11:20-11:40, Paper MoA16.5 | Add to My Program |
Distributed Extremum Seeking in Multi-Agent Systems with Arbitrary Switching Graphs |
Poveda, Jorge | Univ. of California, Santa Barbara |
Benosman, Mouhacine | Mitsubishi Electric Res. Lab. (MERL) |
Teel, Andrew R. | Univ. of California at Santa Barbara |
Keywords: Adaptive control of networks, Switching control, Hybrid and switched systems modeling
Abstract: This paper studies the problem of averaging-based extremum seeking in dynamical multi-agent systems with time-varying communication graphs. We consider a distributed consensus-optimization problem where the plants and the controllers of the agents share information via time-varying graphs, and where the cost function to be minimized corresponds to the summation of the individual response maps generated by the agents. Although the problem of averaging-based extremum seeking control in multi-agent dynamical systems with time-invariant graphs has been extensively studied, the case where the graph is time-varying remains unexplored. In this paper we address this problem by making use of recent results for generalized set-valued hybrid extremum seeking controllers, and the framework of switched dierential inclusions and common Lyapunov functions. For the particular consensus-optimization problem considered in this paper, a semi-global practical stability result is established. A numerical example in the context of dynamic electricity markets illustrates the results
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11:40-12:00, Paper MoA16.6 | Add to My Program |
Nonlinear Control of PV System Connected to Single Phase Grid through Half Bridge Inverter |
Aourir, Meriem | Univ. HASSAN II of Casablanca |
Abouloifa, Abdelmajid | EMI |
Lachkar, Ibtissam | EMI |
Hamdoun, Abdellatif | Univ. HASSAN II of Casablanca |
Giri, Fouad | Univ. of Caen Basse-Normandie |
Cuny, Fabien | Univ. De Caen Normandie |
Keywords: Switching control, Adaptive system and control, Iterative modelling and control design
Abstract: This paper addresses a modeling and nonlinear control of photovoltaic systems which includes photovoltaic panels, a half bridge inverter with capacitive divider and an LCL filter connected to single-phase grid. We seek the achievement of three control objectives: i) ensure that the PV panels generate its maximum power ii) regulating the DC link voltage to track its reference provided by MPPT block, iii) achieve a satisfactory power factor correction (PFC) with respect to the power supply net. To meet these objectives a multi-loop controller is designed based on nonlinear approach applied to the 5th order nonlinear model. The simulation results have been performed through MATLAB/SimPowerSystems environment and show that the designed controller meets its objectives.
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MoA17 Regular Session, Servanty |
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Motion Control - I |
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Chair: Graichen, Knut | Univ. of Ulm |
Co-Chair: Sampei, Mitsuji | Tokyo Inst. of Tech |
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10:00-10:20, Paper MoA17.1 | Add to My Program |
Optimization of Anti-Windup for Non-Linear Systems with Actuator Saturation |
Kanamori, Mitsuru | National Inst. of Tech. Maizuru Coll |
Saga, Takuma | National Inst. of Tech. Maizuru Coll |
Keywords: Motion Control Systems, Robots manipulators, Design methodologies
Abstract: Optimization of anti-windup is achieved for non-linear systems with actuator saturation based on passivity. The systems are represented as Euler-Lagrange systems, and the proportional and integral (PI) controller, in which the gravity term is cancelled by a non-linear compensation technique, is used. The goal of optimization is to minimize the saturated input, i.e., the difference between the control input and the input limit, using the estimation function with a semi-positive convex function of the saturated input. The condition, including the time derivative of the gravity term, is necessary for the stability and optimization. The proposed controller and the optimality are verified through numerical simulations using a two-link robot arm.
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10:20-10:40, Paper MoA17.2 | Add to My Program |
Optimal Rigid Body Precise Displacement - Minimization of Electrical Energy |
Ioslovich, Ilya | Tech |
Gutman, Per-Olof | Tech. - Israel Inst. of Tech |
Moshenberg, Shai | Tech |
Keywords: Motion Control Systems, Modeling, Guidance navigation and control
Abstract: Precise movement of a rigid body with jerk as the control signal, and with friction compensation is considered. The optimal solution for the minimization of the electrical energy consumption is obtained. The optimal solution was tested numerically.
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10:40-11:00, Paper MoA17.3 | Add to My Program |
Model Predictive Torque Control of Permanent Magnet Synchronous Machines |
Englert, Tobias | Ulm Univ |
Grüner, Stefan | ZF-Lenksysteme GmbH |
Graichen, Knut | Univ. of Ulm |
Keywords: Motion Control Systems, Mechatronic systems
Abstract: This contribution presents a nonlinear model predictive torque control (MPTC) scheme for permanent magnet synchronous machines (PMSMs) to provide a desired torque in an energy efficient way over a wide operational range. The MPTC relies on the nonlinear dq-model %of the machine and uses a numerically efficient gradient method in combination with the augmented Lagrangian method to account for voltage and currents constraints. Simulation results show the performance and robustness of the control scheme as well as the computational efficiency and real-time feasibility.
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11:00-11:20, Paper MoA17.4 | Add to My Program |
Rolling Motion Control Introducing Back Bending for Acrobot Composed of Rounded Links |
Murakami, Naoto | Tokyo Inst. of Tech |
Sugimori, Atsuto | Tokyo Inst. of Tech |
Ibuki, Tatsuya | Tokyo Inst. of Tech |
Sampei, Mitsuji | Tokyo Inst. of Tech |
Keywords: Motion Control Systems, Robotics technology
Abstract: This paper proposes a rolling motion scheme for Acrobot composed of two links with curved contours. A feature of the present rolling control is to introduce back bending motion with hope for no strong impact on the ground. First, the Acrobot model is classified into eight models according to the arcs in contact with the ground since the model differs with contact points on the ground. Rolling control strategy is next proposed by considering no impact conditions, kinetic energy and potential energy. Then, an output function, to be zero, is designed and output zeroing control is applied to achieve the rolling motion. Here, the output function is built by the two link angles and designed to follow a desired path given by a bezier curve. The curve is optimized to minimize the input energy while guaranteeing the achievement of rolling motion. Finally, simulation and an experiment are conducted for verification.
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11:20-11:40, Paper MoA17.5 | Add to My Program |
Adapting Energy Optimal Trajectories for Friction-Afflicted Electromechanical Drives |
Raisch, Adrian | Univ. of Stuttgart |
Sawodny, Oliver | Univ. of Stuttgart |
Keywords: Motion Control Systems, Identification and control methods, Design methodologies
Abstract: We present an approach to reduce the energy consumption of electromechanical drives by applying energy optimal trajectories under the presence of friction. The trajectories are calculated using Pontryagin's maximum principle and adapted online in order to minimize the energy consumption. We finally validate our results in simulations and thereby demonstrate an energy savings potential of 5% compared to utilizing energy optimal trajectories without the incorporation of friction.
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11:40-12:00, Paper MoA17.6 | Add to My Program |
Model Predictive Control for an Inverted-Pendulum Robot with Time-Varying Constraints |
Ohhira, Takashi | Shibaura Inst. of Tech |
Shimada, Akira | Shibaura Inst. of Tech |
Keywords: Motion Control Systems, Mobile robots, Mechatronic systems
Abstract: This study proposes a movement control system for a two-wheel inverted pendulum (IP) type robot, which is a personal robot that interacts with people. Safety and stability are important parameters in designing a robot for personal use. To achieve this, model predictive control (MPC) may be a suitable control technique. The controller presented in this study ensures safety in relation to velocity and stability by imposing time-invariant constraints on the controller input and body tilt angle. Finally, we present good validation results from a movement-control simulation of an IP robot.
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MoA18 Regular Session, De Marnier |
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Smart Sensors and Actuators |
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Chair: Pisano, Alessandro | Univ. Di Cagliari |
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10:00-10:20, Paper MoA18.1 | Add to My Program |
A Novel Observer Approach for Self Sensing of Single-Coil Digital Valves |
Braun, Tristan | Constance Univ. of Applied Sciences |
Reuter, Johannes | Univ. of Applied Sciences |
Rudolph, Joachim | Saarland Univ |
Keywords: Smart Sensors and Actuators, Identification and control methods, Mechatronic systems
Abstract: Observer-based self sensing for digital (on-off) single-coil solenoid valves is investigated. Self sensing refers to the case where merely the driving signals used to energize the actuator (voltage and coil current) are available to obtain estimates of both the position and velocity. A novel observer approach for estimating the position and velocity from the driving signals is presented, where the dynamics of the mechanical subsystem can be neglected in the model. Both the effect of eddy currents and saturation effects are taken into account in the observer model. Practical experimental results are shown and the new method is compared with a full-order sliding mode observer.
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10:20-10:40, Paper MoA18.2 | Add to My Program |
Vision Based Measurement Applied to Industrial Instrumentation |
Santos, Eduardo S. F. dos | FURG |
William Bonow, Xavier | Univ. Federal Do Rio Grande - FURG |
Rodrigues, Ricardo | Univ. Federal Do Rio Grande |
Botelho, Silvia | Univ. Federal Do Rio Grande |
Werhli, Adriano Velasque | Univ. Federal Do Rio Grande - FURG |
Keywords: Virtual instruments, Reliable measurement and actuation, Sensor signal consolidation
Abstract: Machine Vision applied in the area of Instrumentation and Measurement is known as Vision Based Measurement. Its application in industry is steadily increasing principally due to he recent developments in computer hardware and computer vision algorithms. In this article we discuss the possibilities of combining industrial local sensors with a camera and a computer, thus obtaining a new type of transmitter based in Machine Vision. Thus, the possibility of transforming visual information to digital data, which can be readily available in an industrial network, opens a variety of possible new applications. As a case study, we propose and implement a Vision Based Measurement system capable of measuring and transmitting the value indicated by a pointer-scale indicator. To verify the applicability of the proposed transmitter the following results are presented: (i) the associated standard uncertainty is evaluated; (ii) the influence of the image size in the transmitter's uncertainty is investigated; (iii) the proposed transmitter is compared with a regular electronic transmitter and, (iv) its processing time is evaluated. The results obtained in laboratory are promising and indicate that the use of the proposed Machine Vision system in industry is a real possibility.
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10:40-11:00, Paper MoA18.3 | Add to My Program |
Pressure Based Approach for Automated Fiber Placement (AFP) with Sensor Based Feedback Loop and Flexible Component in the Effector |
Gonzalez, Itzel | IRCCyN-ESTIA |
Patrouix, Olivier | ESTIA |
Aoustin, Yannick | CNRS, Univ. of Nantes |
Keywords: Smart Sensors and Actuators, Perception and sensing, Robots manipulators
Abstract: The new applications for robots include tasks that were previously performed by specialized machines such as polish, milling, placement of fibers, among others. The implementation using robots in these new applications has the imprecisions problems due to the flexibilities within the robot arm or the tooling when external forces are applied. The industrial robot controller does not take into account the flexibilities and the external forces. This paper is an introduction of the work done to improve the precision in the robotic fiber placement, taking into in account the deformation in the compaction roller.
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11:00-11:20, Paper MoA18.4 | Add to My Program |
Retaining Connectivity in Mobile Communication Mesh Networks |
Pisano, Alessandro | Univ. Di Cagliari |
Franceschelli, Mauro | Univ. of Cagliari |
Pilloni, Alessandro | Univ. of Cagliari |
Shtessel, Yuri B. | Univ. of Alabama at Huntsville |
Usai, Elio | Univ. Degli Studi Di Cagliari |
Keywords: Networks of sensors and actuators, Networked robotic system modeling and control
Abstract: This paper deals with the problem of retaining the connectivity in a Mobile Ad-hoc communication mesh Network (MANET). A multi-agent systems perspective is taken, where primary mobile agents (PAs) can only communicate when the relative distance is less than a “visibility range”. PAs form a network that can become disconnected depending on how they move to achieve their global task (which does not include the connectivity maintenance). To retain connectivity, a number of Relay Agents (RAs), whose motion is governed by a command center (CC), are sent to the field to act as “communication bridges” enforcing the global connectivity of the network containing both the PAs and the RAs. Graph-oriented concepts and analysis tools, particularly the minimal spanning tree (MST) notion, are adopted in the present work to analyze the connectivity properties of the network and to establish in real time how many additional RAs are required and how they should move in order to prevent the connectivity loss. Artificial potential fields and finite-time control techniques are utilized to drive the relay agents to their waypoints while avoiding the collisions. Numerical examples confirm the efficacy of the proposed multi-layer control strategy.
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11:20-11:40, Paper MoA18.5 | Add to My Program |
Design and Analysis of a Decoupled XY MEMS Microgripper with Integrated Dual-Axis Actuation and Force Sensing (I) |
Yang, Sijie | Univ. of Macau |
Xu, Qingsong | Univ. of Macau |
Keywords: Microsystems: nano- and micro-technologies, Smart Structures, Modeling
Abstract: This paper presents the design, analysis, and simulation study of a novel microelectromechanical system (MEMS) microgipper with two decoupled electrostatic actuators and two capacitive force sensors dedicated to the testing in compressive and shear directions of soft samples. The gripper mechanism is designed based on the two-prismatic-prismatic (2-PP) parallel structure and folded leaf flexure guiding mechanism. Owing to the design of decoupled actuation structure, the translations of the two gripping arms are parallel, which ensures the reaction force between two tips and grasped object in sole gripping direction. At the same time, this structure also offers a good decoupling property. The analytical model is verified by carrying out finite element analysis (FEA) simulation study, which confirms the feasibility and effectiveness of the proposed design. The fabrication procedure by SOIMUMPs process is also given, and the microgripper will be fabricated for future experimental study.
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11:40-12:00, Paper MoA18.6 | Add to My Program |
Wireless Sensors Networks As Black-Box Recorder for Fast Flight Data Recovery During Aircraft Crash Investigation |
Mekki, Kais | Univ. of Lorraine |
Derigent, William | Univ. of Lorraine |
Rondeau, Eric | Cran-Cnrs Umr 7039 |
Thomas, André | Nancy Univ |
Keywords: Sensors and actuators, Health monitoring and diagnosis, Decision making and autonomy, sensor data fusion
Abstract: Commercial aircrafts use black box comprising a Flight Data Recorder (FDR) required for crash investigation purposes. While FDR can be easily recovered in crash events on land, the same does not apply to crash events in great deep ocean water. This paper presents a new solution towards solving FDR data recovery using a paradigm called "communicating materials". The solution is developed through uniformly integrating hundreds of tiny sensor nodes in the aircraft structure. The nodes could then construct a Wireless Sensor Network (WSN) inside the aircraft. Thus, the latest FDR data could be stored in the nodes using data storage protocol for WSN. The proposed storage protocol uses the probabilistic-based flooding scheme to forward data to all nodes inside the aircraft structure within the lowest delay. To improve reliability and collision-avoidance of flooding, different complementing corrective measures are used based on neighborhood information. The protocol is evaluated using Castalia/OMNeT++ simulator.
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MoA19 Open Invited Session, Gavarnie |
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Recent Advances in Fuzzy Control: Theory and Applications |
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Chair: Lendek, Zsofia | Tech. Univ. of Cluj-Napoca |
Co-Chair: Guelton, Kevin | Univ. De Reims Champagne-Ardenne |
Organizer: Lendek, Zsofia | Tech. Univ. of Cluj-Napoca |
Organizer: Guelton, Kevin | Univ. De Reims Champagne-Ardenne |
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10:00-10:20, Paper MoA19.1 | Add to My Program |
Unknown Input Observer Based on Discrete-Time Nonlinear Descriptor Model for Understanding Sitting Control (I) |
Blandeau, Mathias | LAMIH Univ. De Valenciennes |
Guerra, Thierry Marie | Univ. of Valenciennes Hainaut-Cambresis |
Estrada-Manzo, Victor | Univ. of Valenciennes and Hainaut-Cambresis |
Pudlo, Philippe | Univ. De Valenciennes Et Du Hainaut Cambrésis |
Gabrielli, Francois | UVHC Univ. Lille Nord De France |
Keywords: Fuzzy and neural systems relevant to control and identification
Abstract: The present paper studies sitting control for persons with complete thoracic spine cord injury by means of automatic control. The methodology begins by modeling sitting control, after a discretization of the nonlinear descriptor model is computed, then a Takagi-Sugeno model is obtained for further manipulations. The approach uses unknown input observers to estimate states and internal variable of the system. The design conditions are expressed as linear matrix inequalities, whose solvability depends on convex optimization techniques. Simulations are conducted to show the effectiveness of the proposed observer.
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10:20-10:40, Paper MoA19.2 | Add to My Program |
An Adaptive Observer Design for Takagi-Sugeno Type Nonlinear System (I) |
Srinivasarengan, Krishnan | Univ. of Lorraine |
Ragot, Jose | CRAN-INPL |
Maquin, Didier | Univ. De Lorraine |
Aubrun, Christophe | Univ. of Lorraine |
Keywords: Fuzzy and neural systems relevant to control and identification, Adaptive neural and fuzzy control
Abstract: Takagi-Sugeno (T-S) type of polytopic models have been used prominently in the literature to analyze nonlinear systems. With the sector nonlinearity approach, an exact representation of a nonlinear system within a sector could be obtained in a T-S form. Hence, a number of observer design strategies have been proposed for nonlinear systems using the T-S framework. In this work, a design strategy for adaptive observers is presented for a type of T-S systems with unknown parameters. The proposed approach improves upon the existing literature in two folds: reduce the computational burden and provide an algorithmic procedure that would seamlessly connect the state estimation and parameter estimation parts of the observer design. Lyapunov approach is used for the stability analysis and the design procedure. The results are illustrated on a simulation example.
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10:40-11:00, Paper MoA19.3 | Add to My Program |
A Convex Approach for Reducing Conservativeness of Kharitonov's-Based Robustness Analysis (I) |
Sánchez, Marcelino | Sonora Inst. of Tech |
Bernal, Miguel | Sonora Inst. of Tech |
Keywords: Robust neural and fuzzy control, Fuzzy and neural systems relevant to control and identification
Abstract: This note shows that conservativeness of former results on stability analysis of uncertain systems based on the Kharitonov's Theorem can be significantly reduced by means of convex structures which lead to linear matrix inequalities. The relationship between an interval-coefficient family of polynomials and interval matrices is exploited in order to obtain novel LMI tests whose advantages are twofold: feasibility domains (both in ordinary as well as D-stability) are increased while LMIs are efficiently solved via convex optimization techniques. Illustrative examples are provided.
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11:00-11:20, Paper MoA19.4 | Add to My Program |
General Projection Neural Network Based Nonlinear Model Predictive Control for Multi-Robot Formation and Tracking (I) |
Xiao, Hanzhen | Univ. of Macau |
Chen, C. L. Philip | Science and Tech. Univ. of Macau |
Li, Tieshan | Dalian Maritime Univ |
Han, Min | Dalian Univ. of Tech |
Keywords: Embedded computer control systems and applications, Fuzzy and neural systems relevant to control and identification
Abstract: For controlling the multi-robot formation system, a general projection neural network based nonlinear model predictive control (NMPC) strategy is proposed in this paper. The multi-robot formation system consists of the trajectory tracking of leader robot and the leader-follower formation controlling. Their kinematic error systems can be reformulated as a convex nonlinear minimization problem by the NMPC method and can be transformed into a constrained quadratic programming (QP) optimization problem. To solve this QP problem online efficiently, a general projection neural network (GPNN) is applied to obtain the optimal solution, which includes the optimal inputs of the formation system. Compare to other existing leader-follower approaches, the proposed nonlinear MPC method can take the input and state constraints of system into consideration. In the end of this work, simulations of the trajectory tracking and multi-robot formation are performed to verify the effectiveness of the developed strategy.
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11:20-11:40, Paper MoA19.5 | Add to My Program |
Takagi-Sugeno Fuzzy Payload Estimation and Adaptive Control (I) |
Beyhan, Selami | Pamukkale Univ |
Eghbal Sarabi, Faraz | TU Delft |
Lendek, Zsofia | Tech. Univ. of Cluj-Napoca |
Babuska, Robert | Delft Univ. of Tech |
Keywords: Fuzzy and neural systems relevant to control and identification, Adaptive neural and fuzzy control
Abstract: In this paper, a novel adaptive Takagi-Sugeno (TS) fuzzy observer-based controller is proposed. The closed-loop stability and the boundedness of all the signals are proven by Lyapunov stability analysis. The proposed controller is applied to a flexible-transmission experimental setup. The performance for constant payload in the presence of noisy measurements is compared to a controller based on a classical extended Luenberger observer. Simulation and real-time results show that the proposed observer-based feedback controller provides accurate position tracking under constant and varying payloads.
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11:40-12:00, Paper MoA19.6 | Add to My Program |
Local Observer Design for Discrete-Time TS Systems (I) |
Marx, Benoit | Centre De Recherche En Automatique De Nancy |
Lendek, Zsofia | Tech. Univ. of Cluj-Napoca |
Keywords: Fuzzy and neural systems relevant to control and identification, Robust neural and fuzzy control
Abstract: In this paper, the problem of local observer design for discrete-time Takagi-Sugeno fuzzy systems is addressed. The observers being designed are local in the sense that relaxed asymptotic convergence conditions are sought locally, rather than globally, while also determining the region where the conditions are valid. The design conditions are derived using both quadratic and non-quadratic Lyapunov functions. The obtained results are expressed in terms of linear matrix inequalities and they are illustrated on a numerical example.
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MoA20 Open Invited Session, Toulouse |
Add to My Program |
Control of Physiological Systems in Medicine: Models, Identification and
Clinical Application |
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Chair: Desaive, Thomas | Univ. of Liege |
Co-Chair: Leonhardt, Steffen | RWTH Aachen |
Organizer: Desaive, Thomas | Univ. of Liege |
Organizer: Leonhardt, Steffen | RWTH Aachen |
Organizer: Evans, Neil D. | Univ. of Warwick |
Organizer: Pretty, Christopher | Univ. of Canterbury |
Organizer: Chappell, Michael | Univ. of Warwick |
Organizer: Docherty, Paul D | Univ. of Canterbury |
Organizer: Mendonça, Teresa | Faculdade De Ciências Da Univ. Do Porto |
Organizer: Chase, J. Geoffrey | Univ. of Canterbury |
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10:00-10:20, Paper MoA20.1 | Add to My Program |
Electrocardiogram R-Wave Is an Unreliable Indicator of Pulse Wave Initialization (I) |
Balmer, Joel | Univ. of Canterbury |
Pretty, Christopher | Univ. of Canterbury |
Kamoi, Shun | Univ. of Canterbury |
Davidson, Shaun M | Univ. of Canterbury |
Pironet, Antoine | Univ. of Liege |
Desaive, Thomas | Univ. of Liege |
Shaw, Geoffrey M | Christchurch Hospital, Canterbury District Health Board |
Chase, J. Geoffrey | Univ. of Canterbury |
Keywords: Bio-signals analysis and interpretation, Intensive and chronic care or treatment, Cellular, metabolic, cardiovascular, pulmonary, neuro-systems
Abstract: Pulse wave velocity (PWV) measurements are commonly used to evaluate a patient’s arterial stiffness, an indicator of cardiovascular dysfunction. PWV is usually calculated by measuring the pulse transit time (PTT) over a known distance through the arteries. In an experimental study on animals, it is straight forward to measure the PTT using two pressure catheters a known distance apart in the central arteries. However, in a clinical setting it is uncommon for such a direct invasive method to be used. This study aims to identify whether a surrogate measure of PTT could be found without the need for an external device and without being additionally invasive. The aim is to use the time between the R-wave of an electrocardiogram (ECG), and the pulse wave passing one pressure catheter (rPTT), both of which are common in critical care. The analysis was performed using data from four porcine experiments (Pietrain Pigs, 20-29kg) in which ECG, aortic arch pressure and abdominal aortic pressure were measured simultaneously over a range of induced hemodynamic conditions including recruitment manoeuvres (RM), fluid admission and dobutamine admission. From the measured data, the correlation of rPTT and PTT was calculated for each pig and condition. The overall results showed varied correlations across the pigs (r2 = 0.07 to 0.75). The variability is suspected to be due to two main causes, the first being pig specific response to the interventions. The second cause leading to poor correlation is suspected to be the pre-ejection period (PEP), the time following the ECG R-wave but before ejection of blood from the ventricle. The analysis showed that rPTT was an unreliable measure of PTT and a poor surrogate.
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10:20-10:40, Paper MoA20.2 | Add to My Program |
Modelling the Redox Imbalance in Dominant Optic Atrophy: The Case of Respiratory Complex I (I) |
Merabet, Nadège | Univ. of Toulouse |
Bordeneuve-guibe, Joel | ISAE-Supaéro |
Davezac, Noélie | Univ. of Toulouse |
Keywords: Kinetic modeling and control of biological systems, Biomedical system modeling, simulation and visualization, Quantification of physiological parameters for diagnosis and treatment assessment
Abstract: Dominant Optic Atrophy is a neuro-ophthalmic disease characterized by the degeneration of the optic nerves. As other neurodegenerative diseases, this pathology was associated with dysfunctional mitochondrial respiratory complexes and an increased production of reactive oxygen species. Our objective is to create a mathematical model of the molecular mechanisms involved in the pathogenesis of Dominant Optic Atrophy in order to predict their evolution and give appropriated treatment based on in-silico analysis with physiological parameters from a specific patient. The first part of the work presented here concerns processes and feedback mechanisms of the whole dysfunctional mitochondrial system. The behaviour of the system is explained with a causal loop diagram. In the second part, we present a detailed stochastic model of catalytic activity and reactive oxygen species production of respiratory complex I. We developed the model using a Petri net formalism and a continuous-time Markov chains theory. The simulations were realized on Matlab and compared to kinetic data from the literature. Our model is able to reproduce the dynamics of the complex I system and to simulate observed behaviours of this system regarding ROS production.
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10:40-11:00, Paper MoA20.3 | Add to My Program |
On the Identification of the Propofol PK/PD Model Using BIS Measurements (I) |
Merigo, Luca | Univ. of Brescia |
Padula, Fabrizio | Curtin Univ |
Latronico, Nicola | Univ. OF BRESCIA |
Mendonça, Teresa | Faculdade De Ciências Da Univ. Do Porto |
Paltenghi, Massimiliano | Spedali Civili Di Brescia |
Rocha, Paula | Univ. of Porto |
Visioli, Antonio | Univ. of Brescia |
Keywords: Identification and validation, Pharmacokinetics and drug delivery
Abstract: In this paper we analyse the use of dierent models to describe the effects of propofol in the induction of hypnosis on a patient during surgery. In particular, we consider the standard three-compartmental pharmacokinetics/pharmacodynamics Wiener model and a suitable reduction of it. The estimation of the parameters is based on real bispectral index scale surgical data and it is performed by using genetic algorithms. The results obtained for different patients show that the standard model fits the data better than the reduced model, but it is overparameterized and its structure is much more complex to be used for the control design. Conversely, the simplication of the identication procedure obtained with the reduced model, which has only three parameters, is paid by only a slight decrement of the performance.
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11:00-11:20, Paper MoA20.4 | Add to My Program |
How Should We Interpret Retrospective Blood Glucose Measurements? Sampling and Interpolation (I) |
Stewart, Kent | Univ. of Canterbury |
Thomas, Felicity | Univ. of Canterbury |
Pretty, Christopher | Univ. of Canterbury |
Chase, J. Geoffrey | Univ. of Canterbury |
Shaw, Geoffrey M | Christchurch Hospital, Canterbury District Health Board |
Keywords: Identification and validation, Bio-signals analysis and interpretation, Clinical validation
Abstract: This study investigates blood glucose (BG) measurement interpolation techniques to represent intermediate BG dynamics, and the effect resampling of retrospective BG data has on key glycemic control (GC) performance results. Many GC protocols in the ICU have varying BG measurement intervals with gaps ranging from 0.5 to 4 hrs. Sparse data poses problems in model fitting techniques and GC performance comparisons, and thus interpolation is required to assume a continuous solution. Retrospective data from SPRINT in the Christchurch Hospital Intensive Care Unit (ICU) (2005-2007) was used to analyze various interpolation techniques. Piece-wise linear, spline and cubic interpolation functions, which force lines through data, as well as 1st and 2nd Order B-spline basis functions, used to identify the data, are investigated. Dense data was thinned to increase sparsity and obtain measurements (Hidden measurements) for comparison after interpolation. All of the piece-wise functions performed considerably better than the fitted interpolation functions. Linear piece-wise interpolation performed the best having a mean RMSE 0.39 mmol/L, within 2 standard deviations of the BG sensor error. The effect of minutely vs hourly sampling of the interpolated trace on key GC performance statistics was investigated using the retrospective data received from STAR GC in the Christchurch Hospital Intensive Care Unit (ICU), New Zealand (2011-2015). Minutely sampled BG resulted in significantly different key GC performance when compared to raw sparse BG measurements. Linear piece-wise interpolation provides the best estimate of intermediate BG dynamics and all analyses comparing GC protocol performance should use minutely linearly interpolated BG data.
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11:20-11:40, Paper MoA20.5 | Add to My Program |
The Effect of Variable vs Fixed Feeding on Glycaemic Control in the Adult ICU: Virtual Trial Evaluation (I) |
Stewart, Kent | Univ. of Canterbury |
Pretty, Christopher | Univ. of Canterbury |
Chase, J. Geoffrey | Univ. of Canterbury |
Shaw, Geoffrey M | Christchurch Hospital, Canterbury District Health Board |
Keywords: Decision support and control, Healthcare management, disease control, critical care, Biomedical system modeling, simulation and visualization
Abstract: Elevated blood glucose (BG) concentrations (Hyperglycaemia) is a common complication in the adult intensive care unit (ICU), and is associated with increased morbidity and mortality. However, it has been shown that effective glycaemic control (GC) can reduce morbidity and mortality. STAR is a model- based GC protocol that uniquely maintains normal BG by changing both insulin and nutrition interventions, and has been proven to be effective in controlling BG levels in the ICU. However, most GC protocols in the ICU only change insulin interventions, making the variable feed aspect of STAR less clinically desirable. This paper investigates two simpler feeding protocols as an alternative. Fixed feed (100% calorific goal) and stepped feed (60%, 80% and 100% calorific goal for the first 3 days of GC, and then 100% thereafter) protocols, in conjunction with the STAR protocol, are simulated with clinically validated virtual trials on a 221 virtual patient cohort. The GC safety, performance and workload is compared for each of the different feeding protocols. The variable and stepped feeding protocol achieved very similar GC performance and safety, with a per-patient median time in the targeted 4.4-8.0 mmol/L BG range of 89.0% vs. 88.3% respectively and the number of patients BG < 4.0 mmol/L being 77 vs. 78 respectively. In contrast, the fixed feeding protocol resulted in significantly poorer GC performance with 85.6% time in the targeted 4.4-8.0 mmol/L band (P<0.025). Both the fixed and stepped feeding protocols significantly reduced the number of feed changes required per day (6.4 variable vs. 0 fixed and 0.5 stepped, P<0.025). However, as a consequence a small increase in the number of BG measurements per day was seen (11.4 variable vs. 13.4 fixed vs. 12 stepped, P<0.025). Overall the stepped feeding protocol provides a simple alternative to the current variable feeding protocol, with similar GC safety and performance.
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11:40-12:00, Paper MoA20.6 | Add to My Program |
Multivariable Recursive Subspace Identification with Application to Artificial Pancreas Systems (I) |
Hajizadeh, Iman | Illinois Inst. of Tech |
Rashid, Mudassir | Illinois Inst. of Tech |
Turksoy, Kamuran | Illinois Inst. of Tech |
Samadi, Sediqeh | Illiinios Inst. of Tech |
Feng, Jianyuan | Illinois Inst. of Tech |
Sevil, Mert | Illinois Inst. of Tech |
Frantz, Nicole | Illinois Inst. of Tech |
Lazaro, Caterina | Illinois Inst. of Tech |
Maloney, Zacharie | Illinois Inst. of Tech |
Littlejohn, Elizabeth | Univ. of Chicago |
Cinar, Ali | Illinois Inst. of Tech |
Keywords: Identification and validation, Artificial pancreas or organs, Biomedical system modeling, simulation and visualization
Abstract: Designing a fully automated artificial pancreas (AP) system is challenging. Changes in the glucose-insulin dynamics in the human body over time, and the inter-subject and day-to-day variability of people with type 1 diabetes (T1D) are two important factors that would highly undermine the performance of an AP that is based on time-invariant and non-individualized models. People with T1D show different responses to carbohydrate intake, insulin, physical activity and stress with day-to-day variability present between or within specific patients. Thus, the control law in an AP system requires a reliable time-varying individualized model to perform efficiently. In this work, a novel recursive identification approach called a Predictor-Based Subspace Identification (PBSID) method is used for identifying a linear time-varying glucose-insulin model for each individual. Model identification and validation are based on clinical data from closed-loop experiments. The models are evaluated by means of various performances indices: Variance Accounted For (VAF), Root mean square error (RMSE), Normalized root mean square error (NRMSE) and Normalized mean square error (NMSE). The proposed method provides a stable time-varying state space model over time. It can also be individualized for each patient by defining the order of the system correctly. The approach proposed in this work has shown a strong potential to identify a consistent glucose–insulin model in real time for use in an AP system.
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MoA21 Regular Session, Conques |
Add to My Program |
Disturbance Rejection |
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Chair: Pannocchia, Gabriele | Univ. of Pisa |
Co-Chair: Malabre, Michel | Ls2n, Umr Cnrs 6004 |
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10:00-10:20, Paper MoA21.1 | Add to My Program |
The Disturbance Decoupling Problem for Hybrid Systems with State-Driven Jumps |
Cristofaro, Andrea | Univ. of Camerino |
Sassano, Mario | Univ. of Rome, Tor Vergata |
Keywords: Disturbance rejection (linear case), Control design for hybrid systems, Linear systems
Abstract: In this paper the problem of disturbance decoupling is tackled for linear hybrid systems in the presence of state-driven jumps, induced by multi-affine sets. Firstly, it is shown that the definition of the control objective needs to be adapted to the hybrid setting, by distinguishing between weak and strong disturbance decoupling. In the former, the desired requirement consists in ensuring that the output of the plant is independent of the disturbance on each flowing sub-interval followed by a single jump, while the latter requires that both the output trajectory and the corresponding, possibly perturbed, time domain are not affected by the disturbance. Then, easily verifiable geometric necessary and sufficient conditions to achieve weak or strong decoupling are presented and discussed. The paper is concluded by numerical simulations that corroborate the theoretical analysis.
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10:20-10:40, Paper MoA21.2 | Add to My Program |
Observer-Based Offset-Free Internal Model Control |
Heath, William Paul | Univ. of Manchester |
Polignano, Marina | Procter&Gamble |
Pannocchia, Gabriele | Univ. of Pisa |
Keywords: Disturbance rejection (linear case), Observers for linear systems, Systems with time-delays
Abstract: A linear feedback control structure is proposed that allows internal model control design principles to be applied to unstable and marginally stable plants. The control structure comprises an observer using an augmented plant model, state estimate feedback and disturbance estimate feedback. Conditions are given for both nominal internal stability and offset-free action even in the case of plant-model mismatch. The Youla parameterization is recovered as a limiting case with reduced order observers. The simple design methodology is illustrated for a marginally stable plant with delay.
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10:40-11:00, Paper MoA21.3 | Add to My Program |
Quasi Full Information Feedback Control Law of Linear Systems |
Yu, Shuyou | Jilin Univ |
Wang, Jing | Department of Control Science & Engineering, Jilin Univ |
Kim, Jung-Su | Seoul National Univ. of Tech |
Chen, Hong | Jilin Univ. Campus NanLing |
Allgower, Frank | Univ. of Stuttgart |
Keywords: Disturbance rejection (linear case), Linear systems, Optimal control theory
Abstract: In this paper, disturbance observer based quasi full information feedback control law of linear systems is proposed, where the feedback control law is with direct measurement of the plant states and the estimation of the disturbances. It shows that the system under control is input to state stable from the derivative of the disturbances to the system states provided that the given matching condition is satisfied. Furthermore, the effect of the disturbances can be compensated entirely if the disturbance is constant. The proposed scheme is verified by a simple numerical example and the stability control of four-wheel steering vehicle.
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11:00-11:20, Paper MoA21.4 | Add to My Program |
Kernel Approximation Approach to the L1 Optimal Sampled-Data Controller Synthesis Problem |
Kim, Jung Hoon | Korea Inst. of Science and Tech |
Hagiwara, Tomomichi | Kyoto Univ |
Keywords: Disturbance rejection (linear case), Optimal control theory, Time-varying systems
Abstract: This paper is concerned with a new framework called the kernel approximation approach to the L_1 optimal controller synthesis problem of sampled-data systems. On the basis of the lifted representation of sampled-data systems, which contains an input operator and an output operator, this paper introduces a method for approximating the kernel function of the input operator and the hold function of the output operator by piecewise constant functions. Through such a method, the L_1 optimal sampled-data controller synthesis problem could be (almost) equivalently converted into the discrete-time l_1 optimal controller synthesis problem. This paper further establishes an important inequality that forms the theoretical validity of the kernel approximation approach for tackling the L_1 optimal sampled-data controller synthesis problem.
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11:20-11:40, Paper MoA21.5 | Add to My Program |
Data Driven Design of Tonal Noise Feedback Cancellers |
Melendez Marquez, Raul | Univ. Grenoble Alpes |
Landau, Ioan Dore | GIPSA-LAB, |
Dugard, Luc | Gipsa-Lab, CNRS Grenoble-INP-Univ. Grenoble Alpes |
Buche, Gabriel | INPG |
Keywords: Disturbance rejection (linear case), Parametric optimization, Robust controller synthesis
Abstract: This paper emphasizes the design methodology for active tonal noise feedback cancellers starting from data collected on the system. To design such control systems, an accurate dynamic model of the system is necessary. Physical modeling can provide qualitative results but fails to yield enough accurate models for control design. The main point is concerned by the methodology is identification of primary path (noise propagation) and secondary path (compensation) models from data. The procedure is investigated in details starting with transfer functions’ order estimations, continuing with parameters estimation and model’s validation. The second aspect is the design of a noise canceller using the Internal Model Principle and the sensitivity function shaping in order to reduce the ”water-bed” effect. The estimated model’s quality for control design is illustrated by the experimental performance of a tonal noise feedback canceller implemented on a test bench.
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11:40-12:00, Paper MoA21.6 | Add to My Program |
Structural Feedback Linearization Based on Nonlinearities Rejection |
Blas Sanchez, Luis Angel | CINVESTAV-IPN, Departamento De Control Automatico |
Bonilla, Moises E. | CINVESTAV-IPN |
Malabre, Michel | IRCCyN, UMR CNRS 6597 |
Azhmyakov, Vadim | Univ. De Medellin |
Salazar, Sergio | CINVESTAV |
Keywords: Structural properties, Disturbance rejection, UAVs
Abstract: In this paper, a structural feedback linearization technique is proposed. This is a quite simple and effective linear control scheme based on failure detection techniques. Our proposed linear control approach is intended to reject the nonlinearities, which are treated as failure signals affecting the systems dynamics. The proposed control methodology is illustrated via the attitude control of a quadrotor in hover flying.
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MoA22 Regular Session, Cordes |
Add to My Program |
Social Systems - Economic, Business, and Financial Systems 1 |
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Chair: Barmish, B. Ross | Univ. of Wisconsin |
Co-Chair: Georges, Didier | Grenoble Inst. of Tech. - ENSE3 |
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10:00-10:20, Paper MoA22.1 | Add to My Program |
Optimal Control of Admission Prices and Service Rates in Open Queueing Networks |
Chen, Sha | Tsinghua Univ |
Xia, Li | Tsinghua Univ |
Keywords: Control in economics, Equilibrium models
Abstract: Pricing control is an important problem in service systems. In this paper, we study a dynamic pricing and control problem in an open Jackson network. The goal is to determine the optimal admission prices and the optimal service rates at every state such that the long-run average welfare of the whole system is maximized. We prove that the original problem is equivalent to a rate-setting problem plus a price-setting problem. To solve the rate-setting problem, we derive a difference formula based on the sensitivity-based optimization theory. When the cost rate function is convex in service rates and the value rate function is concave in arrival rates, we decompose the rate-setting problem into a series of convex optimization subproblems. When the rate functions have linear structure, these subproblems are even simpler and a bang-bang control is optimal. For the price-setting problem, we determine the state-dependent prices so as to induce the optimal arrival rates obtained by the rate-setting problem. We propose a recursive algorithm to numerically compute the expected delays at every state. Finally, we conduct numerical experiments to explore properties of the optimal arrival rates, service rates, prices, and expected delays obtained by our approach.
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10:20-10:40, Paper MoA22.2 | Add to My Program |
The Dating Problem and Optimal Ordering of Sequential Opportunities |
Calafiore, Giuseppe | Pol. Di Torino |
Keywords: Computational social systems, Dynamic games
Abstract: In this paper, we discuss a stochastic sequential decision problem of optimally selecting the order in which to try n opportunities that may yield an uncertain reward in the future. The motivation came out from curiosity, after an informal conversation about what could be the best way to date friends. The problem structure turned out to be suitable also for other situations, such as the problem of optimally selecting the order of submission of a paper to journals. Despite the seemingly combinatorial nature of the problem, we show that optimal-tradeoff solutions can be found by simply ordering a sequence of n real numbers.
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10:40-11:00, Paper MoA22.3 | Add to My Program |
Distributed Variational Equilibrium Seeking of Multi-Coalition Game Via Variational Inequality Approach |
Zeng, Xianlin | Chinese Acad. of Sciences |
Liang, Shu | Inst. of Systems Science, Chinese Acad. of Sciences |
Hong, Yiguang | Chinese Acad. of Sciences |
Keywords: Equilibrium models, Game theories
Abstract: This paper studies the distributed variational equilibrium seeking problem for a class of multi-coalition non-cooperative games via a continuous-time algorithm. In the multi-coalition game, there are multiple coalitions and each coalition (a virtual player in the game) is composed of a set of agents, which are actual decision makers for their coalition and cooperate to minimize the coalition payoff function. To solve this problem, the variational equilibrium seeking problem for a multi-coalition game is first formulated as a distributed variational inequality problem. Then, a novel distributed projected continuous-time algorithm, which is in the form of a projected ordinary differential equation, is proposed to solve the distributed variational inequality. Finally, the algorithm is applied to a numerical example to show the efficacy of the proposed algorithm.
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11:00-11:20, Paper MoA22.4 | Add to My Program |
A Discrete-Time State Observer Approach to Discovering Portfolio Holdings |
Georges, Didier | Grenoble Inst. of Tech. - ENSE3 |
Girerd-Potin, Isabelle | Univ. Grenoble Alpes |
Keywords: Financial engineering, Computional intelligence for business and economy, Financial systems
Abstract: This paper is devoted to the derivation of a new approach for discovering mutual fund holdings from returns only. The approach is based on the use of a discrete-time asymptotic observer with forgetting factor which allows to estimate on-line both the holdings and the holding changes in portfolios. A realistic example is also provided, which demonstrates the effectiveness of the proposed approach. To the best of our knowledge, such an approach has never been proposed before.
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11:20-11:40, Paper MoA22.5 | Add to My Program |
On Drawdown-Modulated Feedback Control in Stock Trading |
Hsieh, Chung-Han | Univ. of Wisconsin-Madison |
Barmish, B. Ross | Univ. of Wisconsin |
Keywords: Financial systems, Financial engineering, Financial dynamics
Abstract: Control of drawdown, that is, the control of the drops in wealth over time from peaks to subsequent lows, is of great concern from a risk management perspective. With this motivation in mind, the focal point of this paper is to address the drawdown issue in a stock trading context. Although our analysis can be carried out without reference to control theory, to make the work accessible to this community, we use the language of feedback systems. The takeoff point for the results to follow, which we call the Drawdown Modulation Lemma, characterizes any investment which guarantees that the percentage drawdown is no greater than a prespecified level with probability one. With the aid of this lemma, we introduce a new scheme which we call the drawdown-modulated feedback control. To illustrate the power of the theory, we consider a drawdown-constrained version of the well-known Kelly Optimization Problem which involves maximizing the expected logarithmic growth of the trader’s account value. As the drawdown parameter dmax in our new formulation tends to one, we recover existing results as a special case. This new theory leads to an optimal investment strategy whose application is illustrated via an example with historical stock-price data.
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11:40-12:00, Paper MoA22.6 | Add to My Program |
Impact of Climate Model Parametric Uncertainty in an MPC Implementation of the DICE Integrated Assessment Model |
Hafeez, Salman | Univ. of Newcastle |
Weller, Steven R. | Univ. of Newcastle |
Kellett, Christopher M. | Univ. of Newcastle |
Keywords: Control in economics, Climate change, Economic models
Abstract: Integrated assessment models (IAMs) are a key tool in studying the interdependence of the global economy and the climate system. For example, the dollar value of carbon dioxide emissions due to anthropogenic climate damages, known as the social cost of carbon (SCC), can be computed using the widely used DICE (Dynamic Integrated model of Climate and the Economy) IAM by solving an open-loop optimal control problem. The results of such an open-loop decision-making strategy, however, do not fully reflect the impacts of uncertainty in the dynamic response of the global climatic system to radiative forcing. In this paper, we propose an implementation of the DICE IAM based on model predictive control (MPC). This MPC-based approach draws a clear distinction between the climate model used by DICE for mitigation planning purposes, and the ``true'' global climate herein captured by a low-order emulation of a model drawn from a state-of-the-art climate model ensemble (CMIP5, the fifth phase of the Coupled Model Intercomparison Project). The closed-loop control methodology in this paper thereby quantifies the impact of parametric climate model uncertainty (plant--model mismatch) on estimates of the SCC obtained from DICE.
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MoA23 Regular Session, Lourdes |
Add to My Program |
Estimation and Control of Vehicle Longitudinal Dynamics |
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Chair: Raffone, Enrico | Centro Ricerche FIAT S.c.p.A |
Co-Chair: Abel, Dirk | RWTH-Aachen Univ |
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10:00-10:20, Paper MoA23.1 | Add to My Program |
Anti-Jerk Control of a Parallel Hybrid Electrified Vehicle with Dead Time |
Pham, Truc | TU Hamburg Harburg, Porsche AG |
Seifried, Robert | TU Hamburg Harburg |
Scholz, Christian | Porsche AG |
Keywords: Hybrid and alternative drive vehicles, Modeling, supervision, control and diagnosis of automotive systems, Vehicle dynamic systems
Abstract: Anti-jerk controller are essential for drive comfort during load-changes, since they reduce undesired driveline oscillations. Hybrid electrified vehicles enable greater degree of freedom to control these oscillations due to the two actuators, namely internal combustion engine and electric machine. At the same time the more complex communication structure of electronic control units in a hybrid electrified vehicle inserts more time delay in the system, which can cause instability in driveline oscillation control. This paper analysis the effect of dead time on a parallel hybrid electrified driveline model with proportional feedback controller and present a feedforward and feedback strategy with dead time compensation. Simulation results of the proposed approach show good step-response behavior and robustness against dead time.
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10:20-10:40, Paper MoA23.2 | Add to My Program |
Effectiveness of Actuating on Rectilinear Bicycle Braking Dynamics |
Klug, Silas | Robert Bosch GmbH |
Moia, Alessandro | Pol. Di Milano |
Verhagen, Armin | Robert Bosch GmbH |
Görges, Daniel | Univ. of Kaiserslautern |
Savaresi, Sergio | Pol. Di Milano |
Keywords: Vehicle dynamic systems, Automotive system identification and modelling, Modeling, supervision, control and diagnosis of automotive systems
Abstract: The aim of this study is to quantize the effectiveness of actuating on bicycle braking dynamics with focus on critical rectilinear maneuvers, namely wheel-lock and nose-over. Those situations define the physical limits of rectilinear bicycle braking. The objective is to gain a profound understanding of the limits of unactuated vehicle dynamics by creating a multibody model that is parametrized and validated via an instrumented bicycle. A good model accuracy is obtained modeling the rider as a point mass located at the experimentally determined center of gravity and using tire slip curves which are also gained by experiment. In the second step the obtained system knowledge is used to evaluate possible ways of actuation, which on the one hand could assist the rider not to leave the limits of braking dynamics and on the other hand extend them. Researched types of actuation are brake torque modulation, suspension fork locking as well as active manipulation of the riders center of gravity by a seatpost actuator.
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10:40-11:00, Paper MoA23.3 | Add to My Program |
An Electric Parking Brake Motor-On-Caliper Actuator Model for Robust Drive Away Control Design |
Raffone, Enrico | Centro Ricerche FIAT S.c.p.A |
Keywords: Automotive system identification and modelling, Kalman filtering techniques in automotive control, Automotive sensors and actuators
Abstract: Electric Parking Brake system is the automation of traditional manual vehicle parking brake system. Naturally, an automation in automotive field includes an improvement of vehicle features that will become, in short time, normal production functionalities, since forever present on vehicles for users. Certainly, EPB control design is a robust design which is influenced by a series of different plant disturbances / uncertainties as: available vehicle battery voltage, ambient/caliper/pad temperatures, vehicle harness length, and normal braking hydraulic pressure already present on caliper spindle. Furthermore EPB system performance has a big impact on vehicle safety, ECE 13H braking legislation part related to parking brakes prescribes many different performance thresholds, static and dynamic, that are easily translated in low level control design requirements. In this context, paper presents: an algebraic mathematical model, including linear and non-linear parts of braking motor-on-caliper, dynamic response identification of electric parking brake actuator by least square identification experiments, linearization of identified non-linear model, observability analysis of identified linear model, and control of Motor on Caliper (MoC) validated with MIL and HIL approach. The simulation and experimental results on a motor-on-caliper test bench, carried out in FIAT Research Center, show that designed identified model is well matched with the clamping force actuator, and it can be useful in drive away robust control logics development.
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11:00-11:20, Paper MoA23.4 | Add to My Program |
Disturbance Estimation for Longitudinal Vehicle Dynamics Control at Low Speeds |
Josevski, Martina | Inst. of Automatic Control, RWTH Aachen Univ |
Katriniok, Alexander | Ford Res. & Innovation Center (RIC) |
Riek, Andreas | RWTH Aachen Univ |
Abel, Dirk | RWTH-Aachen Univ |
Keywords: Kalman filtering techniques in automotive control, Nonlinear and optimal automotive control, Automatic control, optimization, real-time operations in transportation
Abstract: Highly automated driving is one of the major visions in automotive research. Low speed autonomy like e.g. highly automated parking is an essential intermediate step towards that goal. While lateral control for automated parking is already successfully implemented in series production, major disturbances such as curbs still challenge longitudinal control. This paper proposes a disturbance estimator that is capable of estimating external resistance forces which originate from the road and impair longitudinal vehicle control in low speed maneuvers. Particularly, we will focus on curbs that can be treated as a road resistance force. The underlying nonlinear model is derived from an extended single-track model. The model accounts for lateral front tire forces which have a major impact on longitudinal vehicle dynamics at large steering angles. In a simulation study, we evaluate the estimator performance in five reverse driving on-curb parking scenarios and demonstrate that road resistance can be estimated appropriately.
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11:20-11:40, Paper MoA23.5 | Add to My Program |
Cyclist's Riding Style Assessment Via Inertial Measurement |
Lucchetti, Alberto | Pol. Di Milano |
Corno, Matteo | Pol. Di Milano |
Savaresi, Sergio | Pol. Di Milano |
Keywords: Man-machine interfaces, Vehicle dynamic systems, Intelligent driver aids
Abstract: Bicycles are seen as a viable solution to a number of transportation problems: the use of bicycles alleviate congestion, reduce pollution and generally improve public health. In many congested cities, bicycles are the quickest means of transportation. The widespread use of bicycles, along with the exponential growth of electrically power assisted bicycles, could pose some safety issues related to reckless cycling. This paper presents an inertial measurement based approach to quantify and classify different riding styles. The bicycle velocity, longitudinal acceleration and angular rates are monitored to identify dangerous riding from three different perspective: longitudinal, vertical and lateral dynamics. In this way, it is possible to assign a number assessing the quality of each trip. The approach is developed using data collected from ad-hoc experiments and real-world data.
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11:40-12:00, Paper MoA23.6 | Add to My Program |
Model Predictive Control for Real-Time Position Tracking of a Catenary-Free Tram (I) |
Cimini, Gionata | ODYS Srl |
Kim, Youngki | Univ. of Michigan |
McCain, Buz | Ballard Power Systems Inc |
Siegel, Jason | Univ. of Michigan |
Stefanopoulou, Anna G. | Univ. of Michigan |
Keywords: Automatic control, optimization, real-time operations in transportation, Nonlinear and optimal automotive control, Modeling and simulation of transportation systems
Abstract: Automatic Train (or Tram) Operation (ATO) systems have been widely studied in the last decade to guarantee energy-efficient operation. Speed profiles and timetables are derived by applying optimization methods geared towards finding the optimal trade-off between journey time, emissions and energy efficiency. An on-board controller is required to track such optimal trajectories, despite model uncertainties. Due to the non-linear dynamics and non-holonomic constraints on both inputs and outputs, the tracking of such trajectories represents a difficult task. This paper deals with the design of the tracking algorithm, for a catenary-free tram, with regenerative braking. A Model Predictive Control (MPC) approach is used to track the optimal position profile. Thanks to the ability to easily deal with multivariable systems, make use of the references and disturbances preview, and enforce time-varying input/output constraints, MPC is the perfect candidate to fulfill this task. The proposed MPC formulation is simple enough to be implemented in real-time, with a quadratic programming solver. Results show that the algorithm tracks the position reference, and guarantees punctuality and comfort, while enforcing time-varying constraints on vehicle velocity, electrical machine and friction forces. The results are also confirmed in the case of operation with model mismatch.
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MoA24 Regular Session, Pic du Midi |
Add to My Program |
Fault Diagnosis: Theory |
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Chair: Lunze, Jan | Ruhr-Univ. Bochum |
Co-Chair: Weiland, Siep | Eindhoven Univ. of Tech |
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10:00-10:20, Paper MoA24.1 | Add to My Program |
A Method to Get Analytical Redundancy Relations for Fault Diagnosis |
Lunze, Jan | Ruhr-Univ. Bochum |
Keywords: FDI for linear systems, Observer based and parity space based methods for FDI, Signal processing for FDI
Abstract: The paper proposes a way to derive analytical redundancy relations for diagnosable systems. The starting point is an over-determined set of constraints, which is obtained by a structural analysis of the system under consideration. The problem is to find an analytical expression for the residuals in terms of the measured signals and the derivatives of these signals. A new method is described that replaces the derivative constraints included in the structure graph by a series of equations that represent the derivatives of the state variables and the outputs. The result is a matrix-vector representation of an over-determined set of equations, which leads to the analytical redundancy relations. The method is illustrated by an example.
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10:20-10:40, Paper MoA24.2 | Add to My Program |
Distributed Fault Detection and Isolation for Interconnected Systems: A Non-Asymptotic Kernel-Based Approach |
Li, Peng | Imperial Coll. London |
Boem, Francesca | Imperial Coll. London |
Pin, Gilberto | Electrolux Professional S.p.A |
Parisini, Thomas | Imperial Coll. & Univ. of Trieste |
Keywords: Distributed Fault Diagnosis
Abstract: In this paper, a novel framework is proposed for deadbeat distributed Fault Detection and Isolation (FDI) of large-scale continuous-time LTI dynamic systems. The monitored system is composed of several subsystems which are linearly interconnected with unknown parameterization. Each subsystem is monitored by a local diagnoser based on the measured local output, local inputs and the interconnection variables from the neighboring subsystems. The local FDI decision is based on two non-asymptotic state-parameter estimators using Volterra integral operators which eliminate the effect of the unknown initial conditions so that the estimates converge to the true value in a deadbeat manner and therefore the fault diagnosis can be achieved in finite time. Moreover, the unknown interconnection parameters and the unknown fault parameters are simultaneously estimated. Numerical examples are included to show the effectiveness of the proposed FDI architecture.
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10:40-11:00, Paper MoA24.3 | Add to My Program |
Probabilistic Robust Parity Relation for Fault Detection Using Polynomial Chaos |
Wan, Yiming | Massachusetts Inst. of Tech |
Harinath, Eranda | Massachusetts Inst. of Tech |
Braatz, Richard D. | Massachusetts Inst. of Tech |
Keywords: Observer based and parity space based methods for FDI, FDI for linear systems, Computational methods for FDI
Abstract: In this paper, a robust parity relation approach is proposed for fault detection of linear systems with the probabilistic time-invariant parameter uncertainties. To deal with polynomial dependence on uncertain parameters, a set of parity relations with polynomial parameterization is derived to decouple the unknown initial condition. Due to the polynomial structure having a finite degree, the generated residual vector admits an exact polynomial chaos expansion with the same degree, which enables an efficient online computation for quantifying the moments of the residual vector. The obtained moments are used to calculate a confidence set for checking the consistency between the observed system behavior and the parity relations. Compared to deterministic robust parity relation methods, the employment of probabilistic information allows a less conservative way to ensure a low false alarm rate while maintaining a high fault detection rate. In contrast to the existing polynomial chaos-based fault diagnosis literature, our proposed approach avoids truncation errors of polynomial chaos expansions, and is less computationally demanding. The proposed approach is illustrated by using a two-tank system example.
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11:00-11:20, Paper MoA24.4 | Add to My Program |
Fault Detection and Estimation Using Kernel Principal Component Analysis |
Kallas, Maya | Univ. De Lorraine |
Mourot, Gilles | Univ. De Lorraine |
Anani, Kwami Dodzivi | Univ. De Lorraine |
Ragot, Jose | CRAN-INPL |
Maquin, Didier | Univ. De Lorraine |
Keywords: FDI for nonlinear Systems, Statistical methods/signal analysis for FDI
Abstract: The principal component analysis (PCA) is a linear technique widely used to retrieve a subspace that maximizes the variance of the data, making the presence of a fault easy to detect. Nevertheless, the real systems are nonlinear. To this end, we propose in this paper to use a kernel-based technique known as kernel principal component analysis (KPCA) for fault diagnosis. The main idea is to use a nonlinear transformation that projects data into a higher dimensional feature space, where conventional PCA is applied. Although detection can be defined in this space, the estimation of the fault requires the map back to the input space. In this sense, we derive an iterative pre-image technique. A study on possible initial points is done. Three initialization techniques based on different properties are presented. The relevance of the proposed technique is illustrated on simulated data.
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11:20-11:40, Paper MoA24.5 | Add to My Program |
Robust Fault Diagnosis by Optimal Input Design for Self-Sensing Systems |
Khandelwal, Dhruv | Eindhoven Univ. of Tech |
Weiland, Siep | Eindhoven Univ. of Tech |
Khalate, Amol Ashok | Oce Tech. B.V |
Keywords: Active Fault Diagnosis, FDI for linear systems, Structural analysis and residual evaluation methods
Abstract: This paper presents a methodology for model based robust fault diagnosis and a methodology for input design to obtain optimal diagnosis of faults. The proposed algorithm is suitable for real time implementation. Issues of robustness are addressed for the input design and fault diagnosis methodologies. The proposed technique allows robust fault diagnosis under suitable conditions on the system uncertainty. The designed input and fault diagnosis techniques are illustrated by numerical simulation.
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11:40-12:00, Paper MoA24.6 | Add to My Program |
Diagnosability Improvement of Dynamic Clustering through Automatic Learning of Discrete Event Models |
Barbosa, Nathalie | LAAS-CNRS |
Travé-Massuyès, Louise | LAAS-CNRS |
Grisales, Victor Hugo | Univ. Nacional De Colombia / Dpt. of Mechanical and Mechat |
Keywords: AI methods for FDI, Condition Monitoring, FDI for hybrid systems
Abstract: This paper deals with the problem of improving data-based diagnosis of continuous systems taking advantage of the system control information represented as discrete event dynamics. The approach starts from dynamic clustering results and, combining the information about operational modes, automatically generates a discrete event system that improves clustering results interpretability for decision-making purposes and enhances fault detection capabilities by the inclusion of event related dynamics. The generated timed discrete event system is adaptive thanks to the dynamic nature of the clusterer from which it was learned, namely DyClee. The timed discrete event system brings valuable temporal information to distinguish behaviors that are non-diagnosable based solely on the clustering itself.
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MoA25 Invited Session, Basketball |
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Design and Control of Robot Systems for Nuclear Applications |
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Chair: Asama, Hajime | The Univ. of Tokyo |
Co-Chair: Tognon, Marco | Laas - Cnrs |
Organizer: Asama, Hajime | The Univ. of Tokyo |
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10:00-10:20, Paper MoA25.1 | Add to My Program |
3-D Reconstruction of Underwater Object Based on Extended Kalman Filter by Using Acoustic Camera Images (I) |
Mai, Ngoc Trung | The Univ. of Tokyo |
Woo, Hanwool | The Univ. of Tokyo |
Ji, Yonghoon | The Univ. of Tokyo |
Tamura, Yusuke | The Univ. of Tokyo |
Yamashita, Atsushi | The Univ. of Tokyo |
Asama, Hajime | The Univ. of Tokyo |
Keywords: Perception and sensing, Information and sensor fusion, field robotics
Abstract: This paper presents a sensing method to measure three-dimensional (3-D) information in an underwater environment using an acoustic camera. Acoustic cameras can acquire clear information even in turbid water which is difficult to photograph with an optical camera. In addition, its detection range is extensive. Compared to traditional sensors, acoustic cameras with no restrictions on vision are the most powerful sensors for acquiring underwater information. In this paper, we propose a novel approach which enables 3-D measurement of underwater objects using arbitrary viewpoints based on an extended Kalman filter (EKF). By using the probabilistic method based on the EKF, 3-D reconstruction of underwater objects is possible even if the control input for camera movement has uncertainty. Furthermore, since the EKF based estimation is performed sequentially each time, our methodology can be adapted to real-time applications. Simulation and experimental results show the effectiveness of the proposed method.
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10:20-10:40, Paper MoA25.2 | Add to My Program |
A Flexible In-Pipe Robot Capable of Moving in Open Spaces Via a Pneumatic Rotary Mechanism (I) |
Yamamoto, Tomonari | Tohoku Univ |
Konyo, Masashi | Tohoku Univ |
Tadakuma, Kenjiro | Tohoku Univ |
Tadokoro, Satoshi | Tohoku Univ |
Keywords: Mobile robots, field robotics, Application of mechatronic principles
Abstract: In this paper, we propose a flexible pneumatic robot that can move in narrow pipes and across open spaces. The development of such robots is necessary to access the insides of Fukushima Daiichi Nuclear Power Plant's pressure containment and reactor pressure vessels via pipes and to then move around inside and investigate damage to them. The novel flexible pneumatic robot proposed here realizes both in-pipe and open-space locomotion by integrating expansion-type pneumatic hollow-shaft actuators and a pneumatic rotary steering mechanism. We first present the propulsion and steering concept of the proposed robot before detailing its design and the developed prototype. Further, we present the experimental evaluation of the characteristics and performances of the steering and propulsion mechanisms. We found that each expansion-type pneumatic hollow-shaft actuator can generate a maximum traction force of 11 N, whereas the steering mechanism generates a maximum steering force of 0.55 N. Finally, we conducted a trial to confirm the locomotion performance of the robot both in pipes and across open space. The results show that the robot can smoothly touch down into open space from high-lying pipes and subsequently move around across open spaces toward a given coordinate.
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10:40-11:00, Paper MoA25.3 | Add to My Program |
An Avoidance Control Strategy for Joint-Position Limits of Dual-Arm Robots |
Foresi, Gabriele | Univ. Pol. Delle Marche |
Freddi, Alessandro | Univ. Pol. Delle Marche |
Kyrki, Ville | Aalto Univ |
Monteriù, Andrea | Univ. Pol. Delle Marche |
Muthusamy, Rajkumar | Aalto Univ |
Ortenzi, Davide | Univ. Pol. Delle Marche |
Proietti Pagnotta, Daniele | Univ. Pol. Delle Marche |
Keywords: Robots manipulators, Motion Control Systems, field robotics
Abstract: The joint position constraints of two cooperative robotic manipulators is a critical issue, especially when both manipulators grasp and move the same object. When two robots cooperate to move a grasped object from one point to another one, following a desired path, the general solution adopted in the literature is to use the kinematic redundant motions possessed by a single manipulator, in order to avoid joint constraints. However, this method requires a number of redundant motions at least equals to the number of joint constraints to satisfy. The study proposed in this paper is focused on developing a joint position limits avoidance strategy, which is able to satisfy all joint limits even when the number of redundant motions are no longer sufficient to ensure them with a classical approach. This is achieved by means of a supervisory control system, which allows to locally and temporary change the desired end-effectors motion, when the redundant motions are not available. The supervisory control sacrifices the path following task in order to ensure joint position limits avoidance, while preserving at the same time the relative end-effector motion, such that the stability of the grasped object is still ensured. The proposed strategy has been implemented on a commercial robot, namely Baxter, which possesses two anthropomorphic arms having one degree of redundancy. The obtained results prove the effectiveness of the proposed supervisor controller, which can be easily extended and applied in manufacturing scenario. Whereas path following can be temporary sacrificed (e.g., the grasped object can be moved from one point to another in different ways), the joint constraints must be strictly preserved for safety reasons.
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11:00-11:20, Paper MoA25.4 | Add to My Program |
Radiation Imaging System Using a Compact Gamma-Ray Imager Mounted on a Remotely Operated Machine (I) |
Sato, Yuki | Japan Atomic Energy Agency |
Kawabata, Kuniaki | Japan Atomic Energy Agency |
Ozawa, Shingo | Chiyoda Tech. Corp |
Izumi, Ryo | Chiyoda Tech. Corp |
Kaburagi, Masaaki | Japan Atomic Energy Agency |
Tanifuji, Yuta | Japan Atomic Energy Agency |
Terasaka, Yuta | Japan Atomic Energy Agency |
Miyamura, Hiroko | Japan Atomic Energy Agency |
Kawamura, Takuma | Japan Atomic Energy Agency |
Suzuki, Toshikazu | Chiyoda Tech. Corp |
Torii, Tatsuo | Japan Atomic Energy Agency |
Keywords: Information and sensor fusion, Autonomous robotic systems, Multi sensor systems
Abstract: The development of remote and quick radiation imaging methods for high dose-rate environments is important to accelerate decommissioning of the Fukushima Daiichi Nuclear Power Station (FDNPS). We have developed a remote radiation imaging system consisting of a Compton camera and a multicopter-type drone to remotely measure the distribution of radioactive contaminations inside FDNPS. In outdoor performance evaluation tests in the coastal areas of Fukushima, Japan, the drone system succeeded in observing several hotspots from the sky. In addition, we are developing technology for simultaneous localization and mapping of remotely operated machines such as drones to complete the remote radiation imaging system, which can fly autonomously.
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11:20-11:40, Paper MoA25.5 | Add to My Program |
Development of a Small Survey Robot with a Step-Climbing Ability (I) |
Takeda, Kohei | Tokyo Electric Power Company Holdings, Inc |
Sakaue, Tomoki | Tokyo Electric Power Company Holdings, Inc |
Nishizawa, Koju | Tokyo Electric Power Company Holdings, Inc |
Yoshino, Shin | Tokyo Electric Power Company Holdings, Inc |
Keywords: Mobile robots, Telerobotics
Abstract: To survey a water leakage of Unit 3 Primary Containment Vessel hatch in Fukushima Daiichi Nuclear Power Station, a small remotely-operated robot was developed. On this robot a smartphone was mounted as a camera and its body was manufactured by a 3D printer. The feature of this robot is that it has the abilities to pass a narrow crank aisle and to climb a 50 mm high-step which is about half as tall as its overall height. This step-climbing ability resulted from the mount of a climbing nose and a supporting tail, in addition, an improvement of crawlers.
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11:40-12:00, Paper MoA25.6 | Add to My Program |
Position Tracking Control for an Aerial Robot Passively Tethered to an Independently Moving Platform |
Tognon, Marco | Laas - Cnrs |
Franchi, Antonio | LAAS-CNRS |
Keywords: Flying robots
Abstract: We study the control problem of an aerial vehicle moving in the 3D space and connected to an independently moving platform through a physical link (e.g., a cable, a chain or a rope). The link is attached to the moving platform by means of a passive winch. The latter differs from an active winch by producing only a constant uncontrollable torque. We solve the problem of exact tracking of the 3D position of the aerial vehicle, either absolute or with respect to the moving platform, while the platform is independently moving. We prove two intrinsic properties of the system, namely, the dynamic feedback linearizability and the differential flatness with respect to the output of interest. Exploiting this properties we design a nonlinear controller able to exponentially steer the position of the aerial robot along any sufficiently smooth time-varying trajectory. The proposed method is tested through numerical simulations in several non-ideal cases.
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MoA26 Regular Session, Rugby |
Add to My Program |
Manufacturing and Logistics Systems - Manufacturing Modeling for Management
and Control 1 |
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Chair: Frein, Yannick | Grenoble INP |
Co-Chair: Su, Rong | Nanyang Tech. Univ |
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10:00-10:20, Paper MoA26.1 | Add to My Program |
Applying Value Stream Mapping in Manufacturing: A Systematic Literature Review |
Romero Dessens, Luis Felipe | IAENG Member, Univ. De Sonora (Univ. of Sonora) |
Arce, Anel | Univ. De Sonora |
Keywords: Logistics in manufacturing, Production planning and control, Procedures for process planning
Abstract: Value Stream Mapping is a critical tool when it comes to implement the lean approach, it has spanned to many sectors in industry. Although previous studies justify its use in the manufacturing sector by identifying previous cases in the literature, none to the best of our knowledge has used our approach to explore the aspects of this review, yet the potential exists. Based on a systematic approach, we analyzed available literature published in refereed journals, providing valuable findings related to the evolution, application and performance of the Value Stream Map in context of the manufacturing sector. We could realize of important information about the trends in regards of the research in this field that is carried out over the world, the application of VSM in its traditional version as well as the variants of it, the key aspects analyzed by authors (i.e. performance indicators considered). To sum up, we provide the scientific comunity with valuable insights of the application of Value Stream Mapping; this may serve as a mean to explore further the ways in which this tool is developed in both, the manufacturing sector as well as other areas of knowledge.
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10:20-10:40, Paper MoA26.2 | Add to My Program |
Performance Evaluation of Bernoulli Serial Lines with Waiting Time Constraints |
Lee, Junho | Univ. of Wisconsin, Madison |
Li, Jingshan | Univ. of Wisconsin - Madison |
Keywords: Modeling of manufacturing operations, Production planning and control, Intelligent manufacturing systems
Abstract: Manufacturing systems with waiting time constraints are widely observed in battery, automotive, semiconductor, food and many other industries. Under such requirements, the residence time of a part in a buffer is constrained by a given time limit and the part exceeding the limit is subject to quality inspection and could be scrapped with a certain probability. To evaluate the performance of such systems, in this paper, we study Bernoulli serial lines with waiting time limits. For two-machine lines, analytical formulas are derived to predict the system performance in the steady state. In case of longer lines, direct analysis is intractable, thus an iterative aggregation procedure is presented. Based on extensive numerical experiments, the convergent results of the procedure can be obtained and high precision in performance estimation is achieved.
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10:40-11:00, Paper MoA26.3 | Add to My Program |
Unpaced Merging Lines with Uneven Buffer Allocation |
Shaaban, Sabry | ESC La Rochelle |
McNamara, Tom | ESC Rennes School of Business |
Dmitriev, Viatcheslav | ESC Rennes School of Business |
Keywords: Modeling of assembly units, Assembly and disassembly, Modeling of manufacturing operations
Abstract: As a common production practice in many developing economies and in reverse logistics, unbalanced merging assembly lines are a research area which is re-emerging in prominence. This paper aims to study the performance of reliable, unpaced merging assembly lines that are unbalanced in terms of their buffer storage sizes. Lines are simulated with different values of line length, mean buffer storage capacity and configuration of uneven buffer allocation. The best patterns in terms of generating higher throughput and lower average buffer level as compared to a balanced merging line are those where total available buffer capacity is allocated as evenly as possible between workstations and to concentrate more buffer capacity towards the end of the line, respectively.
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11:00-11:20, Paper MoA26.4 | Add to My Program |
A Branch and Bound Algorithm for Three-Machine Flow Shop with Overlapping Waiting Time Constraints |
Kim, Hyun-Jung | Sungkyunkwan Univ |
Lee, Junho | Univ. of Wisconsin, Madison |
Keywords: Job and activity scheduling, Modeling of manufacturing operations, Discrete event systems in manufacturing
Abstract: This paper focuses on a three-machine flow shop scheduling problem with overlapping waiting time constraints for makespan minimization. In the problem, waiting times of each job between the first two machines and between the first and the third machines are constrained by two distinctive time limits, respectively. Such overlapping waiting time constraints are one of the common scheduling requirements in semiconductor manufacturing since up to 20% of whole process steps are controlled with waiting time limits for better quality. For example, wafers completed with chemical treatment on a diffusion machine must be cleaned on a cleaning machine and then should be processed on another diffusion machine. In this case, two waiting time limits are independently applied between diffusion and cleaning machines and between two diffusion machines, respectively. We first identify several dominance properties of the problem and develop a branch and bound algorithm using the properties. We use heuristic algorithms to obtain a good initial solution and derive five different lower bounds. Computational tests are performed for evaluating the performance of the algorithm.
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11:20-11:40, Paper MoA26.5 | Add to My Program |
Optimization of Order Batching in a Picking System with Carousels |
Lenoble, Nicolas | Univ. Grenoble Alpes, CNRS, G-SCOP |
Frein, Yannick | Grenoble INP |
Hammami, Ramzi | ESC Rennes School of Business |
Keywords: Logistics in manufacturing, Complex logistic systems, Modeling of manufacturing operations
Abstract: Carrousels are Automated Storage and Retrieval Systems frequently used in warehouses. The performance of warehouses with carousels is highly correlated to the order picking performance. The order picking is one of the main activities in warehouse management, consisting of retrieving the required products from their storage location to fulfil customers’ orders. A critical operation for the order picking efficiency is the order batching, namely how to regroup customers’ orders into batches before the collect. In this paper, we provide an optimization model for the orders batching problem, when the products are stored in one or several carrousels, with the objective of minimizing the total completion time. We use real data in order to test and validate our models. Numerical experiments show that our model outperforms the actual batching strategy used by the considered companies.
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11:40-12:00, Paper MoA26.6 | Add to My Program |
An Application of Incremental Scheduling to a Cluster Photolithography Tool |
Ware, Simon Ian | Nanyang Tech. Univ |
Su, Rong | Nanyang Tech. Univ |
Keywords: Discrete event systems in manufacturing, Modeling for control optimization
Abstract: Optimization is an important area of research. As many optimization problems are NP-Hard it is important to have a wide selection of heuristic approaches to choose from when solving problems. Prioritized planning is a technique traditionally used to solve the multi-robot path planning problem. In this paper we investigate how incremental scheduling, a technique based upon prioritized planning can be applied to scheduling wafer processing in a cluster tool. For our test case our approach is shown to be capable of finding a plan of equal quality to other scheduling approaches and thus suggests our method could be of potential use in other manufacturing/material handling applications.
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MoA27 Regular Session, Football |
Add to My Program |
Marine Robotics 1 |
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Chair: Vasquez, Rafael E. | Univ. Pontificia Bolivariana |
Co-Chair: Jeinsch, Torsten | Univ. of Rostock |
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10:00-10:20, Paper MoA27.1 | Add to My Program |
Adaptive Kalman Filtering for Dynamic Positioning of Marine Vessels |
Popov, Ivan | Tech. Univ. of Varna |
Koschorrek, Philipp | Univ. of Rostock |
Haghani, Adel | Univ. of Rostock |
Jeinsch, Torsten | Univ. of Rostock |
Keywords: Kalman filtering techniques in marine systems control, Dynamic positioning
Abstract: Dynamic Positioning systems usually include wave filtering functionalities to reduce control actions, and hence wear and tear of the propulsion system. Different approaches for design and parametrization of the wave filter components have been investigated through the years. Anyhow, tuning of these algorithms, especially Kalman filter, is a crucial task for proper function, but systematic guidelines or algorithms are not existing. This paper proposes a method for auto-tuning of Kalman filter for dynamic positioning using adaptive algorithms. Existing methods of residual- and innovation-based estimation of covariance matrices are incorporated into a linear Kalman filter and evaluated in the simulations. The resulting tuning shows significant improvements in state estimation.
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10:20-10:40, Paper MoA27.2 | Add to My Program |
A Dynamic Allocation Strategy for Voith Schneider Propeller |
Koschorrek, Philipp | Univ. of Rostock |
Palm, Michael | Voith Turbo |
Jeinsch, Torsten | Univ. of Rostock |
Keywords: Dynamic positioning
Abstract: To ensure a ship's capability of Dynamic Positioning, the propulsion system of the vessel is usually designed over-actuated, meaning the ship has more control inputs than degrees of freedom. The distribution of thrust demands of some higher-level controller onto the available thrusters, the thrust allocation, is an essential problem and due to the over-actuated problem not trivial. Furthermore, the thrust should be delivered fast and precisely to achieve good positioning results. The usage of a Voith Schneider Propeller allows thrust generation with these properties but spans a new problem due to complex modeling and increased number of control variables. The paper on hand presents a thrust allocation algorithm which utilizes the dynamic advantages of Voith Schneider Propeller. The algorithm uses a two-step approach consisting of Quadratic Programming optimization and external tracking algorithms for calculation of power- optimal propulsion control. The proposed strategy is compared to a non-linear, multi-criteria optimization which is based on high quality open-water characteristics. The results show strong similarities though the computational time can be significantly reduced by usage of the proposed allocation.
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10:40-11:00, Paper MoA27.3 | Add to My Program |
Wavelet-Based Controller Design for Dynamic Positioning of Vessels |
Jayasiri, Awantha | Memorial Univ. of Newfoundland |
Ahmed, Salim | Memorial Univ |
Imtiaz, Syed | Memorial Univ |
Keywords: Dynamic positioning, Marine system navigation, guidance and control, Kalman filtering techniques in marine systems control
Abstract: This paper presents design and evaluation of a wavelet-based multi-resolution proportional integral derivative controller (MRPID) for dynamic positioning (DP) of vessels under noise and environmental disturbances. In the proposed MRPID controller, the errors with position and orientation are decomposed into different frequency components using discrete wavelet transform. The different scales of wavelet transform represent details such as external disturbances, process noise and measurement noise. A set of sub-PID controllers are assigned to selected error components and the commands generated by all controllers are added together to produce the control command for dynamic positioning of the vessel. Performance of the controller is evaluated in simulation and compared with the conventional PID controller with acceleration feedback. Nonlinear state estimation is performed by using an unscented Kalman filter assuming a typical sensor package for localization.
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11:00-11:20, Paper MoA27.4 | Add to My Program |
Signed Distance Function Based Surface Reconstruction of a Submerged Inland Mine Using Continuous-Time SLAM |
Bleier, Michael | Zentrum Fuer Telematik E.v |
Dias, André | LSA - Inst. Superior De Engenharia Do Porto |
Ferreira, António | Inesc Tec (lsa-Isep) |
Pidgeon, John | BMT WBM Pty Ltd |
Almeida, Jose | LSA - Inst. Superior De Engenharia Do Porto |
Silva, Eduardo | LSA - Inst. Superior De Engenharia Do Porto |
Schilling, Klaus | Univ. Wuerzburg |
Nüchter, Andreas | Univ. of Würzburg |
Keywords: Marine system navigation, guidance and control, Autonomous surface vehicles, Map building
Abstract: The planning of mining operations in water filled open-pit mines requires detailed bathymetry to create a mine plan and assess the involved risks. This paper presents post-processing techniques for creating an improved 3D model from a survey carried out using an autonomous surface vehicle with a multibeam sonar and a GPS/INS navigation system. Inconsistencies of the created point cloud as a result of calibration errors or GPS signal loss are corrected using a continuous-time simultaneous localization and mapping (SLAM) solution. Signed distance function (SDF) based mapping is employed to fuse the measurements from multiple runs into a consistent representation and reduce sensor noise. From the signed distance function model we reconstruct a 3D surface mesh. We use this terrain model to establish a virtual reality scene for immersive data visualization of the mining operations for testing and planing during development. Results of the proposed approach are demonstrated on a dataset captured in an abandoned submerged inland mine.
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11:20-11:40, Paper MoA27.5 | Add to My Program |
Adaptive Position Estimation for Vehicles Using Range Measurements |
Hari, Sai Krishna Kanth | Texas A&M Univ |
Sundar, Kaarthik | Texas A&M Univ |
Braga, José | Univ. of Porto, LSTS |
Teixeira, Joao | Univ. of Porto |
Darbha, Swaroop | Texas a & M Univ |
Sousa, Joao | Fac. Engenharia Univ. Do Porto |
Keywords: Autonomous underwater vehicles, Autonomous surface vehicles, Marine system navigation, guidance and control
Abstract: Position estimation is one of the important tasks to achieve vehicle autonomy. This article addresses the problem of estimating the position of the center of mass of a vehicle from range measurements that are available to the vehicle via communication of its on-board receiver to multiple beacons. The model proposed in this article assumes that the true distance between a beacon and the on-board receiver in the vehicle is at most equal to a predetermined function of the measured distance. This predetermined function is computed offline while calibrating the beacons, and an algorithm to update this function adaptively with online measurements is also presented. These range measurements are further utilized to estimate the position of on-board receiver, and hence the vehicle, by solving a convex optimization problem. The position is essentially an analytical center of the set of all possible locations of the receiver. Several simulations and experiments also corroborate the effectiveness of the proposed approach.
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11:40-12:00, Paper MoA27.6 | Add to My Program |
Development and Implementation of a High-Level Control System for the Underwater Remotely Operated Vehicle Visor3 |
Gomez, Alvaro | Univ. Pontificia Bolivariana |
Aristizabal, Luis M | Univ. Pontificia Bolivariana |
Zuluaga, Carlos A. | Univ. Pontificia Bolivariana |
Correa, Julio C | Univ. Pontificia Bolivariana |
Vasquez, Rafael E. | Univ. Pontificia Bolivariana |
Keywords: Marine system navigation, guidance and control, Control architectures in marine systems, Motion control
Abstract: This paper addresses the design and implementation of a high-level control system for the planning, supervision, and mission operation of the observation class remotely operated vehicle Visor3. This work was developed following the Waterfall Model for the Software Development Life Cycle. First, a brief description of the ROV Visor3 is made. Then, the functional and non-functional requirements, that are based on the ISO/IEC/IEEE 29148:2011 and were gathered from stakeholders, are presented. The software architecture is based on the standard ISO/IEC/IEEE 42010:2011. The implementation of the high-level control system is done by using a high-level programming environment using layers through parallel executed threads. This architecture establishes a flexible structure and guidelines that orient the implementation of future components for the mission control system of the ROV.
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MoA28 Open Invited Session, Hockey |
Add to My Program |
Advanced Control of Comminution Processes |
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Chair: Le Roux, Johan Derik | Univ. of Pretoria |
Co-Chair: Craig, Ian | Univ. of Pretoria |
Organizer: Le Roux, Johan Derik | Univ. of Pretoria |
Organizer: Craig, Ian | Univ. of Pretoria |
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10:00-10:20, Paper MoA28.1 | Add to My Program |
Model-Based Fault-Tolerant Control with Robustness to Unanticipated Faults (I) |
Olivier, Laurentz Eugene | Sasol / Univ. of Pretoria |
Craig, Ian | Univ. of Pretoria |
Keywords: Fault diagnosis and fault tolerant control, Model predictive and optimization-based control, Fault accommodation and Reconfiguration strategies
Abstract: Fault-tolerant control is important for the autonomous operation of complex processes. When model predictive control is used, fault detection and diagnosis is often based on the available process model used by the controller. Unanticipated faults can however cause misdiagnosis of faults, and consequently incorrect compensation actions. A fault-tolerant model predictive controller is presented in this article and tested on a grinding mill circuit simulator. The fault diagnosis algorithm quickly and accurately detects anticipated faults based on the generalized likelihood ratio test. Unanticipated faults are isolated when the process data do not sufficiently match the most probable anticipated fault data. The scheme is applicable to nonlinear multiple-input multiple-output systems.
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10:20-10:40, Paper MoA28.2 | Add to My Program |
Reducing the Energy Footprint of Grinding Circuits: The Process Control Paradigm (I) |
Bouchard, Jocelyn | Univ. Laval |
Desbiens, Andre | Univ. Laval |
Poulin, Eric | Laval Univ |
Keywords: Process control applications, Model predictive and optimization-based control, Monitoring of product quality and control performance
Abstract: The grinding process in ball mills is notoriously known to be highly inefficient: only 1 to 2% of the inputted electrical energy serves for creating new surfaces. There is therefore obvious room for improvement, even considering that the dominant impact mechanism in tumbling mills is a fundamental liability limiting the efficiency. Moreover, the Coalition for Energy Efficient Comminution estimates that on average, 53% of the energy consumed on a mine site is for comminution processes. This represents a tremendous leverage to generate economical and environmental benefits. This paper analyses how properly designed control systems allow a better usage of the capacity of grinding circuits, and a reduction of the specific energy consumption even without modifying the product size target. Three different control systems are compared: (1) typical basic regulatory, (2) regulatory control of the product size attribute, and (3) model-based predictive control. Simulation results show that controlling the product size distribution attribute ensures not only meeting downstream requirements and avoiding overgrinding, but also allows processing higher throughput in some instances, hence decreasing the specific energy. The discussion highlights the pros and cons of all three scenarios.
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10:40-11:00, Paper MoA28.3 | Add to My Program |
Requirements for Estimating the Volume of Rocks and Balls in a Grinding Mill (I) |
Le Roux, Johan Derik | Univ. of Pretoria |
Craig, Ian | Univ. of Pretoria |
Keywords: Process observation and parameter estimation, Measurement and instrumentation, Advanced process control
Abstract: This study aims to indicate which measurements are required in order to estimate the volume of rocks and balls in a semi-autogenous grinding mill as two separate states. The nonlinear observer model used here includes the following process states: water, solids, rocks, and balls in the mill, where solids are all ore small enough to discharge through the end-discharge grate, and rocks are all ore too large to discharge. The model includes the discharge rate, abrasion rate of rocks and the abrasion rate of balls as parameters. The available measurements are the total mill filling, the discharge flow-rate, and the discharge density. As seen from an observability analysis, the states and parameters become observable from the second-order time-derivatives of the measurements. The minimum set of measurements required for observability of all states and parameters is the mill filling, the discharge density, and the first and second-order time-derivatives of the discharge density. However, modelling the second-order time-derivative of the discharge density is problematic, as it assumes constant model parameters. Although the combined volume of rocks and balls can be estimated using measurements of the mill filling, the discharge flow-rate, the discharge density, and the first-order time-derivative of the discharge density, these measurements remain insufficient to distinguish between rocks and balls. To reliably distinguish between the rocks and balls in the mill, an additional measurement apart from the ones mentioned above is required. Since power draw models introduce large parameters sets of their own, another viable and reliable option is required.
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11:00-11:20, Paper MoA28.4 | Add to My Program |
An IsaMillTM Soft Sensor Based on Random Forests and Principal Component Analysis (I) |
Aldrich, Chris | Curtin Univ |
Napier, Lara | Curtin Univ |
Keywords: Measurement and instrumentation, Identification and modelling, Monitoring of product quality and control performance
Abstract: Online measurement of particle size is vital to the development of advanced control systems for comminution processes. Horizontal stirred mills, such as the IsaMill, are designed for more efficient ultrafine grinding and have made significant inroads in the mineral processing industries since their introduction more than a decade ago. Despite their energy efficiency, significant improvement is possible via more efficient control of these mills. Advanced control generally requires online information on the key performance variables of the mill. In this regard, measurement of the particle size in the mill is problematic. However, this problem can be addressed by use of soft sensors, whereby the particle size can be estimated from the measurements of other process variables. In this investigation, such a soft sensor is developed for online estimation of particle size on an industrial IsaMill in Western Australia. The sensor consists of a random forest model that uses operational variables measured online as predictors to estimate the P80 particle size of the mill. Principal component analysis is used in conjunction with the random forest to enable it to assess the similarity of new process measurements to the data in its training data base. When the new data exceed a Hotelling’s T2 or a prediction error or Q-index threshold, recalibration of the model is automatically performed.
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11:20-11:40, Paper MoA28.5 | Add to My Program |
MPC Model Individualization in Free-Living Conditions: A Proof-Of-Concept Case Study (I) |
Toffanin, Chiara | Univ. of Pavia |
Del Favero, Simone | Univ. of Padova |
Aiello, Eleonora Maria | Univ. of Pavia |
Messori, Mirko | Univ. of Pavia |
Cobelli, Claudio | Univ. of Padova |
Magni, Lalo | Univ. of Pavia |
Keywords: Identification and validation, Clinical trial, Artificial pancreas or organs
Abstract: In the last years, Model Predictive Control (MPC) proved to be one of the most promising approaches for an Artificial Pancreas (AP), a device for closed-loop blood glucose control in subjects affected by Type 1 Diabetes (T1D). MPC performance is highly influenced by the quality of the model used for prediction. Moreover, the inter-patient variability characterising subjects with T1D increases the need of patient-tailored models. Recently, promising results have been obtained in silico using the UVA/Padova simulator in cite{Soru:2012} and cite{Messori:2016} where different individualization techniques have been studied and compared to the ``average" model of the UVA/Padova adult population showing significant improvements in term of prediction ability. The aim of this paper is to verify the applicability of the technique described in cite{Soru:2012} and extend it to be used on free-living data collected without ad hoc clinical protocols. Data were collected during a 1 month trial in free-living conditions (cite{Renard:2016}). In this proof-of-concept case study, individualized models obtained with different identification parameters are compared with the ``average'' model that was used to synthetize the MPC controller used during that trial. The individualized models show superior prediction performance and prove robustness to non-optimal algorithm initialization in a selected test-case.
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MoM01 Interactive Session, Caravelle 1.2 |
Add to My Program |
Intelligent Maintenance Systems III |
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Chair: Yalaoui, Farouk | Univ. of Tech. of Troyes |
Co-Chair: Peres, Francois | ENIT-INPT Univ. Toulouse Midi-Pyrénées |
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13:30-15:30, Paper MoM01.1 | Add to My Program |
A Plant Information System Platform to Enable Knowledge-Driven Performance Improvement of a Brewery |
Lees, Michael | The Univ. of Melbourne |
Ellen, Robert | EGA Tech |
Keywords: Manufacturing plant control, Interoperability and sustainable enterprise, Intelligent manufacturing systems
Abstract: The manufacturing industry is under pressure to improve performance in a number of areas including productivity, efficiency and environmental impact. Knowledge-driven performance improvements require not just access to data but to detailed contextual information that is specific to the individual plant and its process implementation. In meeting this requirement there is often a trade-off when selecting between customising the generic offering of a commodity application and the flexibility of a custom-developed application. This paper describes a unique information system, developed on the G2 real-time intelligent system platform, that has been specifically designed to facilitate performance improvements of a large brewery.
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13:30-15:30, Paper MoM01.2 | Add to My Program |
Efficient Implementation of Distinguished Controllers for Discrete-Event Systems |
Rosa, Marcelo | Univ. Tecnológica Federal Do Paraná |
Teixeira, Marcelo | Federal Univ. of Tech. - Paraná |
Weber Denardin, Gustavo | UTFPR |
Torrico, César Rafael | Univ. Tecnológica Federal Do Paraná - UTFPR |
Cury, Jose E. R. | Univ. Fed. S. Catarina |
Keywords: Discrete event systems in manufacturing, Manufacturing plant control, Efficient strategies for large scale complex systems
Abstract: In Supervisory Control Theory (SCT) of Discrete Event Systems, event refinements have been exploited to simplify modeling tasks. Approximations complement this approach with an alternative to also reduce synthesis effort. In spite of advantageous to modeling and synthesis, refinements do not directly cover the SCT implementation phase. In general, controllers obtained with and without refinements are expected to be implemented with equivalent hardware cost. This paper presents a decentralized architecture that extends the gains provided by refinements from synthesis to implementation. The approach separates supervisor and distinguisher codes in two different structures, which then communicate in such a way that the resulting control action on the plant is equivalent to the centralized case, while the implementation is conducted with hardware savings. An example of a buffering system illustrates the approach.
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13:30-15:30, Paper MoM01.3 | Add to My Program |
Consistency Checking of Safety Constraints for Manufacturing Systems with Graph Analysis |
Pichard, Romain | Univ. Reims, CReSTIC |
Philippot, Alexandre | Univ. De Reims Champagne Ardenne |
Riera, Bernard | Univ. of Reims Champagne-Ardenne |
Keywords: Discrete event systems in manufacturing, Dependable manufacturing systems control, Manufacturing plant control
Abstract: This work deals with safe control of manufacturing systems controlled by Programmable Logic Controller (PLC). The used approach is based on Boolean safety constraints, which act as a safety filter, in order to guarantee the safety on-line. To ensure the safety whatever the inputs and the control program, the safety constraints must be checked formally. In this paper we proposed a formal off-line approach to check and ensure the consistency. The approach uses graph representation of the safety constraints. Thanks to graph algorithm, it is possible to detect inconsistencies and to help designers to solve them. Previous works on safety filter have proposed necessary conditions but none sufficient conditions, in this paper we proposed a necessary and sufficient condition to check and ensure the consistency. The safety filter approach and the consistency problem are presented. Then the approach is illustrated and a discussion around the application to manufacturing system is done.
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13:30-15:30, Paper MoM01.4 | Add to My Program |
Detailed Visualization of Communication Network Topologies |
Zipper, Holger | Ifak, Inst. F. Automation Und Kommunikation E.v. Magdeburg |
Diedrich, Christian | Otto-Von-Guericke-Univ. Magdeburg |
Keywords: Manufacturing automation over networks, Maintenance models and services, Intelligent maintenance systems
Abstract: Analysis of computer networks is essential for the design and maintenance of complex production systems, especially considering the increasing interconnection by Internet of Things devices. An important tool in network analysis is the visualization of network topologies. In this work we present a novel approach for automatic visualization of rooted trees that includes port specific connections as they appear in communication networks. We further show how this algorithm improves the drawing of industrial Ethernet network topologies, taking also problematic properties such as cycles and multiple root nodes into account.
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13:30-15:30, Paper MoM01.5 | Add to My Program |
Random Lead Times in Replenishment Planning for Single-Level Assembly Systems: The Value of Information |
Borodin, Valeria | École Nationale Supérieure Des Mines De Saint-Étienne |
Hnaien, Faicel | Univ. of Tech. of Troyes |
Dolgui, Alexandre | IMT Atlantique |
Keywords: Assembly and disassembly, Modeling of assembly units, Modelling and decision making in complex systems
Abstract: Lead times and their variability have a key role to play in multi-component assembly systems, directly impacting their performance. They are rarely known exactly in advance, being generated by various sources of uncertainty. This paper focuses on the stochastic solution of the replenishment planning problem of a single-level assembly system, in the framework of which: (i) procurement decisions must be made before the fixed demands are realized, and (ii) backlogs are authorized. By approaching this problem in the context of stochastic programming, we discuss the value of (stochastic) information for, subsequently, characterizing and better apprehending the grade of stochasticity and its effect on the corresponding solutions.
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13:30-15:30, Paper MoM01.6 | Add to My Program |
Multi-Manned Assembly Line Balancing Problem with Skilled Workers: A New Mathematical Formulation |
Giglio, Davide | Univ. of Genova |
Paolucci, Massimo | Univ. Di Genova |
Roshani, Abdolreza | Univ. of Genova |
Tonelli, Flavio | Univ. of Genova |
Keywords: Assembly and disassembly, Modeling of assembly units
Abstract: Multi-manned assembly lines are usually found in plants producing large-sized high-volume products such as automotive sector. In this paper, the balancing problem of this kind of assembly lines with skilled workers is addressed. A new mixed integer programming formulation is presented to solve this problem optimally with the objective of minimizing the total operating cost of the assembly line. The main advantage of the proposed model is to allow the workers in each multi-manned workstation to perform the different assembly tasks of same product simultaneously. The proposed formulation has been used to solve some experimental problems found in the literature. The comparison between the results obtained with the proposed model and those obtained with the model proposed by Moon, Logendran, and Lee (2009) shows that the proposed model can improve the operating cost of the system by reducing the number of workers and workstations.
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13:30-15:30, Paper MoM01.7 | Add to My Program |
Automatic Analysis and Adaption of the Interface of Automated Material Flow Systems to Improve Backwards Compatibility |
Aicher, Thomas | Tech. Univ. München |
Schütz, Daniel | Tech. Univ. München |
Spindler, Markus | Tech. Univ. München |
Liu, Shiyue | Tech. Univ. München |
Guenthner, Willibald A. | Inst. for Materials Handling, Material Flow, Logistics, Tech |
Vogel-Heuser, Birgit | Tech. Univ. of Munich |
Keywords: Flexible and reconfigurable manufacturing systems, Modeling of assembly units, Production planning and control
Abstract: Today’s industrial automation production systems (aPS) have to deal with the requirement to produce many different products. Hence, not only a flexible modularized aPS, but also a flexible modularized material flow system (MFS) is required in order to improve modifications to the system, i.e. extending, reducing or modifying parts of the system. To reduce the engineering effort involved in setting up modularized MFS and to deal with the complexity of the system, a definition of the architecture, behavior and (pre)defined interfaces of such modules is provided by a model-based engineering approach, which is based on an appropriate meta model. In addition, the modules can interact with neighboring modules to execute specific logistic functionalities by using (pre)defined interfaces. Since the development of automated material flow modules (aMFM) can be considered as an evolutional process, the aMFM are frequently redeveloped using current-state-of-the-art technologies, which, in some circumstances, also require newly-developed interfaces. Thus, an inconsistency between older and newer modules containing different version numbers occurs when different (pre)defined interfaces are used, leading to a reduction in system flexibility. To implement the backward compatibility of newer modules, the (pre)defined software interfaces of the newer modules, or even of its neighboring modules, usually have to be adapted manually, which increases the engineering effort and propensity for errors. This paper introduces a model-based approach to analyzing and adapting the interface of aMFM automatically in order to enable interaction with neighboring modules across different version numbers, i.e. modules containing a different version number. Hence, the engineering effort and error-proneness for the adaption can be reduced. For instance, the automatic analysis and adaption of the interface of a newly-developed QR Code Scanner is considered here.
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13:30-15:30, Paper MoM01.8 | Add to My Program |
Modeling Flexible Workshops Scheduling Problems: Evaluating a Timed Automata Based Approach vs MILP |
Himmiche, Sara | Univ. De Lorraine |
Aubry, Alexis | Univ. De Lorraine, CNRS |
Marange, Pascale | Univ. of Nancy |
Petin, Jean-Francois | Univ. De Lorraine |
Keywords: Flexible and reconfigurable manufacturing systems, Discrete event systems in manufacturing, Production planning and control
Abstract: This paper investigates the relevance of modeling workshop scheduling problems using a Discrete Event System (DES) approach based on timed automata (TA). To realize this study, the DES approach is compared with a classical approach based on Mixed Integer Linear Programming (MILP). In order to compare these two modeling approaches, an evaluation system is proposed based on: (i) a problem instances generation system using the classical three-fields notation of Graham (alpha|beta|gamma), (ii) a measurement system based on three criteria and associated metrics: complexity, genericity and scalability. This system covers the most common problems when dealing with flexible workshop scheduling. The results obtained by the application of the method is finally discussed.
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13:30-15:30, Paper MoM01.9 | Add to My Program |
An Open CPPS Automation Architecture Based on IEC-61499 Over OPC-UA for Flexible Manufacturing in Oil&Gas Industry (I) |
Garcia, Marcelo Vladimir | Basque Country Univ |
Irisarri, Edurne | Faculty of Engineering, Gipuzkoa, Univ. of the Basque Count |
Perez, Federico | Univ. of the Basque Country |
Estévez, Elisabet | Univ. De Jaén |
Marcos, Marga | ETSI Bilbao, Univ. Del País Vasco |
Keywords: Device integration technologies, Industrial communication protocols, Enterprise integration
Abstract: The rapid progress of technology such as Big Data, Historians, MES, Intelligent sensors, and control systems offers Oil&Gas companies the chance to automate high-cost, dangerous, or error-prone tasks. For all these reasons, Industry 4.0 will have a profound impact on Oil&Gas industrial companies in the years to come. Low-cost automation promotes profitable reference architectures and new development approaches to increase the flexibility and efficiency of production operations in an industrial plant. This has led to the adoption of standards and open network standards for plant-level communications. OPC-UA can help industrial companies to integrate into the vision of Industry 4.0, allowing remote access to plant information, therefore, vertical integration is achieved. The main objective of this work is to enable vertical integration to become a reality through a CPPS architecture and IEC-61499 standard, that allows low-cost access to process data in a plant. Using this architecture along the entire automation system production can certainly reduce the Total Cost of Ownership (TCO) in the industry.
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13:30-15:30, Paper MoM01.10 | Add to My Program |
Predictive Feedforward Compensator for Dead-Time Processes |
Pawlowski, Andrzej | UNED |
Rodríguez, Carlos | UNED |
Guzman, Jose Luis | Univ. of Almeria |
Berenguel, Manuel | Univ. of Almeria |
Dormido, Sebastián | UNED |
Keywords: Disturbance rejection (linear case), Process control
Abstract: This paper deals with a predictive disturbance compensator for processes characterized by input-output and disturbance-output time delays. The proposed scheme provides a solution for configurations where the application of classical feedforward approach results in poor performance. The analyzed technique merges the advantages of classical feedforward control scheme, which can be combined with any feedback controller, and the use of future disturbance estimation in the predictive control mechanism. The predictive compensator is based on the GPC (Generalized Predictive Control) algorithm exploiting its prediction capabilities. The evaluation of the proposed disturbance rejection scheme is performed through simulation and compared to common techniques in order to highlight the advantages and drawbacks. The obtained results show that the proposed approach can significantly improve the disturbance attenuation in process control tasks.
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MoM02 Interactive Session, Caravelle 1.3 |
Add to My Program |
Time-Delay Systems (interactive) |
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Chair: Michiels, Wim | KU Leuven |
Co-Chair: Boussaada, Islam | Lab. Des Signaux Et Systemes (L2S) |
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13:30-15:30, Paper MoM02.1 | Add to My Program |
State Feedback Stabilization of Linear Systems with Unknown Input Time Delay |
Cacace, Filippo | Univ. Campus Biomedico Di Roma |
Conte, Francesco | Univ. of Genova |
Germani, Alfredo | Univ. of L'Aquila |
Keywords: Systems with time-delays, Linear systems, Adaptive control
Abstract: This paper investigates the control problem of linear systems affected by an unknown constant input delay by means of a finite-dimensional state feedback. The proposed solution extends an approach used in the case of known delays by means of a suitably developed delay identifier. A more general result about the convergence to zero of the controlled system when the delay estimation error only converges to some neighborhood of zero is provided. Numerical examples show the effectiveness of the proposed approach.
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13:30-15:30, Paper MoM02.2 | Add to My Program |
Flexible Mode Compensation by Inverse Shaper in the Loop with Magnitude Saturated Actuators |
Alikoc, Baran | Istanbul Tech. Univ |
Busek, Jaroslav | Department of Inst. and Control Enginnering, Faculty O |
Vyhlidal, Tomas | Czech Tech. Univ. in Prague, Faculty of Mechanical Engineerin |
Hromcik, Martin | Czech Tech. Univ |
Ergenc, Ali F. | Istanbul Tech. Univ |
Keywords: Systems with time-delays, Linear systems, Controller constraints and structure
Abstract: An input shaping architecture for vibration suppression of flexible systems controlled with magnitude saturated actuators is considered. It is shown that the distributed-delay shapers with the inverse form in the feedback path have the capability of cancelling the undesired vibration caused by saturation limit of actuators. The main idea is to treat the saturation effect as a disturbance on the control input of the actuator which can be cancelled by the shapers in the feedback control loop. The inverse form of a recently proposed distributed-delay shaper is utilized to dispose of the undesired vibrations subject to saturation. The theoretical results are compared with an existing solution and verified on a laboratory set-up.
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13:30-15:30, Paper MoM02.3 | Add to My Program |
Stability of Sampled-Data Systems with Uncertain Time-Varying Delays and Its Application to Consensus Control of Multi-Agent Systems |
Hayashida, Yasutaka | Tokyo Metropolitan Univ |
Hetel, Laurentiu | CNRS |
Oguchi, Toshiki | Tokyo Metropolitan Univ |
Richard, Jean-Pierre | Ec. Centrale De Lille |
Keywords: Systems with time-delays, Networked systems, Digital implementation
Abstract: In this paper, we propose a new stability condition for sampled-data systems with uncertain time-varying delays less than a sampling interval. The derivation is based on the robustness of the corresponding discrete-time systems subject to perturbation caused by an uncertain time-varying delay. Then, we apply the proposed stability condition to a consensus control problem of two-wheeled robots. Numerical simulations and experiments show the validity and usefulness of the derived condition.
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13:30-15:30, Paper MoM02.4 | Add to My Program |
Impulsive Observer Design for Linear Time Invariant Systems with Delayed Outputs |
Kader, Zohra | Univ. Lille 1, Sciences Et Tech |
Zheng, Gang | INRIA Lille-Nord Europe |
Barbot, Jean Pierre | ENSEA |
Keywords: Systems with time-delays, Observers for linear systems, Linear systems
Abstract: This paper investigates the problem of the state reconstruction for LTI systems with time-delayed outputs. The proposed observer allows the reconstruction of the states in two steps. In the first step, an impulsive observer provides an estimation of the delayed states. In the second step, the actual states is estimated by the second observer using a predictive method. The finite time reconstruction is achieved for two different cases: constant and piece-wise constant time delays. The problem of the residual error in the case of piece-wise delay is solved. A numerical example is provided in order to show the efficiency of the proposed method.
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13:30-15:30, Paper MoM02.5 | Add to My Program |
PID Tuning for Time-Varying Delay Systems Based on Modified Smith Predictor |
de Oliveira, Fulvia | Federal Univ. of Minas Gerais |
Souza, Fernando de Oliveira | Federal Univ. of Minas Gerais |
Palhares, Reinaldo Martinez | Federal Univ. of Minas Gerais |
Keywords: Systems with time-delays, Robust time-delay systems, stability of delay systems
Abstract: This paper presents a new linear matrix inequality (LMI) based control strategy for second-order systems with time-varying delay based on a modified Smith predictor combined with a proportional-integral-derivative (PID) controller. The main idea consists in representing the predictor model as a closed-loop observer which takes into account only the estimated average value of the time-delay, such that no real time measurement of the delay is required. A numerical example is introduced to illustrate the effectiveness of the proposed method.
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13:30-15:30, Paper MoM02.6 | Add to My Program |
Allowable Delay Sets for the Stability Analysis of Linear Time-Varying Delay Systems Using a Delay-Dependent Reciprocally Convex Lemma (I) |
Seuret, Alexandre | Cnrs / Laas |
Gouaisbaut, Frederic | Laas Cnrs |
Keywords: Systems with time-delays, Robust time-delay systems, Convex optimization
Abstract: This paper addresses the stability analysis of linear systems subject to a time-varying delay. The contribution of this paper is twofolds. First, we aim at presenting a new matrix inequality, which can be seen as an improved version of the reciprocally convex combination, which provides a more accurate delay-dependent lower bound. When gathering this new inequality with the Wirtinger-based integral inequality, efficient stability conditions expressed in terms of LMI are designed and show a clear reduction of the conservatism with a reasonable associated computational cost. The second original contribution of this paper consists in noting that stability conditions issued from the Wirtinger-based integral inequality depends in an affine manner on the bounds of the delay function and also on its derivative. This allows to refine the definition of allowable delay set and to relax usual convex on the delay function. As a result of this new characterization, the LMI conditions allows obtaining stability regions for slow time-varying delay systems which are very closed to the constant delay case.
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13:30-15:30, Paper MoM02.7 | Add to My Program |
New Method for Stability of Systems with Time-Varying Delay Via Improved Free-Matrix-Based Integral Inequality |
Zhi, Ya-Li | China Univ. of Geosciences |
He, Yong | China Univ. of Geosciences |
Zhang, Chuan-Ke | China Univ. of Geosciences |
Wu, Min | China Univ. of Geosciences |
Keywords: Systems with time-delays, Time-varying systems, Linear systems
Abstract: This paper concerns the stability problem of systems with time-varying delay. A single integral of the second-order derivative is introduced to Lyapunov-Krasovskii functional for considering more delay-cross relationships. The improved free-matrix-based integral inequality is used to estimate the derivative of double integral of the second-order derivative. Some less conservative stability criteria for systems with time-varying delay are deduced in terms of linear matrix inequalities. Finally, a example is provided to demonstrate validity and superiority of the proposed method.
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13:30-15:30, Paper MoM02.8 | Add to My Program |
A Connection between Strangeness-Free Delay Differential-Algebraic and Neutral Type Systems |
Egorov, Alexey | St. Petersburg State Univ |
Michiels, Wim | KU Leuven |
Keywords: Time-invariant systems, Systems with time-delays, Linear systems
Abstract: We present an approach that allows to reduce a system of delay differential-algebraic equations to neutral type system with a prescribed additional dynamics. The approach avoids a transformation that divides the system into differential-difference, difference and algebraic parts. We show how the result can be applied to the computation of mathcal{H}_2 norm for the delay differential-algebraic system. We assume that the system is strangeness-free that is less conservative than the standard assumption on the delay-free part of the system, which does not take into account the delayed term of the system.
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13:30-15:30, Paper MoM02.9 | Add to My Program |
Stability Analysis and Output-Feedback Control Design for Time-Delay Systems |
Cardeliquio, Caetano | CentraleSupélec |
Souza, Matheus | Feec / Unicamp |
Fioravanti, André R. | Unicamp |
Keywords: Systems with time-delays, Output feedback control (linear case)
Abstract: The aim of this paper is to present new results on Hoo control synthesis, via output-feedback, for time-delay linear systems. We extend the use of the finite order LTI system, called comparison system, to design a controller which depends not only on the output at the present time and maximum delay, but also on an arbitrary number of values between those. This approach allows us to increase the maximum stable delay without requiring any additional information. All methods presented here consider time-delay systems control design with classical numeric routines based on Hoo theory. An illustrative example is presented.
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13:30-15:30, Paper MoM02.10 | Add to My Program |
Stabilizing Delayed Controllers for Recycling Systems with Internal Delays and Complex Dynamics |
Vazquez-Guerra, Rocio-Jasmin | ESIME-Culhuacan IPN |
Márquez Rubio, Juan Francisco | Inst. Pol. Nacional |
Del-Muro-Cuellar, Basilio | ESIME-Culhuacán IPN |
Keywords: Systems with time-delays, Linear systems, Output feedback control (linear case)
Abstract: Recycling systems are a challenging problem from the control viewpoint due to their detrimental effects. This paper proposes a simple way to stabilize and control a class of high-order recycling systems with time delays, internal instability and possible complex conjugate poles. The strategy proposes P/PI/PD/PID-like delayed controllers. Conditions to guarantee the stability of the controlled closed-loop system are stated. The performance of the proposed strategy is illustrated by numerical simulation.
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13:30-15:30, Paper MoM02.11 | Add to My Program |
Parametric Study of the Critical Pairs of Linear Differential Systems with Commensurate Delays (I) |
Bouzidi, Yacine | INRIA |
Quadrat, Alban | Inria Lille - Nord Europe |
Rouillier, Fabrice | INRIA |
Keywords: Systems with time-delays, Polynomial methods, Delay systems
Abstract: This paper aims at studying the stability of linear differential systems with commensurate delays and arbitrary real parameters. Parameters naturally arise in numerous problems such as, for instance, the design of stabilizing controllers. It is well-known that the asymptotic stability of a linear differential system is related to the condition that all the complex roots of the corresponding quasipolynomial have negative real parts. In different approaches, the stability analysis strongly relies on the computation of the critical pairs of a quasipolynomial, i.e., the amplitudes of the delay and the frequencies which are roots of the quasipolynomial. The delays which correspond to the critical zeros/frequencies define a boundary for which the behavior of the system regarding to its stability can change. The number of the critical zeros as well as their multiplicities gives important information about the stability and usually reflects the difficulty of the stability analysis of the system. In this work, using standard computer algebra techniques, particularly on the resolution of algebraic systems with parameters, we propose a new method that characterizes the set of critical pairs of a quasipolynomial in terms of the system parameters. More precisely, starting from a quasipolynomial p(s, e^{-tau , s}, u) in k[s, u][e^{-tau,s}] where u=[u_1,ldots, u_r] are r real parameters, our method decomposes the parameters space R^r into disjoint regions (semi-algebraic sets) on which the number of the critical zeros is constant. As a consequence, we can choose values of the parameters which reduce the number/multiplicities of the critical zeros of the quasipolynomial, which substantially simplifies the stability analysis of the corresponding system.
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13:30-15:30, Paper MoM02.12 | Add to My Program |
Mixed-Sensitivity Design of a Dynamic Controller for Systems Pre-Compensated by Input Shapers (I) |
Pilbauer, Dan | Faculty of Mechanical Engineering, Czech Tech. Univ. In |
Michiels, Wim | KU Leuven |
Vyhlidal, Tomas | Czech Tech. Univ. in Prague, Faculty of Mechanical Engineerin |
Hromcik, Martin | Czech Tech. Univ |
Keywords: Systems with time-delays, Robust control (linear case), Non-smooth and discontinuous optimal control problems
Abstract: We employ recent control design algorithms for delay systems to address the mixed sensitivity design of a dynamic controller for multiple degree of freedom systems interconnected with an inverse signal shaper. A delay based inverse shaper is included within a feedback loop in order to eliminate oscillatory modes due to an attached flexible substructure, which has been shown to be advantageous to inducing directly the filtering property by an appropriate controller design. Due to the presence of the inverse shaper, the closed loop dynamics become infinite dimensional. Furthermore we design fixed-order controllers, aiming at an easy implementation. As a consequence of these two features standard techniques from H-infinity control can no longer be used. We present a two-stage method, which firstly makes the closed-loop system asymptotically stable and, secondly, computes a low-order controller that minimizes the H-infinity norm of the weighted closed-loop transfer functions. The approach is grounded in recent methods for fixed-order H-infinity control of delay systems, and the delay-differential algebraic equations (DDAE) modelling and control framework.
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13:30-15:30, Paper MoM02.13 | Add to My Program |
Geometric vs. Algebraic Approach: A Study of Double Imaginary Characteristic Roots in Time-Delay Systems |
Irofti, Dina Alina | Univ. Paris Sud |
Boussaada, Islam | Lab. Des Signaux Et Systemes (L2S) |
Niculescu, Silviu-Iulian | Lab. of Signals and Systems (L2S) |
Keywords: Infinite-dimensional systems, Systems with time-delays, stability of distributed parameter systems
Abstract: This paper studies double imaginary characteristic roots in the case of time-delay systems with two delays as parameters. We aim to identify the direction in which double roots cross the imaginary axis, when the delay parameters change. To determine what happens when parameters are under a small perturbation, we present two methods: the algebraic and geometric approaches. Taking a theoretical example, we show that, even if the two methods are conceptually different, the provided results are consistent.
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13:30-15:30, Paper MoM02.14 | Add to My Program |
Delayed Model Approximation and Control Design for Under-Damped Systems |
Novella-Rodriguez, David Fernando | Inst. Tecnológico De Estudios Superiores De Monterrey |
Del-Muro-Cuellar, Basilio | ESIME-Culhuacán IPN |
Márquez Rubio, Juan Francisco | Inst. Pol. Nacional |
Hernández-Hernández, German | IPN ESIME Culhuacan |
Keywords: Linear systems, Systems with time-delays, Time-invariant systems
Abstract: The presented paper introduces a simple methodology to obtain a reduced-order approximation to high-order systems with oscillating dynamics. The reduction is based on the frequency domain characteristics of the under-damped high-order process. Classic control theory tools are used in order to obtain an accurate model reduction. Time-delay term plays an important role at the low-order model since it allows to hold the phase characteristics of the original system. Finally, a simple PID tuning methodology has been proposed in order to obtain the controller gains from the reduced model. Some numerical simulations are presented obtaining a similar performance when the PID controller applied to the high-order plant.
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MoM03 Interactive Session, Caravelle 2.1 |
Add to My Program |
Shared Control, Assistive Technology Ad Human Support for Human-Machine
Systems |
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Chair: Vanderhaegen, Frédéric | Univ. of Valenciennes and Hainaut-Cambrésis |
Co-Chair: Vámos, Tibor | Computer and Automation Inst. Hungarian Acad. of Sciences |
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13:30-15:30, Paper MoM03.1 | Add to My Program |
Tracking Control of Knee Exoskeleton System with Time-Dependent Inertial and Viscous Parameters |
Li, Zhan | Univ. of Electronic Science and Tech |
Ziguang, Yin | Univ. of Electronic Science and Tech |
Cheng, Hong | UESTC |
Keywords: Assitive technology and rehabilitation engineering, Human centred automation, Identification and control methods
Abstract: Knee exoskeleton plays an important role in robot-assisted rehabilitation for impaired pilots to restore their motor functionality of lower extremity through producing external movement compensation. Tracking control of knee exoskeleton often encounters time-dependent (time-varying) issues reflected in its dynamic behaviors. In many applications, inertial and viscous parameters of knee exoskeletons are measured to be time-dependent due to unexpected mechanical vibrations and contact interactions, which increases difficultly of accurate control of knee exoskeleton to follow desired joint angle trajectories. This paper proposes a novel control strategy for controlling knee exoskeleton with time-dependent (time-varying) inertial and viscous coefficients. Such controller is designed based on Zhang dynamics (ZD) method so as to make the tracking error of joint angle exponentially converge to zero. Illustrative examples are presented to show efficiency of this type of controller based on ZD method. Comparisons with gradient dynamic (GD) approach are also presented to demonstrate superiority of ZD-type control strategy for tracking joint angle of knee exoskeleton.
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13:30-15:30, Paper MoM03.2 | Add to My Program |
Swing Control of a Lower Extremity Exoskeleton Using Echo State Networks |
Choi, Byunghun | Agency for Defense Development |
Seo, Changhoon | Agency for Defence Development (ADD) |
Lee, Sanghoon | Agency for Defense Development |
Kim, Byungun | Agency for Defense Development |
Kim, Do Jong | Agency for Defense Development |
Keywords: Assitive technology and rehabilitation engineering, Identification and control methods, Application of mechatronic principles
Abstract: This paper presents a swing control method using echo state networks (ESNs) for a lower extremity exoskeleton. In order to realize the leg swing motion, the swing controller is essential while wearing a lower extremity exoskeleton which is composed by electrical actuators. The swing control method employed to control a lower extremity exoskeleton must take into account the complex interaction between human and exoskeleton. To handle the interaction, most of relevant studies have employed dynamics-based control approaches that require the mathematical representation of the lower extremity exoskeleton. However, obtaining a useful inverse dynamics model of the lower extremity exoskeleton can be challenging due to its nonlinearities. On this account, the inverse learning technique based on ESNs can be utilized to replace the dynamics-based inverse model. The prototype of a lower extremity exoskeleton with power-augmentation purposes is designed and built for a military use. Experiments conducted on the prototype of a lower extremity exoskeleton show the promising results that operate well even in the absence of the dynamics-based model.
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13:30-15:30, Paper MoM03.3 | Add to My Program |
Robustness Issues in Double-Integrator Undirected Rigid Formation Systems |
Sun, Zhiyong | Australian National Univ |
Anderson, Brian D.O. | Australian National Univ |
Mou, Shaoshuai | Purdue Univ |
Morse, A. Stephen | Yale Univ |
Keywords: Multi-modal interaction, Networks of sensors and actuators, Networked robotic system modeling and control
Abstract: In this paper we consider rigid formation control systems modelled by double integrators (including formation stabilization systems and flocking control systems), with a focus on their robustness property in the presence of distance mismatch. By introducing additional state variables we show the augmented double-integrator distance error system is self-contained, and we prove the exponential stability of the distance error systems via linearization analysis. As a consequence of the exponential stability, the distance error still converges in the presence of small and constant distance mismatches, while additional motions of the resulted formation will occur. We further analyze the rigid motions induced by constant mismatches for both double-integrator formation stabilisation systems and flocking control systems.
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13:30-15:30, Paper MoM03.4 | Add to My Program |
A Loewner-Based Approach for the Approximation of Engagement-Related Neurophysiological Features |
Poussot-Vassal, Charles | ONERA |
Roy, Raphaëlle N. | ISAE-Supaero |
Bovo, Angela | ISAE-Supaero |
Gateau, Thibault | ISAE-Supaero |
Dehais, Frédéric | ISAE-Supaero |
P. Carvalho Chanel, Caroline | ISAE-SUPAERO |
Keywords: Human operator support, Modeling of human performance, Telerobotics
Abstract: Currently, in order to increase both safety and performance of human-machine systems, researchers from various domains gather together to work towards the use of operators’ mental state estimation in the systems control-loop. Mental state estimation is performed using neurophysiological data recorded, for instance, using electroencephalography (EEG). Features such as power spectral densities in specific frequency bands are extracted from these data and used as indices or metrics. Another interesting approach could be to identify the dynamic model of such features. Hence, this article discusses the potential use of tools derived from the linear algebra and control communities to perform an approximation of the neurophysiological features model that could be explored to monitor the engagement of an operator. The method provides a smooth interpolation of all the data points allowing to extract frequential features that reveal fluctuations in engagement with growing time-on-task.
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13:30-15:30, Paper MoM03.5 | Add to My Program |
Recursive Robust Regulator for Discrete-Time Markovian Jump Linear Systems: Control of Series Elastic Actuators |
Jutinico Alarcon, Andres Leonardo | Univ. of São Paulo |
Campo, Jonathan | Univ. of São Paulo |
Escalante Ortega, Felix Mauricio | Univ. of São Paulo |
Perez Ibarra, Juan Carlos | Univ. of São Paulo |
Terra, Marco Henrique | Univ. of Sao Paulo |
Siqueira, Adriano A G | Univ. of Sao Paulo |
Keywords: Assitive technology and rehabilitation engineering, Robotics technology, Identification and control methods
Abstract: Impedance control for human-robot interaction allows a more secure and controllable robotic rehabilitation. High-performance force control is required to achieve a more precise impedance-controlled robotic therapy using series elastic actuators. However, the performance of these controllers is sensitive to the highly uncertain and time-varying human dynamics. In this paper, we develop a force controller of a series elastic actuator using a Recursive Robust Regulator for discrete-time Markov jump linear systems subject to parametric uncertainties. We define three Markovian modes of operation depending on the human-robot interaction dynamics. Also, we include an integral action to eliminate steady-state errors, and propose a methodology for robust tracking based on the analysis of the frequency response of the system under parametric uncertainties. Experimental results of the impedance and force controllers for a robotic platform for ankle rehabilitation are presented. These results indicate that the proposed controller maintains similar performance levels despite the transitions between different modes of operation and even subject to the uncertainties introduced by human dynamics.
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13:30-15:30, Paper MoM03.6 | Add to My Program |
A New Control Architecture for Stable and Transparent Haptic Feedback of Interactive Simulation |
Kim, Myeongjin | Korea Advanced Inst. of Science and Tech |
Lee, Doo Yong | KAIST |
Keywords: Work in real and virtual environments, Telerobotics, Design methodologies
Abstract: This paper proposes a new control architecture for stable and transparent haptic rendering of interactive simulation involving a rigid tool and deformable objects. The traditional direct and proxy-based haptic rendering schemes are analyzed for the absolute stability, and transmit impedance employing the well-known bilateral control architecture frequently used in the field of teleoperation systems. An equivalent impedance is conveyed in the proposed control scheme to the haptic device instead of the contact force between the virtual tool and the object. The trade-off problem between the absolute stability and the transmitted impedance is resolved by computing the haptic feedback using the equivalent impedance. The proposed rendering scheme shows higher transparency than the conventional haptic rendering methods while maintaining the absolute stability.
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13:30-15:30, Paper MoM03.7 | Add to My Program |
An Adaptive Approach to Cooperative Longitudinal Platooning of Heterogeneous Vehicles with Communication Losses (I) |
Abou Harfouch, Youssef | Delft Univ. of Tech |
Yuan, Shuai | Delft Univ. of Tech |
Baldi, Simone | Delft Univ. of Tech |
Keywords: Ajustable or adaptive autonomy, Shared control, cooperation and degree of automation
Abstract: Despite the progresses in Cooperative Adaptive Cruise Control (CACC), a crucial limitation of the state-of-the-art of this control scheme is that the string stability of the platoon can be proven only when the vehicles in the platoon have identical driveline dynamics (homogeneous platoons). In this paper, we present a novel control strategy that overcomes the homogeneity assumption and that is able to adapt its action and achieve string stability even with uncertain heterogeneous platoons with unknown engine performance losses and inevitable communication losses. Considering a one-vehicle look-ahead topology, we propose an adaptive switched control strategy: the control objective is to switch from an augmented CACC to an augmented Adaptive Cruise Control strategy when communication is lost based on a dwell time characterized switching law. The simulation of the proposed control strategy is conducted to validate the theoretical analysis.
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13:30-15:30, Paper MoM03.8 | Add to My Program |
Operator Knowledge Inclusion in Data-Mining Approaches for Product Quality Assurance Using Cause-Effect Graphs (I) |
Vogel-Heuser, Birgit | Tech. Univ. of Munich |
Karaseva, Victoria | Tech. Univ. of Munich |
Folmer, Jens | Tech. Univ. München, Faculty of MechanicalEngineering |
Kirchen, Iris | Tech. Univ. of Munich |
Keywords: Human operator support, Engineering methods for HMS, Knowledge modelling and knowledge based systems
Abstract: Product quality is one of the crucial factors influencing customer satisfaction and loyalty, and of course, a company’s reputation in general. A high quantity of non-conforming products increases risks and costs of production. For certain types of products, it is difficult to measure quality during production, therefore it is assessed afterwards in a laboratory. We propose to determine the relationship between process and quality parameters. The identified process parameters can then be used in future to estimate and predict quality. In this paper we present a method to develop a Cause-Effect Graph (CEG) based on expert knowledge (qualitative part) to provide visualization of the causes and effects to support machine operators. To validate the CEG we used data mining methods (quantitative part). We apply our approach to an industrial use case (stretch film production), collecting the expert knowledge through interviews and card-sorting techniques, and performing a logistic regression and decision tree analysis in the data-mining part. The validity of the proposed method is proven for continuous technical processes with certain important criteria of classification, e.g. availability of process variables, their amount, relationship between process and quality relevant variables. Thus, the main contribution of this paper is presented by the matching of experts’ knowledge with results of data mining in order to improve the production process understanding and visual support of causes and effects of production process for operators.
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13:30-15:30, Paper MoM03.9 | Add to My Program |
Ankle Joint Moment Estimation Based on Smart Shoes (I) |
Choi, Hyunjin | Sogang Univ |
Kim, Kanghyun | Sogang Univ |
Jung, Pyeong-Gook | Sogang Univ |
Na, Byeonghun | Sogang Univ |
Rha, Dong-wook | Severance Rehabilitation Hospital, Yonsei Univ. Coll. Of |
Jung, Kyungmo | Hyundai Motor Company |
Kong, Kyoungchul | Sogang Univ |
Keywords: Assitive technology and rehabilitation engineering, Human Mechatronics
Abstract: For analyses and diagnoses of a human gait, the precise measurement of ground reaction forces (GRFs) is essential, because the GRF is the most significant external force in the human body dynamics. The GRF is not only useful information by itself, but also utilized to obtain further useful information, such as the center of pressure (CoP) and the joint moments. For this purpose, a force plate and an optical motion capture system have been considered as a gold standard. However, the force plate is inconvenient due to its spatial limits. To overcome the limitation of force plates, Smart Shoes that measure the GRFs by four air-pressure sensors embedded in silicone insoles are used to measure the GRFs in this paper. Then, the dynamic characteristics of the ankle joint are modeled and used to estimate the ankle joint moments from the Smart Shoes measurement. The performance of the proposed method is verified by experimental results with a human subject.
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13:30-15:30, Paper MoM03.10 | Add to My Program |
A Method for Designing Levels of Automation Based on Human-Machine Cooperation Model (I) |
Habib, Lydia | Univ. of Valenciennes, LAMIH Lab |
Pacaux-Lemoine, Marie-Pierre | LAMIH - UMR CNRS 8201 - Valenciennes Univ |
Millot, Patrick | Univ. of Valenciennes |
Keywords: Design methodology for HMS, Modeling of HMS, Shared control, cooperation and degree of automation
Abstract: Human-machine systems are omnipresent in our everyday life. These systems are very important; they allow human and machine understanding and working together efficiently. But poor choices during its design can have important impacts, principally in terms of safety, security and performance. The design of human-machine systems takes into account the human factors, and both human and machine limitations and abilities through the levels of automation. Therefore, it is needful for the design of such systems to do a preliminary study regarding the possible interactions between human and machine. In this context, we are interested in robotic domain especially in the supervision and control of a self-organized swarm of robots adapted for the human needs. This paper illustrates a methodological approach based on a human-machine cooperation model used to identify different interactions between human and robot and then to define adequate levels of automation taking into account the capacities and abilities of both human and robot according to the situation.
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13:30-15:30, Paper MoM03.11 | Add to My Program |
Designing Human-Machine Interaction Concepts for Machine Tool Controls Regarding Ergonomic Requirements (I) |
Czerniak, Julia | RWTH Aachen |
Brandl, Christopher | RWTH Aachen Univ |
Mertens, Alexander | RWTH Aachen Univ |
Keywords: Human operator support, Modeling of HMS, Cyber-Physical Systems
Abstract: Controlling machine tools causes high mental strain levels for the operator due to tremendous machine functionality and process complexity. As a consequence, innovative human-machine interaction concepts are required. This paper discusses a morphological box as a method for selecting different technologies as a task suitable interaction concept for machine tool controls regarding ergonomic requirements, based on a comprehensive technology catalogue. As a result, we designed an interaction concept to optimize the operator’s strain level, appropriate to the context of use of controlling and monitoring multiple machine tools.
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13:30-15:30, Paper MoM03.12 | Add to My Program |
Adaptive Control of an Actuated Ankle Foot Orthosis for Foot-Drop Correction (I) |
Arnez-Paniagua, Victor | Univ. Paris-Est Créteil |
Rifai, Hala | Univ. Paris-Est Créteil |
Mohammed, Samer | Univ. Paris-Est Créteil - UPEC |
Amirat, Yacine | Univ. of Paris Est Creteil |
Keywords: Assitive technology and rehabilitation engineering, Identification and control methods
Abstract: This paper deals with the control of an actuated-ankle-foot-orthosis (AAFO) intended to help foot-drop patients. The foot-AAFO system is driven by the human torque delivered by the muscles spanning the ankle joint and by the AAFO’s actuator’s torque. A model reference adaptive control is proposed to dorsiflex the foot during the swing phase. Unlike most classical model-based controllers, the proposed one does not require any prior estimation of the system’s (foot-AAFO) parameters. The ankle reference trajectory was extracted during gait activities of healthy subjects in a clinical environment. The input-to-state stability of the foot-AAFO system with respect to a bounded human muscular torque is proved in closed-loop based on Lyapunov analysis. Preliminary experimental results show satisfactory tracking performances of the reference trajectory within few steps. Furthermore, the muscular activities for the tibialis anterior (TA) and gastrocnemius (GA) muscles when wearing the AAFO were reduced by 30% and 12% respectively.
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MoM04 Interactive Session, Caravelle 2.2 |
Add to My Program |
Non-Linear Control Systems I |
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Chair: Marconi, Lorenzo | Univ. Di Bologna |
Co-Chair: Alamir, Mazen | Gipsa-Lab (CNRS-Univ. of Grenoble) |
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13:30-15:30, Paper MoM04.1 | Add to My Program |
On Operating Envelope Protection Design for Nonlinear Discrete-Time Systems |
Hure, Nikola | Univ. of Zagreb Faculty of ElectricalEngineeringandComputin |
Vašak, Mario | Univ. of Zagreb |
Keywords: Constrained control, Control of constrained systems, Analytic design
Abstract: This paper is concerned with the operating envelope protection design for a broad class of nonlinear discrete-time systems based on a Robust Control Invariant (RCI) set framework. Existing techniques for a direct design of a RCI set for a general system suffer from the computational intractability connected with the complexity of a system model and model dimension. For a nonlinear system with mild assumptions on its model here we use a suitably defined linear model with additive uncertainty confined in a finite set and its corresponding maximum RCI set. Robust constraints satisfaction for the original system is ensured for a pre-defined set of disturbance trajectories. The approach is based on a superposition of a nominal and perturbed dynamics, whereas the coupling effects between respective dynamics are encompassed with the additive uncertainty. The additive uncertainty set is estimated by employing the trajectories of disturbance and a system description. The presented approach is scalable with respect to the system dimension. A simple example from the wind energy field is used to illustrate the proposed method.
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13:30-15:30, Paper MoM04.2 | Add to My Program |
Asymptotic Stabilization of Nonlinear Systems with Convex-Polytope Input Constraints and Its Inverse Optimality |
Yamashita, Yuh | Hokkaido Univ |
Matsukizono, Ryosuke | Hokkaido Univ |
Kobayashi, Koichi | Hokkaido Univ |
Keywords: Constrained control, Lyapunov methods, Stability of nonlinear systems
Abstract: In this study, we propose an asymptotic stabilization controller for a nonlinear system with a convex-polytope input constraint. Moreover, we establish a condition that the controller has inverse optimality in the neighborhood of the origin. The controller input is continuous in the set where the asymptotic stabilization is guaranteed. We consider the asymmetric constraint for zero-input, and this bias is adjusted by using an un-uniform scaling on each vertex point, in the neighborhood of the origin. Therefore, the input cost in the inverse optimal performance functional is approximated by a quadratic form near the origin.
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13:30-15:30, Paper MoM04.3 | Add to My Program |
Improvements on Interpolation Techniques Based on Linear Programming for Constrained Control |
Rubin, Daniel | Tech. - Israel Inst. of Tech |
Mercader, Pedro | Univ. of Murcia |
Nguyen, Hoai-Nam | IFP Energies Nouvelles |
Gutman, Per-Olof | Tech. - Israel Inst. of Tech |
BaÑos, Alfonso | Univ. OF MURCIA |
Keywords: Constrained control, Robust control, Time-varying systems
Abstract: We present some improvements on interpolation based control (IC) for linear discrete-time systems with polyhedral constraints on the control and the states variables. The plant may be uncertain, time-varying, and subject to bounded disturbances. Roughly speaking, IC approach is based on the interpolation between an inner and an outer controller. The extension presented here is twofold. On the one hand, the IC approach is extended to deal with higher order inner controllers, making it e.g. possible to incorporate integral action in a vicinity of the origin. On the other hand, this paper presents a modification that better exploits the control signal range. As with previous IC strategies, the presented method demands relatively low online computational resources, and is applicable also to uncertain plants. The benefits of the improved scheme are illustrated in some examples.
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13:30-15:30, Paper MoM04.4 | Add to My Program |
Directional Drilling Attitude Control with Input Disturbances and Feedback Delay |
Inyang, Isonguyo James | Cranfield Univ. UK |
Whidborne, James F. | Cranfield Univ |
Bayliss, Martin Thomas | Schlumberger Ltd |
Keywords: Delay systems, Disturbance rejection
Abstract: This paper presents a general approach for the attitude control of directional drilling tools for the oil and gas industry. It extends the recent work where a kinematic bilinear model of the directional drilling tool was developed and used as the basis for Constant Build Rate (CBR) controller design. The CBR controller in combination with a modified Smith Predictor (SP) is implemented for the attitude control of the directional drilling. The results of a transient simulation of the proposed modified SP-CBR controller are presented and compared with that from the CBR controller of the earlier studies. It is shown that the modified SP-CBR controller significantly reduces the adverse effects of input disturbances and time delay on the feedback measurements with respect to stability and performance.
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13:30-15:30, Paper MoM04.5 | Add to My Program |
Uniformly Ultimately Bounded Tracking for Uncertain Euler-Lagrange Systems with Unknown Time-Varying Input Delay |
Jain, Ashish | Indian Inst. of Tech. Delhi |
Bhasin, Shubhendu | Indian Inst. of Tech. Delhi |
Keywords: Delay systems, Lyapunov methods, Tracking
Abstract: This paper proposes a robust compensator for a class of uncertain nonlinear systems subjected to unknown time-varying input delay. The proposed control law is based on the integral of past values of control and a novel filtered tracking error, which can compensate for large input delays. Sufficient gain conditions dependent on the known bound of the delay are derived using a Lyapunov based stability analysis, where suitable Lyapunov-Krasovskii (LK) functionals are used to achieve a uniformly ultimately bounded (UUB) result. Simulation on an example of Euler-Lagrange (E-L) system is illustrated to evaluate the performance and robustness of controller for different values of time-varying input delay.
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13:30-15:30, Paper MoM04.6 | Add to My Program |
Adaptive Observers for Nonlinear Interconnected Systems with Uncertain Time Varying Parameters |
Khalifa, Mokhtar | Univ. of Kent |
Yan, Xing-Gang | Univ. of Kent |
Mao, Zehui | Nanjing Univ. of Aeronautics and Astronautics |
Jiang, Bin | Nanjing Univ. of Aeronautics and Astronautics |
Keywords: Nonlinear observers and filter design, Control of interconnected systems, Adaptive control
Abstract: In this paper, a class of nonlinear interconnected systems with uncertain time varying parameters is considered, in which both the interconnections and the isolated subsystems are nonlinear. The difference between the unknown time varying parameter and its corresponding nominal value is assumed to be bounded where the nominal value is not required to be known. A dynamical system is proposed and then, the error systems between the original interconnected system and the designed dynamical systems are analysed based on the Lyapunov direct method. A set of conditions is developed such that the augmented systems formed by the error dynamical systems and the designed adaptive laws, are globally uniformly bounded. Specifically, the estimation errors are asymptotically convergent to zero using LaSalle-Yoshizawa Theorem. Case study on a coupled inverted pendulum system is presented to demonstrate the developed methodology, and simulation shows that the proposed approach is effective and practicable.
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13:30-15:30, Paper MoM04.7 | Add to My Program |
Observer Design for a Class of Uncertain Systems with Delayed Outputs |
Farza, Mondher | Univ. De Caen, ENSICAEN |
Hernandez-Gonzalez, Omar | Unicaen Cenidet |
Ménard, Tomas | Univ. De Caen |
M'Saad, Mohammed | GREYC |
Astorga Zaragoza, Carlos Manuel | Centro Nacional De Investigación Y Desarrollo Tecnológico |
Keywords: Nonlinear observers and filter design, Delay systems, Lyapunov methods
Abstract: In this paper, a state observer is proposed for a class of nonlinear systems in the presence of uncertainties in the state equations and an arbitrarily long delay in the output. The proposed predictor has a cascade structure in such a way that the first system in the cascade allows to estimate the delayed state while each of the remaining ones is an appropriate predictor. Each predictor estimates the state of the preceding one with a prediction horizon equal to a fraction of the time delay in such a way that the state of the last predictor is an estimate of the system actual state. The design of the observer is achieved by assuming a set of conditions under which the ultimate boundedness of the estimation error is established. More specifically, it is shown that the asymptotic observation error remains in a ball which radius particularly depends on the magnitudes of the delay and the Lipschitz constant of the system nonlinearities. Of primary importance, it is proven that the observation error converges exponentially to zero in the absence of uncertainties. Simulations results are given in order to illustrate the performance and the main properties of the proposed observer.
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13:30-15:30, Paper MoM04.8 | Add to My Program |
A New Fuzzy H_infty Filter Design for Nonlinear Time-Delay Systems with Mismatched Premise Membership Functions |
Ma, Qianqian | Harbin Inst. of Tech |
Li, Li | Harbin Inst. of Tech. at Weihai |
Ma, Guangcheng | Harbin Inst. of Tech |
Daling, Jia | Beijing Inst. of Space System Engineering |
Xia, Hongwei | Harbin Inst. of Tech |
Keywords: Nonlinear observers and filter design, Delay systems, Lyapunov methods
Abstract: This paper is concerned with the fuzzy H_{infty} filter design issue for nonlinear systems with time-varying delay. To overcome the shortcomings of the conventional methods with matched preconditions, the fuzzy H_{infty} filter to be designed and the T-S fuzzy model are assumed to have different premise membership functions and number of rules, thus, greater design flexibility and robustness to uncertainty can be achieved. However, such design will also make the derived results conservative, to relax the result, a novel integral inequality which is tighter than the traditional inequalities derived from the Leibniz-Newton formula is applied, besides, a free-weighting matrix technique and the information of the membership functions are also considered in the criterion. All the design methods are summarized in LMI-based conditions, and several numerical examples are presented to prove the effectiveness and superiority of the proposed approach.
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13:30-15:30, Paper MoM04.9 | Add to My Program |
State and Unknown Inputs Finite Time Estimation for Time-Varying Nonlinear Lipschitz Systems with Uncertain Disturbances |
Malikov, Alexander | Kazan National Res. Tech. Univ. Inst. of Mecha |
Keywords: Nonlinear observers and filter design, Disturbance rejection, Time-varying systems
Abstract: The continuous time-varying systems with Lipschitz nonlinearities subject to bounded by L2 norm external disturbances and unknown inputs are considered. There suggested ways of observers synthesis for state and unknown inputs, providing H inf rejection of initial deviations and bounded external disturbances simultaneously. Thus the observers gain depend on a time and is defined on the basis of the numerical solving of optimization problem with differential linear matrix inequalities or the numerical solving of corresponding matrix comparison system. The proposed observers are used to state and unknown inputs estimation of Rössler system.
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13:30-15:30, Paper MoM04.10 | Add to My Program |
Cascade High Gain Observers Based State and Unknown Inputs Reconstruction |
Hadj Said, Salim | Preparatory Inst. for Engineering Studies of Monastir (IPEIM |
M'sahli, Faouzi | Monastir Engineering School (ENIM) |
Farza, Mondher | Univ. De Caen, ENSICAEN |
Ménard, Tomas | Univ. De Caen |
Keywords: Nonlinear observers and filter design, Robust estimation, Parameter and state estimation
Abstract: This paper presents a systematic routine for jointly reconstruct the state variables and the unknown inputs for large class of nonlinear MIMO systems. After an appropriate change of state coordinates, a set of cascade high gain observers are designed in such a way that each of them provides an estimation of only one component of the unknown input vector, except the last one which gives a final adjustment of the whole state variables. Such design achieves a boundary of the state estimation error which can be arbitrarily small by properly specifying the sole synthesis parameter. An illustrative example verifies the effectiveness of the proposed scheme.
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13:30-15:30, Paper MoM04.11 | Add to My Program |
Nonlinear Analysis of PLL by the Harmonic Balance Method: Limitations of the Pull-In Range Estimation |
Kuznetsov, Nikolay | Saint-Petersburg State Univ |
Leonov, Gennady | Saint-Peterburg State Univ |
Yuldashev, Marat | Saint Petersburg State Univ |
Yuldashev, Renat | Univ. of Jyvaskyla |
Kudryashova, Elena | Saint-Petersburg State Univ |
Keywords: Nonlinear observers and filter design, Stability of nonlinear systems, Application of nonlinear analysis and design
Abstract: In this paper we discuss the application of the harmonic balance method for the global analysis of the classical PLL. The harmonic balance is non rigorous method which is widely used, often without rigorous justication, for the calculation of periodic solutions and checking of the global stability. The proof of the absence of periodic solutions is a key step to establish the global stability of the PLL model and estimate the pull-in range (which is an interval of the frequency deviations such that any solution tends to one of the equilibria). The advantages and limitations of the study of the classical PLL with lead-lag lter by the harmonic balance method is discussed.
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13:30-15:30, Paper MoM04.12 | Add to My Program |
Robust Hybrid PI Controller with a Simple Adaptation in the Integrator Reset State |
Rubio Scola, Ignacio | Control Systems Department, Gipsa-Lab |
Quadros, Mariella Maia | CEFET-MG / Department of Mechatronics Engineering |
Leite, Valter J. S. | CEFET/MG - Campus Div |
Keywords: Stability of hybrid systems, Control of switched systems, Digital implementation
Abstract: In this paper, we consider the implementation and the robust stability analysis of a new hybrid PI controller. Two laboratory processes are used, one to control the level in water reservoir system with capacity of 200 liters, and the other to control the temperature in a continuous oven of one meter long. The robust stability analysis conditions are proposed in terms of convex optimization procedures and can be used to certify the robust closed-loop stability. The dynamics of the processes are approximated by a first order system plus delay and, because of this, a Smith predictor is jointly used with all controllers. Concerning the hybrid PI implementation, we compare the performances achieved by a classical linear PI, by a hybrid controller found in the literature and by a new hybrid controller with adaptation of the reset value. We illustrate the performance, robustness and disturbance rejection of all three controllers in a prototype by control real time tests. The achieved performance of each controller is quantified by means of typical industrial indexes.
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13:30-15:30, Paper MoM04.13 | Add to My Program |
Sequential Linear Quadratic Optimal Control for Nonlinear Switched Systems |
Farshidian, Farbod | ETH Zurich |
Kamgarpour, Maryam | Swiss Federal Inst. of Tech |
Pardo, Diego | ETH Zürich |
Buchli, Jonas | Department of Advanced Robotics, Italian Inst. of Tech |
Keywords: Control of switched systems, Optimal control theory, Real-time control
Abstract: In this contribution, we introduce an efficient method for solving the optimal control problem for an unconstrained nonlinear switched system with an arbitrary cost function. We assume that the sequence of the switching modes are given but the switching time in between consecutive modes remains to be optimized. The proposed method uses a two-stage approach as introduced by Xu and Antsaklis (2004) where the original optimal control problem is transcribed into an equivalent problem parametrized by the switching times and the optimal control policy is obtained based on the solution of a two-point boundary value differential equation. The main contribution of this paper is to use a Sequential Linear Quadratic approach to synthesize the optimal controller instead of solving a boundary value problem. The proposed method is numerically more efficient and scales very well to the high dimensional problems. In order to evaluate its performance, we use two numerical examples as benchmarks to compare against the baseline algorithm. In the third numerical example, we apply the proposed algorithm to the Center of Mass control problem in a quadruped robot locomotion task.
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13:30-15:30, Paper MoM04.14 | Add to My Program |
Robustification and Parametrization of Switching Controllers for a Class of Set Invariance Problems |
Yang, Liren | Univ. of Michigan |
Ozay, Necmiye | Univ. of Michigan |
Keywords: Control of switched systems, Parameter-varying systems
Abstract: In this paper, we consider the robustification and parametrization of an invariance switching controller with respect to a scalar variable (parameter) that affects the system dynamics. By robustification, we mean searching for a switching controller that guarantees invariance of a set, under a large enough range of the parameter values. In case such a robust controller does not exist, we do parametrization, i.e., searching for a collection of controllers, each one robust to a smaller range of parameter values. A parametrized controller can be applied in real-time by picking the appropriate switching surfaces based on the measurement of the parameter. To be more specific, assuming (i) the system dynamics is affine, and is monotone in the considered parameter, (ii) the invariance switching controller is defined on a rectangle in the state space, we show that the robustification and parametrization problems can be reduced to solving a sequence of linear programming problems. The proposed approach is illustrated by several numerical examples.
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MoM05 Regular Session, Latécoère |
Add to My Program |
Game Theory and Control |
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Chair: Pasik-Duncan, Bozenna | Univ. of Kansas |
Co-Chair: Zhang, Huanshui | Shandong Univ |
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13:30-13:50, Paper MoM05.1 | Add to My Program |
Gain-Scheduled Nash Games with H Infinity Constraint for Stochastic LPV Systems |
Mukaidani, Hiroaki | Hiroshima Univ |
Unno, Masaru | The Univ. of Tsukuba |
Xu, Hua | Univ. of Tsukuba |
Dragan, Vasile | Romanian Acad |
Keywords: Stochastic control and game theory, Gain scheduling, Stochastic hybrid systems
Abstract: In this paper, gain-scheduled Nash games with H infinity constraint for stochastic linear parameter varying (LPV) systems is investigated. First, as preliminaries, the modified stochastic bounded real lemma and linear quadratic control (LQC) for the LPV systems are studied. The results are then applied to solve the gain-scheduled Nash games with H infinity constraint for stochastic LPV systems. It is shown that the Nash equilibrium with H infinity constraint can be obtained by solving the cross-coupled matrix inequalities (CCMIs). A numerical algorithm for solving the CCMIs is developed, and it is applied to solve a numerical example.
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13:50-14:10, Paper MoM05.2 | Add to My Program |
Linear Stochastic Differential Games with State Dependent Fractional Brownian Motion |
Duncan, Tyrone E. | Univ. of Kansas |
Pasik-Duncan, Bozenna | Univ. of Kansas |
Keywords: Stochastic control and game theory, Learning theory
Abstract: A two person, zero-sum, noncooperative stochastic differential game is formulated and solved for a multidimensional linear stochastic system that has a quadratic payoff and a linear state dependent scalar fractional Brownian motion noise process in the stochastic system. The strategies are restricted to be linear feedback. A Riccati equation is given that provides the optimal control strategies for the two players using a direct method and this Riccati equation is different from the one for the corresponding problem with a Brownian motion. The method presented and applied in this paper requires only some elementary notions from a stochastic calculus for a fractional Brownian motion.
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14:10-14:30, Paper MoM05.3 | Add to My Program |
Strategies in a Stochastic Pursuer-Evader Game |
Hexner, Gyorgy | RAFAEL, Haifa ISRAEL |
Rusnak, Ilan | RAFAEL |
Weiss, Haim M. | Rafael |
Keywords: Stochastic control and game theory, Estimation and filtering, Randomized methods
Abstract: The objective of the paper is threefold: to present the solutions and properties of a simple single stage stochastic game; to show that imperfect information game may result in random strategies; to contrast the random solution of the imperfect information stochastic game with the deterministic solution of the full information game.
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14:30-14:50, Paper MoM05.4 | Add to My Program |
Necessary and Sufficient Solution to Optimal Control for Linear Continuous Time Mean-Field System |
Qi, Qingyuan | Shandong Univ |
Zhang, Huanshui | Shandong Univ |
Keywords: Stochastic control and game theory
Abstract: Different from previous works, this paper will provide the necessary and sufficient (essential) solution to linear quadratic (LQ) optimal control problem for continuous-time mean-field systems. Firstly, by applying the Maximum Principle developed in this paper, the necessary and sufficient solvability condition of the finite horizon mean-field optimal control problem is presented in an explicit expression form (in analytical form) for the first time, which is completely different from the operator-type conditions obtained in previous works. Secondly, we explore the analytical solution to the forward and backward stochastic differential equation (FBSDE) of the mean-field optimal control problem. Accordingly, the optimal controller, in terms of system state and its expectation, is designed via a coupled Riccati equation. It is very interesting to show that the coupled Riccati equation is derived from the solution to the FBSDE, which has the similarity with the case of standard optimal control.
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14:50-15:10, Paper MoM05.5 | Add to My Program |
Optimal Control and Nonzero-Sum Game of Stochastic Differential System and Application to Finance Market |
Zhou, Liuwei | Donghua Univ |
Zhou, Wuneng | Donghua Univ |
Zhou, Jun | Donghua Univ |
Liu, Xiuqin | Donghua Univ |
Keywords: Stochastic control and game theory, Stability and stabilization of hybrid systems, Nonlinear adaptive control
Abstract: This paper discusses the problem of optimal control and nonzero-sum game in stochastic differential system with L'{e}vy noise and Markovian switching parameters. Based on Bellman's principle of dynamic programming and Dynkin's formula, a generalized Hamiltonian-Jacobi-Bellman equation is given for solving stochastic differential games. Specifically, for a linear quadratic Gaussian nonzero-sum game with L'{e}vy noise and Markovian switching parameters, the Nash equilibrium strategy can be given by using this generalized HJB equation. Finally, an example of stock investment strategy optimization in financial market game is provided as an application.
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15:10-15:30, Paper MoM05.6 | Add to My Program |
Payoff-Based Approach to Learning Nash Equilibria in Convex Games |
Tatarenko, Tatiana | Tech. Univ. Darmstadt |
Kamgarpour, Maryam | Swiss Federal Inst. of Tech |
Keywords: Multi-agent systems, Stochastic control and game theory
Abstract: We consider multi-agent decision making, where each agent optimizes its cost function subject to constraints. Agents' actions belong to a compact convex Euclidean space and the agents' cost functions are coupled. We propose a distributed payoff-based algorithm to learn Nash equilibria in the game between agents. Each agent uses only information about its current cost value to compute its next action. We prove convergence of the proposed algorithm to a Nash equilibrium in the game leveraging established results on stochastic processes. The performance of the algorithm is analyzed with a numerical case study.
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MoM06 Regular Session, Mermoz |
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Robust Controller Synthesis |
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Chair: Celentano, Laura | Univ. of Naples Federico II |
Co-Chair: Sato, Masayuki | Japan Aerospace Exploration Agency |
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13:30-13:50, Paper MoM06.1 | Add to My Program |
Robust Linear Parameter Varying Model Predictive Control and Its Application to Wheel Slip Control |
Satzger, Clemens Wolfgang | German Aerospace (DLR) |
de Castro, Ricardo | German Aerospace Center (DLR) |
Knoblach, Andreas | German Aerospace Center (DLR) |
Keywords: Linear parameter-varying systems, Control of constrained systems, Parameter-varying systems
Abstract: This paper proposes a robust model predictive controller for linear parameter varying (LPV) systems subject to additive disturbances. The proposed controller relies on the constraint tightening method to guarantee that the MPC's optimization problem remains feasible in the presence of additive disturbances. In order to decrease the conservativeness, the controller synthesis considers bounded parameter rate variations in the construction of the tightened constraints. Relevant features, such as recursive feasibility and stability of the LPV-MPC, are theoretically proven. Finally, the proposed controller is applied to a wheel-slip control problem and its effectiveness is shown by simulation results.
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13:50-14:10, Paper MoM06.2 | Add to My Program |
On the Capability of PID Control for Nonlinear Uncertain Systems |
Zhao, Cheng | AMSS, Chinese Acad. of Sciences |
Guo, Lei | Chinese Acad. of Sciences |
Keywords: Robust controller synthesis, Output regulation, Asymptotic stabilization
Abstract: It is well-known that the classical PID controller is by far the most widely used one in industrial processes, despite of the remarkable progresses of the modern control theory over the past half a century. It is also true that the existing theoretical studies on PID control mainly focus on linear systems, although most of the practical control systems are inherently nonlinear with uncertainties. Thus, a natural question is: can we establish a theory on PID controller for nonlinear uncertain dynamical systems? This paper will initiate an investigation on this fundamental problem, showing that any second order uncertain nonlinear dynamical systems can be stabilized globally by the PID controller as long as the nonlinearity satisfies a Lipschitz condition. We will also demonstrate that this result can be generalized neither to systems with order higher than 2, and nor to systems with nonlinear growth rate faster than linear in general.
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14:10-14:30, Paper MoM06.3 | Add to My Program |
Discrete-Time H_{infty} Preview Feedforward Controller Using Uncertain Prior External Input Information Via GKYP Lemma |
Sato, Masayuki | Japan Aerospace Exploration Agency |
Keywords: Robust controller synthesis, Robust control (linear case), Descriptor systems
Abstract: This note tackles the design problem of H_{infty} preview feedforward controllers for discrete-time Linear Time-Invariant (LTI) polytopic systems under the condition that prior external signals are measurable online and can be exploited as the input to the preview feedforward controllers. It is supposed that the prior external input information is given with proportional uncertainties. A design method using Generalized KYP (GKYP) lemma is proposed for the problem in terms of quadratically parameter-dependent Linear Matrix Inequality (LMI), and a tractable parametrically affine condition to solve the LMI is also given. The effectiveness of the proposed method is illustrated by an academic example.
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14:30-14:50, Paper MoM06.4 | Add to My Program |
An Improved Approach to Design Linear Parameter-Varying Controllers Subject to Uncertain Parameter Measurements |
Hilhorst, Gijs | KU Leuven |
Pipeleers, Goele | Katholieke Univ. Leuven |
Keywords: Linear parameter-varying systems, Robust linear matrix inequalities, Convex optimization
Abstract: This paper presents an improved approach for the design of linear parameter-varying controllers subject to uncertain parameter measurements. Specifically, we assume both additive and multiplicative uncertainty on the measured parameter, such that the parameter and its measurement assume values in a nonconvex domain. Closed-loop stability and performance is guaranteed by finding a parameter-dependent (PD) Lyapunov matrix such that a PD linear matrix inequality (LMI) is feasible on this nonconvex domain. We propose to express the nonconvex domain as the image of a polynomial spline, such that the PD LMI is equivalently expressed as a PD LMI on a hyperrectangle. To solve the resulting infinite-dimensional LMI problem, we propose a novel relaxation technique that exploits the properties of B-spline basis functions. An extensive numerical example demonstrates the merits of our approach compared to the state of the art.
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14:50-15:10, Paper MoM06.5 | Add to My Program |
Discrete-Time Trials for Tuning without a Model |
Blanchini, Franco | Univ. Degli Studi Di Udine |
Fenu, Gianfranco | Univ. of Trieste |
Giordano, Giulia | Lund Univ |
Pellegrino, Felice Andrea | Univ. of Trieste, Trieste, Italy |
Keywords: Robust controller synthesis, Convex optimization, Lyapunov methods
Abstract: Given a static plant described by a differentiable input-output function, which is completely unknown, but whose Jacobian takes values in a known polytope in the matrix space, we consider the problem of tuning the output (i.e., driving the output to a desired value), by suitably choosing the input. To this aim, we assume to have at our disposal a discrete sequence of trials only, as it happens, for instance, when we iteratively run a software, with new input data at each iteration, in order to achieve the desired output value. In this paper we prove that, if the polytope is robustly non-singular (or has full row rank, in the general non-square case), then a suitable discrete-time tuning law drives the output to the desired point. The computation of the tuning law is based on a convex-optimisation problem to be solved on-line. An application example is proposed to show the effectiveness of the approach.
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15:10-15:30, Paper MoM06.6 | Add to My Program |
Pseudo-PID Robust Tracking Design Method for a Significant Class of Uncertain MIMO Systems |
Celentano, Laura | Univ. of Naples Federico II |
Keywords: Robust controller synthesis, Tracking, Stability of nonlinear systems
Abstract: In this paper, for a significant class of uncertain MIMO systems, in particular for robots, new fundamental results are stated. These allow to design robust control laws without chattering, of pseudo-PID type, in order to track sufficiently regular trajectories with a preassigned maximum error. The proposed pseudo-PID controllers are easy to design and implement because these laws can also be decentralized and they are based on two design parameters. The first parameter is related to the minimum eigenvalue of a suitable matrix, depending on the inertia matrix in the case of a mechanical system, from which the practical stability depends on, and the second parameter is related to the practical region of asymptotic stability, to the precision of the tracking error and to the time constant of an appropriate linearized majorant system of the closed-loop control system. The utility and the efficiency of the main results proposed in this paper are illustrated with a significant example.
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MoM07 Regular Session, Spot |
Add to My Program |
Applications of System Identification |
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Chair: Salat, Robert | Warsaw Univ. of Life Sciences, Faculty of Production Engineering |
Co-Chair: Zhao, Yanlong | Chinese Acad. of Sciences |
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13:30-13:50, Paper MoM07.1 | Add to My Program |
Dictionary Learning Strategies for Sensor Placement and Leakage Isolation in Water Networks |
Irofti, Paul | Univ. Pol. of Bucharest |
Stoican, Florin | Pol. Univ. of Bucharest |
Keywords: Fault detection and diagnosis, Sensor networks
Abstract: This paper handles pipe leakage in water networks through a fault detection and isolation mechanism coupled with dictionary learning strategies. We consider sparse representation strategies for sensor placement and subsequent dictionary learning and classification for accurate fault detection and isolation. Various sensor placement strategies are proposed and it is shown that faults with varying magnitudes are correctly identified in a detailed emulation benchmark.
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13:50-14:10, Paper MoM07.2 | Add to My Program |
Black-Box Identification of a Pilot-Scale Dryer Model: A Support Vector Regression and an Imperialist Competitive Algorithm Approach |
Salat, Robert | Warsaw Univ. of Life Sciences, Faculty of Production Engine |
Awtoniuk, Michał | Warsaw Univ. of Life Sciences |
Korpysz, Krzysztof | Warsaw Univ. of Life Sciences, Faculty of Production Engine |
Keywords: Identification for control, Nonlinear system identification, Software for system identification
Abstract: This report describes system identification by means of the hybrid black-box method. The identification was carried out on the regulation object (a dryer model) representing the pilot-scale processes occurring during air conditioning and drying. The new approach proposed in the paper is the use of the imperialist competitive algorithm (ICA) as a tool for selecting the best parameters for support vector regression (SVR) and for selecting an optimal set of regressors. The advantage of this method is that the selection of an optimal set of regressors and the optimal parameters of SVR for this set is performed automatically, which reduces the time needed for identification. The results of the SVR with the ARX, ARMAX, OE, Box-Jenkins (BJ) and low-order transfer function (Tf) models were compared. The research was conducted for two fan speeds, equal to 40% and 60%. The Fit and MSE indicators for the SVR achieved a higher value with respect to those of the ARX, ARMAX, OE, BJ and Tf models. This method is sufficiently universal and can be applied to any plant as an efficient alternative method. This report is supported by National Science Centre grant UMO-2015/17/B/NZ7/02937
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14:10-14:30, Paper MoM07.3 | Add to My Program |
Exponential Stabilization of Torsional Vibrations in Rotary Drilling Systems |
Toumi, Samir | Pol. School (Tunisia) and Univ. of Evry (France) |
Beji, Lotfi | Univ. of Evry |
Mlayeh, Rhouma | Pol. School of Tunisia |
Abichou, Azgal | Tunisia Pol. School |
Keywords: Identification for control, Nonlinear system identification, Vibration and modal analysis
Abstract: The paper considers oilwell drilling operations and, in particular, the problem of minimizing drilling vibrations. We develop a stabilizing controller for a one dimension wave PDE with damping term that describes the drillstring torsional system. The drillstring system stability is studied via the Lyapunov theory and the control steps are deduced from a PDE backstepping approach. As a result, exponential vibration suppression is obtained in presence of stick-slip friction due to the drill-bit and the soil interactions. The torsional vibration rejection is shown through the developed simulation results.
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14:30-14:50, Paper MoM07.4 | Add to My Program |
Identifi Cation of the Non-Linear Dynamics and State of Charge Estimation of a LiFePO4 Battery Using Constrained Unscented Kalman Filter |
Parakkadavath, Syam | Indian Inst. of Tech. Madras |
Bhikkaji, Bharath | Indian Inst. of Tech. Madras |
Keywords: Nonlinear system identification, Estimation and filtering, Recursive identification
Abstract: State of charge (SOC) estimation of a LiFePO4 battery exhibiting significant hysteresis is considered. The dynamics of the battery is modeled as a linear system in conjunction with a non-linear hysteresis block. The linear part is assumed to be of a second order equivalent circuit model along with an open circuit voltage (OCV) source Voc. The circuit model is descretised and the resulting parameters are modeled as a multivariate random walk with a diagonal noise covariance matrix. These parameters are estimated using a Kalman filter. The linear model is then validated using a hybrid pulse power characterisation (HPPC) current profile. The major loop of the non-linear hysteresis relating Voc and SOC is experimentally determined by charging and discharging the battery with low magnitude currents. Using Chebyshev polynomials, a model is fit for the hysteresis curves. Constrained unscented Kalman filter (CUKF) is used for estimating the minor loops of the hysteresis, and the SOC. The SOC estimation is then validated from a full electrochemical model simulation of the battery using COMSOL software.
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14:50-15:10, Paper MoM07.5 | Add to My Program |
An Online Nonlinear Identification Method for Estimation of Magnetizing Curve and Parameters of an Induction Motor |
Kouhi, Yashar | Tech. Univ. Bergakademie Freiberg |
Kertzscher, Jana | Tech. Univ. Bergakademie Freiberg |
Keywords: Nonlinear system identification, Recursive identification, Frequency domain identification
Abstract: A new method for the online parameter identification of an induction machine in standstill is proposed. In this approach the inverse of the mutual reactance of the induction motor is modeled by a simple polynomial of the magnetizing flux.Then, the unknown parameters are computed by employing the nonlinear recursive least square method. The identified parameters are particularly useful for field oriented control of the induction motor.
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15:10-15:30, Paper MoM07.6 | Add to My Program |
Set-Valued System Identification Methods in Retrospective Cohort Study and Applications to GWAS |
Zhang, Hang | Acad. of Mathematics and Systems Science, Chinese Acad. of S |
Bi, Wenjian | Acad. of Mathematics and Systems Science, CAS |
Zhao, Yanlong | Chinese Acad. of Sciences |
Cheng, Long | Inst. of Automation, Chinese Acad. of Sciences |
Keywords: Nonlinear system identification, Stochastic system identification
Abstract: This paper considers the set-valued system identification in retrospective cohort study and proposes several novel methods based on retrospective likelihood function. We theoretically analyze the difference between retrospective likelihood and traditional prospective likelihood. A general framework is proposed for set-valued system identification in retrospective cohort study and applied to two common problems in Genome-Wide Association Studies(GWAS). Extensive simulations show that new methods perform better than traditional methods in terms of parameter estimation error and prediction rate.
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MoM08 Regular Session, Diamant |
Add to My Program |
Filtering and Smoothing |
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Chair: Jauberthie, Carine | LAAS-CNRS |
Co-Chair: Schön, Thomas Bo | Uppsala Univ |
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13:30-13:50, Paper MoM08.1 | Add to My Program |
Characterization of ``low-Pass Filtering'' for Some Nonlinear ODE's |
Riachy, Samer | Ec. 3649 |
Keywords: Filtering and smoothing
Abstract: The characterization of low-pass linear filters is nowadays a simple question relying on eigenvalue criteria, Bode diagram, Nyquist or Nichols plots. For nonlinear systems, the problem is more tricky. The present work tempts to develop a methodology for the characterization of ``low-pass filtering'' for nonlinear systems. Inspired by the DiPerna-Lions theory and relying on the theory of characteristics, the proposed method associates to the nonlinear ODE a linear transport PDE. A characterization of ``low-pass filltering'' is then deduced from developments on the PDE. Smooth ODE's of the form dot{x}=F(x) are considered where the vector field F(x) is perturbed by an additive, rapidly oscillating, noise m which may have a big magnitude F(x+m). An intuitive observation is proved in this first contribution: if F has bounded derivatives, then the sensitivity of x to m decreases as the bound gets smaller or as m fluctuates faster.
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13:50-14:10, Paper MoM08.2 | Add to My Program |
Interval Kalman Filter Enhanced by Positive Definite Upper Bounds |
Tran, Tuan Anh | Univ. De Toulouse |
Jauberthie, Carine | LAAS-CNRS |
Le gall, Françoise | Cnrs, Laas |
Travé-Massuyès, Louise | LAAS-CNRS |
Keywords: Filtering and smoothing
Abstract: A method based on the interval Kalman filter for discrete uncertain linear systems is presented. The system under consideration is subject to bounded parameter uncertainties not only in the state and observation matrices, but also in the covariance matrices of Gaussian noises. The gain matrix provided by the filter is optimized to give a minimal upper bound on the state estimation error covariance for all admissible uncertainties. The state estimation is then determined by using interval analysis in order to enclose the set of all possible solutions with respect to the classical Kalman filtering structure.
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14:10-14:30, Paper MoM08.3 | Add to My Program |
State Estimation by Continuous-Time Observations in Multiplicative Noise |
Borisov, Andrey | Federal Res. Centre "Computer Sciences and Control" of the R |
Semenikhin, Konstantin | Moscow Aviation Inst |
Keywords: Filtering and smoothing, Continuous time system estimation, Recursive identification
Abstract: The paper is devoted to the Bayesian estimation of finite-state random vector given the indirect non-stationary continuous-time observations corrupted by a Wiener noise. The key feature is that the noise intensity is a function of the estimated vector, hence the traditional optimal filtering framework fails in this case. The estimate is obtained both in the explicit integral form and as the solution to a stochastic differential system with some jump processes in the right hand side. The presence of the multiplicative noise gives a possibility to raise the estimation quality up to the exact value restoration. The numerical procedure for the estimate calculation is accompanied with the accuracy analysis. An example illustrating the performance of the proposed estimate is also presented.
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14:30-14:50, Paper MoM08.4 | Add to My Program |
Approximated Unbiased Minimum-Variance Simultaneous States and Parameters Estimation for Nonlinear Systems |
Ishihara, Shinji | Hitachi, Ltd., Res. & Development Group, Center for Tech |
Yamakita, Masaki | Tokyo Inst. of Tech |
Keywords: Filtering and smoothing, Estimation and filtering
Abstract: This paper addresses joint state and parameter estimation problem for nonlinear systems. We linearize the nonlinear system by unscented statistical linearization (USL) and decouple unknown parameter vector of state vector. Then, we treat unknown parameter vector as unknown inputs to the approximated linear model. Furthermore, we applied unbiased minimum variance estimation (UMVE) method for the approximated linear system with unknown input. Our proposed method also offers an easy way to apply the UMVE to nonlinear systems. We confirm the validity of the proposed methods by Monte Carlo simulations.
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14:50-15:10, Paper MoM08.5 | Add to My Program |
Smoothed State Estimation Via Efficient Solution of Linear Equations |
Geng, Li-Hui | Tianjin Univ. of Tech. and Education |
Ninness, Brett | Univ. of Newcastle |
Wills, Adrian George | Univ. of Newcastle |
Schön, Thomas Bo | Uppsala Univ |
Keywords: Filtering and smoothing, Estimation and filtering, Stochastic system identification
Abstract: This paper addresses the problem of computing fixed interval smoothed state estimates of a linear time varying Gaussian stochastic system. There already exist many algorithms that perform this computation, but all of them impose certain restrictions on system matrices in order for them to be applicable. This paper develops a new forwards--backwards pass algorithm that is applicable under the mildest restrictions possible - namely that the smoothed state distribtions exists in forms that can be characterised by means and covariances, for which this paper also develops a new necessary and sufficient condition.
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15:10-15:30, Paper MoM08.6 | Add to My Program |
The UD-Based Approach for Designing Pairwise Kalman Filtering Algorithms |
Kulikova, Maria V. | Inst. Superior Técnico, Univ. De Lisboa |
Tsyganova, Julia | Ulyanovsk State Univ |
Keywords: Filtering and smoothing, Estimation and filtering, Time series modelling
Abstract: Over the past few years we have observed a growing interest in the class of Pairwise Markov Models (PMMs). In this paper, we explore the Pairwise Kalman Filter (PKF) intended for the hidden state estimation in linear PMMs in the presence of Gaussian noises. Previous works produced the robust square-root PKF algorithm for improving a numerical stability of the estimator with respect to roundoff errors. The square-root approach is, definitely, the most popular technique for designing numerically stable filter implementations. However, the use of the modified Cholesky decomposition of corresponding error covariance matrix together with the modified weighted Gram-Schmidt orthogonalization at each iteration step of the Kalman filter was shown to improve the estimation accuracy with the reduced computational cost compared to the square-root methods. Here, we propose the UD-based approach for designing the PKF implementations. As for the classical Kalman filter, we may anticipate a high accuracy of the new UD-based PKF implementation with the reduced CPU cost. The methodology is derived in terms of covariance quantities.
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MoM09 Open Invited Session, Argos |
Add to My Program |
Optimization-Based Controller Design for Nonlinear Systems: Analytic and
Geometric Analysis II |
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Chair: Jean, Frederic | ENSTA ParisTech |
Co-Chair: Ferretti, Roberto | Roma Tre Univ |
Organizer: Jean, Frederic | ENSTA ParisTech |
Organizer: Zidani, Hasnaa | ENSTA ParisTech |
Organizer: Ferretti, Roberto | Roma Tre Univ |
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13:30-13:50, Paper MoM09.1 | Add to My Program |
Time-Optimal Aircraft Trajectories in Climbing Phase and Singular Perturbations (I) |
Cots, Olivier | INP-ENSEEIHT-IRIT |
Gergaud, Joseph | INP-ENSEEIHT-IRIT |
Goubinat, Damien | Thales Avionics |
Keywords: Singularities in optimization, Industrial applications of optimal control, Modeling for control optimization
Abstract: This article deals with the singularly perturbed aircraft minimum time-to-climb problem. First, we introduce a reduced-order problem with affine dynamics with respect to the control and analyze it with the tools from geometric control: maximum principle combined with second order optimality conditions. Then, we compute candidates as minimizers using multiple shooting and homotopy methods for both problems, that we briefly compare numerically. Particular attention is paid to the singular extremals and we discuss about their local optimality.
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13:50-14:10, Paper MoM09.2 | Add to My Program |
A Reduction Method for Riccati-Based Control of the Fokker-Planck Equation (I) |
Breiten, Tobias | Karl-Franzens-Univ. Graz |
Kunisch, Karl | Univ. Graz |
Pfeiffer, Laurent | Univ. of Graz |
Keywords: Output feedback control (linear case), Control of partial differential equations
Abstract: A control strategy which allows to speed up the convergence of a bilinear system governed by the Fokker-Planck equation to its stationary distribution is developed. After linearization of the state equation, a linear feedback control is computed by solving the Riccati equation associated with the linearized problem. A reduction method for approximating this feedback is proposed. From a numerical point of view, this method avoids the resolution of a high-dimensional Riccati equation. Numerical results are provided for a double-well potential and the efficiency of the reduction method is demonstrated.
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14:10-14:30, Paper MoM09.3 | Add to My Program |
Constrained and Impulsive Linear Quadratic Control Problems (I) |
Hermosilla, Cristopher A. | Univ. Técnica Federico Santa María |
Wolenski, Peter R. | Louisiana State Univ |
Keywords: Optimal control theory, Convex optimization, Linear systems
Abstract: The aim of this paper is to study the value function of a time-continuous linear quadratic optimal control problem with input and state constraints. No coercive assumptions are made, which leads to optimal control problems whose trajectories are of bounded variation rather than merely absolutely continuous. Our approach is based on classical convex analysis, and we establish a Legendre-Fenchel type equality between the value function of the linear quadratic problem and its dual problem.
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14:30-14:50, Paper MoM09.4 | Add to My Program |
An Adaptive Multilevel Radial Basis Function Scheme for the HJB Equation (I) |
Ferretti, Giulia | Roma Tre Univ |
Ferretti, Roberto | Roma Tre Univ |
Junge, Oliver | Tech. Univ. Muenchen |
Schreiber, Alex Joachim Ernst | Tech. Univ. of Munich |
Keywords: Generalized solutions of Hamilton-Jacobi equations, Optimal control theory, Output feedback control
Abstract: The globally optimal solution of an optimal control problem can be characterized in terms of the value function. This function can be computed as the solution of the Hamilton– Jacobi–Bellman PDE or the equivalent Bellman equation. We propose an adaptive multilevel scheme based on radial basis functions for space discretizing these equations and demonstrate the efficiency of this approach by numerical experiments.
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14:50-15:10, Paper MoM09.5 | Add to My Program |
Approximation by Filtering in Optimal Control and Applications (I) |
Caillau, Jean-Baptiste | UBFC & CNRS/Inria |
Dargent, Thierry | Thales Alenia Space |
Nicolau, Florentina | Ensea Cergy |
Keywords: Optimal control theory, Hamiltonian trajectories in optimal control, Aerospace
Abstract: Minimum time control of slow-fast systems is considered. In the case of only one fast angle, averaging techniques are available for such systems. The approach introduced in Dargent (2014) and Bombrun et al. (2013) is recalled, then extended to time dependent systems by means of a suitable filtering operator. The process relies upon approximating the dynamics by means of sliding windows. The size of these windows is an additional parameter that provides intermediate approximations between averaging over the whole fast angle period and the original dynamics. The method is illustrated on problems coming from space mechanics.
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15:10-15:30, Paper MoM09.6 | Add to My Program |
The Hughes Model for Pedestrian Dynamics and Congestion Modelling (I) |
Festa, Adriano | ENSTA-ParisTech |
Carlini, Elisabetta | Sapienza Univ. Di Roma |
Silva Alvarez, Francisco José | Univ. De Limoges |
Keywords: Modeling for control optimization, Optimal control theory, Differential or dynamic games
Abstract: In this paper we present a numerical study of some variations of the Hughes model for pedestrian flow under different types of congestion effects. The general model consists of a coupled non-linear PDE system involving an eikonal equation and a first order conservation law, and it intends to approximate the flow of a large pedestrian group aiming to reach a target as fast as possible, while taking into account the congestion of the crowd. We propose an efficient semi-Lagrangian scheme (SL) to approximate the solution of the PDE system and we investigate the macroscopic effects of different penalization functions modelling the congestion phenomena.
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MoM10 Regular Session, Cassiopée |
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Lyapunov Methods |
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Chair: Forni, Paolo | Imperial Coll. London |
Co-Chair: Sloth, Christoffer | Aalborg Univ |
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13:30-13:50, Paper MoM10.1 | Add to My Program |
Smooth Lyapunov Functions for Multistable Differential Inclusions |
Forni, Paolo | Imperial Coll. London |
Angeli, David | Imperial Coll |
Keywords: Discontinuous control, Lyapunov methods, Robustness analysis
Abstract: We provide a converse Lyapunov theorem for differential inclusions with upper semicontinuous right-hand side, admitting a finite number of compact, globally attractive, weakly invariant sets, and evolving on Riemannian manifolds. Such properties entail multistable behavior in differential inclusions and may gather interest in a number of applications where uncertainty and discontinuities of the vector field play a major role.
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13:50-14:10, Paper MoM10.2 | Add to My Program |
Lyapunov Function Synthesis - Infeasibility and Farkas' Lemma |
Leth, Tobias | Aalborg Univ |
Sloth, Christoffer | Aalborg Univ |
Wisniewski, Rafal | Aalborg Univ |
Sankaranarayanan, Sriram | Univ. of Colorado |
Keywords: Lyapunov methods, Stability of nonlinear systems
Abstract: In this paper we prove the convergence of an algorithm synthesising continuous piecewise-polynomial Lyapunov functions for polynomial vector fields defined on simplices. We subsequently modify the algorithm to sub-divide locally by utilizing information from infeasible linear problems. We prove that this modification does not destroy the convergence of the algorithm. Both methods are accompanied by examples.
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14:10-14:30, Paper MoM10.3 | Add to My Program |
Incremental Stability of Lur'e Systems through Piecewise-Affine Approximations |
Waitman, Sérgio | Ec. Centrale De Lyon |
Bako, Laurent | Ec. Centrale De Lyon |
Massioni, Paolo | INSA De Lyon |
Scorletti, Gerard | Ec. Centrale De Lyon |
Fromion, Vincent | INRA |
Keywords: Lyapunov methods, Stability of nonlinear systems, Robust linear matrix inequalities
Abstract: Lur'e-type nonlinear systems are virtually ubiquitous in applied control theory, which explains the great interest they have attracted throughout the years. The purpose of this paper is to propose conditions to assess incremental asymptotic stability of Lur'e systems that are less conservative than those obtained with the incremental circle criterion. The method is based on the approximation of the nonlinearity by a piecewise-affine function. The Lur'e system can then be rewritten as a so-called piecewise-affine Lur'e system, for which sufficient conditions for asymptotic incremental stability are provided. These conditions are expressed as linear matrix inequalities (LMIs) allowing the construction of a continuous piecewise-quadratic incremental Lyapunov function, which can be efficiently solved numerically. The results are illustrated with numerical examples.
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14:30-14:50, Paper MoM10.4 | Add to My Program |
Predefined-Time Backstepping Control for Tracking a Class of Mechanical Systems |
Jiménez-Rodríguez, Esteban | CINVESTAV - Unidad Guadalajara |
Sanchez-Torres, Juan Diego | CINVESTAV |
Loukianov, Alexander G. | Cinvestav Ipn Gdl |
Keywords: Lyapunov methods, Sliding mode control, Stability of nonlinear systems
Abstract: The predefined-time exact tracking of unperturbed fully actuated mechanical systems is considered in this paper. A continuous second-order predefined-time stabilizing backstepping controller, designed using first-order predefined-time stabilizing functions, is developed to solve this problem. As an example, the proposed solution is applied over a two-link planar manipulator and numerical simulations are conducted to show performance of the proposed control scheme.
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14:50-15:10, Paper MoM10.5 | Add to My Program |
Quantifying the Performance of Optimal Frequency Regulators in the Presence of Intermittent Communication Disruptions |
Weitenberg, Erik | Univ. of Groningen |
De Persis, Claudio | Univ. of Groningen |
Monshizadeh, Nima | Univ. of Groningen |
Keywords: Lyapunov methods, Networked systems, Power systems
Abstract: We investigate the robustness of existing control strategies for economically optimal frequency regulation in power grids in the presence of disruptions to the controllers' communication network. Using a strict Lyapunov function, we are able to derive exponential bounds on the convergence rate in terms of the proportion of time during which the disruption is active. This allows us to explicitly quantify the performance degradation, measured in terms of system overshoot and convergence rate.
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15:10-15:30, Paper MoM10.6 | Add to My Program |
Decentralized Stabilization of Infinite Networks of Systems with Nonlinear Dynamics and Uncontrollable Linearization |
Dashkovskiy, Sergey | Univ. of Würzburg |
Pavlichkov, Svyatoslav | Univ. of Wuerzburg |
Keywords: Lyapunov methods, Decentralized control, Networked systems
Abstract: We solve the problem of decentralized uniform stabilization for infinite networks of lower-triangular form systems with uncontrollable linearization. Since the network is composed of a countable set of agents, we revise the framework of small gain theorems accordingly. We prove a new small gain theorem and use it as a tool in our design of decentralized stabilizers. Then we construct a feedback for each individual agent to provide a suitable gain assignment and to satisfy the conditions of our new small gain theorem. This yields the stabilization of the entire network. Our design is also new for finite networks and this can be considered as an important special case.
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MoM11 Invited Session, Ariane 1 |
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Recent Advances in Higher-Order Sliding Mode Differentiation} |
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Chair: Reichhartinger, Markus | Graz Univ. of Tech |
Co-Chair: Efimov, Denis | Inria |
Organizer: Reichhartinger, Markus | Graz Univ. of Tech |
Organizer: Efimov, Denis | Inria |
Organizer: Fridman, Leonid M. | National Autonomous Univ. of Mexico |
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13:30-13:50, Paper MoM11.1 | Add to My Program |
Sliding-Mode-Based Differentiation and Its Application (I) |
Levant, Arie | Tel - Aviv Univ |
Livne, Miki | Tel-Aviv Univ |
Yu, Xinghuo | RMIT Univ |
Keywords: Sliding mode control, Nonlinear observers and filter design, Robust estimation
Abstract: Sliding-mode (SM) based differentiation is exact on a large class of functions and robust to the presence of input noises. The best-possible differentiator accuracy is for the first-time calculated. A few differentiators and their discretizations are presented. As an important application of the differentiation technique we propose the first robust exact method for the estimation of the equivalent control and of a number of its derivatives from a SM control input.
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13:50-14:10, Paper MoM11.2 | Add to My Program |
Levant's Arbitrary Order Differentiator with Varying Gain (I) |
Moreno, Jaime A. | Univ. Nacional Autonoma De Mexico-UNAM |
Keywords: Sliding mode control, Nonlinear observers and filter design, Lyapunov methods
Abstract: When the n-th derivative of a signal to be differentiated is bounded by a known constant, Levant's arbitrary order differentiator provides, in the absence of noise, for an exact estimation of all derivatives up to order (n-1) in finite time. Recently, Levant has shown that if the n-th derivative is bounded by a known time-varying function, the same differentiator with a time-varying gain is also able to estimate in finite time all derivatives, if the initial condition of the differentiation error is sufficiently small. In this paper we show, using a smooth Lyapunov function, that the same result is valid globally.
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14:10-14:30, Paper MoM11.3 | Add to My Program |
A Robust Exact Differentiator Toolbox for Matlab/Simulink (I) |
Reichhartinger, Markus | Graz Univ. of Tech |
Spurgeon, Sarah K. | Univ. Coll. London |
Forstinger, Martin | Graz Univ. of Tech |
Wipfler, Martin | Tech. Univ. of Graz, Inst. of Automation and Contro |
Keywords: Robust estimation, Sliding mode control, Application of nonlinear analysis and design
Abstract: This paper demonstrates the functionality and ease of use of a recently implemented robust exact differentiator block for numerical simulations performed within the Matlab/Simulink software environment. It is demonstrated that the differentiator block may be used for various applications and may be easily integrated within existing Simulink models. The underpinning discrete-time differentiation algorithm is briefly outlined and its parameters for differentiator orders up to 10 are presented. An extended version of the toolbox supports the so-called automatic code generation feature of Matlab/Simulink. This functionality allows compilable code to be produced for many available hardware platforms. Three applications are presented in the paper, two of which require the generation of executable code. The third simulation-based application presents a differentiator based edge detection algorithm for image processing purposes which directly utilises the Simulink block. The three applications employ differentiators of order 4, 3 and 2, respectively.
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14:30-14:50, Paper MoM11.4 | Add to My Program |
On Causality of Sliding-Mode Differentiators (I) |
Boiko, Igor | The Petroleum Inst |
Keywords: Sliding mode control, Observers for linear systems, Discontinuous control
Abstract: Implementation of differentiators for producing derivatives in real time must satisfy the property of causality. This property, being quite obvious for real time differentiation using finite difference scheme, is not quite obvious for sliding-mode-based differentiation. It is investigated in the present paper.
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14:50-15:10, Paper MoM11.5 | Add to My Program |
Barrier Adaptive First Order Sliding Mode Differentiator (I) |
Obeid, Hussein | Univ. De Tech. De Belfort-Montbéliard (UTBM) |
Fridman, Leonid M. | National Autonomous Univ. of Mexico |
Laghrouche, Salah | UTBM |
Harmouche, Mohamed | Actility |
Keywords: Sliding mode control
Abstract: An algorithm for adaptation of first order sliding mode differentiator gains is proposed for the case when the upper bound of the second derivative exists but it is unknown. The proposed barrier adaptive algorithm can ensure the convergence of the differentiator to some vicinity of the first derivative. Then, a convergence detection criteria is used to estimate the size of this vicinity. The properties of the proposed algorithm in the presence of noise are discussed.
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15:10-15:30, Paper MoM11.6 | Add to My Program |
HOSM Differentiator with Varying Gains for Global/Semi-Global Output Feedback (I) |
Oliveira, Tiago Roux | State Univ. of Rio De Janeiro - UERJ |
Rodrigues, Victor Hugo Pereira | Univ. Do Estado Do Rio De Janeiro |
Estrada, Antonio | Conacyt Res. Fellow - CIDESI |
Fridman, Leonid M. | National Autonomous Univ. of Mexico |
Keywords: Sliding mode control, Output feedback control, Nonlinear observers and filter design
Abstract: This paper develops a higher-order sliding mode (HOSM) differentiator with adaptive gains to address the exact tracking control problem using only input-output information of a wider class of nonlinear systems with disturbances and parametric uncertainties. The complete state of the plant is assumed unmeasured so that a norm state estimator is constructed to norm bound the state-dependent disturbances and dynamically update the gains of the proposed differentiator. Global/semi-global stability properties and robust exact tracking can be achieved when the proposed adaptive HOSM based differentiator is applied to output-feedback purposes. Numerical simulations are presented for different sliding mode control designs, such as: (a) first-order sliding mode control, (b) non-singular terminal sliding modes, (c) second order sliding mode (SOSM) algorithms (twisting and super-twisting) as well as (d) quasi-continuous HOSM finite-time controllers.
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MoM12 Regular Session, Ariane 2 |
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Multi-Agent Systems II |
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Chair: Blanchini, Franco | Univ. Degli Studi Di Udine |
Co-Chair: Dimarogonas, Dimos V. | Royal Inst. of Tech |
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13:30-13:50, Paper MoM12.1 | Add to My Program |
Topology-Independent Robust Stability of Homogeneous Dynamic Networks |
Blanchini, Franco | Univ. Degli Studi Di Udine |
Casagrande, Daniele | Univ. of Udine |
Giordano, Giulia | Lund Univ |
Viaro, Umberto | Univ. of Udine |
Keywords: Control of networks, Multi-agent systems
Abstract: The paper presents conditions for the stability of a dynamical network described by a directed graph, whose nodes represent dynamical systems characterised by the same transfer function F(s) and whose edges account for the interactions between pairs of nodes. In turn, these interactions depend via a transference G(s) on the outputs of the subsystems associated with the connected nodes. The stability conditions are topology-independent, in that they hold for all possible connections of the nodes, and robust, in that they allow for uncertainties in the determination of the transferences. Two types of interactions are considered: bidirectional and unidirectional. In the first case if nodes i and j are connected, both node i affects node j and node j affects node i, while in the second case only one of the two occurrences is admitted. The robust stability conditions are expressed as constraints for the the Nyquist diagram of H = FG.
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13:50-14:10, Paper MoM12.2 | Add to My Program |
Asynchronous Agreement through Distributed Coordination Algorithms Associated with Periodic Matrices |
Qin, Yuzhen | Univ. of Groningen |
Cao, Ming | Univ. of Groningen |
Anderson, Brian D.O. | Australian National Univ |
Keywords: Multi-agent systems, Randomized methods
Abstract: For the widely studied consensus-type distributed multi-agent algorithms, a standard discrete-time model is a linear system whose system matrix is stochastic, thus implementing the "averaging" updating rule for each agent. To ensure agreement among all the agents asymptotically, one usually requires the stochastic matrix to be indecomposable and aperiodic (SIA). In this paper, we show that in practice such requirements can be relaxed by allowing the matrix to be periodic if the agents update asynchronously. Such a relaxation is somewhat surprising since for synchronous updating, periodic matrices in general give rise to oscillations in the agents' states. The key step to prove reaching agreement is to use a stochastic Lyapunov function to prove almost sure convergence of the associated stochastic linear system. The results reveal the critical role that asynchrony may play for distributed network algorithms.
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14:10-14:30, Paper MoM12.3 | Add to My Program |
Output Synchronization of Linear MIMO Heterogeneous Multi-Agent Systems Via Output Communication |
Zhu, Lijun | Univ. of Hong Kong |
Chen, Xi | Wuhan Univ. of Science and Tech |
Chen, Zhiyong | The Univ. of Newcastle |
Hill, David J. | The Univ. of Hong Kong |
Keywords: Multi-agent systems, Control over networks, Cooperative systems
Abstract: The output synchronization of heterogeneous multi-agent systems becomes more challenging when only output information is exchanged over the network rather than state information. We showed that the problem can be solved in two mutually coupled steps, namely perturbed consensus which is closely related to the well solved synchronization of homogeneous multi-agent systems and perturbed regulation which for MIMO systems is of particular interest. The perturbed regulation problem takes the consensus error of homogeneous reference model constructed for each agent as the disturbance while its regulation error also enters into the perturbed consensus problem as the disturbance. As opposed to traditional regulation problem, we aim to render the gain from the consensus error to the regulation error satisfy a small-gain condition at the second step. Based on the controllability property, we establish a lemma that derives a bound condition for the solution to a class of Riccati equations. Applying the lemma, we propose state and dynamic output feedback controllers to solve perturbed regulation problem and hence the output synchronization problem for linear MIMO multi-agent systems.
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14:30-14:50, Paper MoM12.4 | Add to My Program |
Robust Quaternion-Based Cooperative Manipulation without Force/Torque Information |
Verginis, Christos | KTH Royal Inst. of Tech |
Mastellaro, Matteo | Kungliga Tekniska Högskolan (KTH) |
Dimarogonas, Dimos V. | Royal Inst. of Tech |
Keywords: Cooperative systems, Nonlinear adaptive control, Control under communication constraints
Abstract: This paper proposes a task-space control protocol for the collaborative manipulation of a single object by N robotic agents. The proposed methodology is decentralized in the sense that each agent utilizes information associated with its own and the object's dynamic/kinematic parameters and no on-line communication takes place. Moreover, no feedback of the contact forces/torques is required, therefore employment of corresponding sensors is avoided. An adaptive version of the control scheme is also introduced, where the agents' and object's dynamic parameters are considered unknown. We also use unit quaternions to represent the object's orientation. In addition, load sharing coefficients between the agents are employed and internal force regulation is guaranteed. Finally, experimental studies with two robotic arms verify the validity and effectiveness of the proposed control protocol.
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14:50-15:10, Paper MoM12.5 | Add to My Program |
Distributed Algorithm for Controlling Scale-Free Polygonal Formations |
Garcia de Marina, Hector | Ec. Nationale De L'aviation Civil |
Jayawardhana, Bayu | Univ. of Groningen |
Cao, Ming | Univ. of Groningen |
Keywords: Coordination of multiple vehicle systems, Multi-agent systems, Cooperative systems
Abstract: This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner of the polygon. The algorithm shares the appealing properties of the popular distance-based rigid formation control, but with the additional advantage of requiring the control of fewer pairs of neighboring agents. Furthermore, the scale of the polygon can be controlled by only one pair of neighboring agents. We also exploit the exponential stability of the controlled formation in order to steer the formation as a whole with translations and rotations in a prescribed way. We provide both theoretical analysis and illustrative simulations.
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15:10-15:30, Paper MoM12.6 | Add to My Program |
Distributed Decoupling of Partially-Unknown Interconnected Linear Multiagent Systems: State and Output Feedback Approaches |
Rezaei, Vahid | Univ. of Denver |
Stefanovic, Margareta | Univ. of Denver |
Keywords: Distributed control and estimation, Multi-agent systems
Abstract: Distributed consensus algorithms have been widely designed for physically decoupled linear time-invariant multiagent systems operating at a fixed operating point. However, they do not guarantee the closed-loop stability and performance of multiagent systems in the presence of physical interconnections or changes in operating conditions of agents. In this paper, we propose a class of state- and output-coupled linear multiagent systems where each agent is characterized by its individual unknown operating point. Under the effect of these varying operating points of agents, we propose the distributed decoupling problem in order to mitigate the effects of interconnections, and ensure that each agent can operate at its individual operating point independent of its neighbors. We reformulate this decoupling task, and propose two linear quadratic regulator-based distributed leaderless consensus algorithms using coupled-state and -output measurements. In both scenarios, we establish sufficient conditions guaranteeing global exponential decoupling of agents.
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MoM13 Invited Session, St Exupéry |
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History of Discrete Event Systems 1 |
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Chair: Silva, Manuel | Univ. De Zaragoza |
Co-Chair: Giua, Alessandro | Aix-Marseille Univ. France / Univ. of Cagliari, Italy |
Organizer: Silva, Manuel | Univ. De Zaragoza |
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13:30-14:10, Paper MoM13.1 | Add to My Program |
Modeling, Analysis and Control of Discrete Event Systems: A Petri Net Perspective (I) |
Giua, Alessandro | Aix-Marseille Univ. France / Univ. of Cagliari, Italy |
Silva, Manuel | Univ. De Zaragoza |
Keywords: Petri nets, Discrete event modeling and simulation
Abstract: The ambition of this contribution is to briefly overview the historical development of the field of Petri nets under a System Theory and Automatic Control perspective. It is by far not meant to be comprehensive or inclusive, but to review through several representative areas a few of the conceptual issues studied in the literature. It was not possible to consider here the many domains of application were the Petri Nets modeling paradigm was used, among many others: manufacturing, logistic, hardware and software, protocols engineering, health management, transportation, etc.
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14:10-14:50, Paper MoM13.2 | Add to My Program |
Max-Plus Algebra and Discrete Event Systems (I) |
Komenda, Jan | Acad. of Sciences of Czech Republic |
Lahaye, Sébastien | Univ. D'angers |
Boimond, Jean-Louis | Univ. of ANGERS |
van den Boom, Ton J. J. | Delft Univ. of Tech |
Keywords: Max-plus algebra, Discrete event modeling and simulation
Abstract: A system theory, based on max-plus algebra and similar algebraic tools, has been developped for certain discrete event systems. This survey paper attempts to summarize the main achievements from its emergence in the early 80s to recent advances.
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14:50-15:30, Paper MoM13.3 | Add to My Program |
Supervisory Control of Discrete-Event Systems: A Brief History -- 1980-2015 (I) |
Wonham, W. Murray | Univ. of Toronto |
Cai, Kai | Osaka City Univ |
Rudie, Karen | Queen's Univ |
Keywords: Supervisory control and automata
Abstract: This brief history summarizes the 'supervisory control of discrete-event systems' as it has evolved in the period 1980-2015. Overall, the trend has been from centralized or 'monolithic' control to more structured architectures, and from 'naive' to symbolic computation. Like any 'history' this one represents the perspective of the authors; inevitably some important contributions will have been overlooked or short-changed.
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MoM14 Regular Session, Guillaumet 1 |
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Linear System I |
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Chair: Bokor, Jozsef | Hungarian Acad. of Sciences |
Co-Chair: Olaru, Sorin | CentraleSupelec |
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13:30-13:50, Paper MoM14.1 | Add to My Program |
Feedback Stabilization: From Geometry to Control |
Szabo, Zoltan | Mta Sztaki |
Bokor, Jozsef | Hungarian Acad. of Sciences |
Vámos, Tibor | Computer and Automation Inst. Hungarian Acad. of Sciences |
Keywords: Linear systems, Linear multivariable systems, Time-varying systems
Abstract: Youla parametrization of stabilizing controllers is a fundamental result of control theory: starting from a special, double coprime, factorization of the plant provides a formula for the stabilizing controllers as a function of the elements of the set of stable systems. In this case the set of parameters is universal, i.e., does not depend on the plant but only the dimension of the signal spaces. Based on the geometric techniques introduced in our previous work this paper provides an alternative, geometry based parametrization. In contrast to the Youla case, this parametrization is coordinate free: it is based only on the knowledge of the plant and a single stabilizing controller. While the parameter set itself is not universal, its elements can be generated by a universal algorithm. Moreover, it is shown that on the parameters of the strongly stabilizing controllers a simple group structure can be defined. Besides its theoretical and educative value the presentation also provides a possible tool for the algorithmic development.
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13:50-14:10, Paper MoM14.2 | Add to My Program |
Advanced Tuning for Ziegler-Nichols Plants |
Díaz-Rodríguez, Iván | Texas A&M Univ |
Han, Sangjin | Texas A&M Univ |
Keel, Lee H. | Tennessee State Univ |
Bhattacharyya, Shankar P. | Texas a & M Univ |
Keywords: Linear systems, Systems with time-delays, Regulation (linear case)
Abstract: In this paper, we describe an advanced tuning approach for the design of PI (Proportional-Integral) and PID (Proportional-Integral-Derivative) controllers for the Ziegler-Nichols plants, that is First Oder Plus Time-Delay (FOPTD) continuous-time LTI (Linear Time Invariant) systems. The objective is to provide to the designer an efficient tool to design PI or PID controllers where it is possible to select simultaneous performance specifications of gain margin, phase margin, and gain crossover frequency from a set of achievable performance design curves for Ziegler-Nichols plants. To succeed in this, we first construct the stabilizing set of PI or PID controllers corresponding to the Ziegler-Nichols plant. Next, we generate an achievable performance set displayed as design curves in the gain and phase margin plane, indexed by gain crossover frequencies. Each point in this achievable performance plot represents a prescribed gain margin, phase margin, and crossover frequency, obtained by a PI or PID controller contained in the stabilizing set. Then, by selecting a point from the achievable performance set, a unique PI or PID controller achieving these simultaneous specifications is found from the intersection of an ellipse and straight line parametrized from constant magnitude and constant phase loci in the space of controller gains. We present illustrative examples to validate the proposed approach.
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14:10-14:30, Paper MoM14.3 | Add to My Program |
A B-Splines Based Feedforward Action for Constrained Optimization of PID Controllers Performance |
Orsini, Valentina | Univ. Pol. Delle Marche |
Jetto, L. | Univ. Di Ancona |
Romagnoli, Raffaele | Univ. Libre De Bruxelles |
Keywords: Regulation (linear case), Process control, Constrained control
Abstract: This paper proposes a novel solution to a long standing problem: to define an inverse model-based feedforward action aimed at attaining an almost perfect transient tracking for PID controlled plants under constraints on the control effort and on the plant output. The new method situates in the recently proposed framework of pseudo inversion, which proved to be very effective to achieve an almost perfect tracking. The presented method assumes a B-spline function as the external reference forcing a given stable closed-loop system. The actual control input yielded by the external reference and forcing the plant is optimally approximated (in the least square sense) by a B-spline. The control points of the B-spline are chosen in such a way to satisfy the saturation constraints on the control effort. For a sufficiently accurate approximation, the exact fulfillment of saturation constraints from the B-spline are transferred to the actual control signal forcing the plant. The simulations on a practical case of a relevant interest show excellent results.
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14:30-14:50, Paper MoM14.4 | Add to My Program |
Synchronization of Linear Agents with Input/output Constraints |
Takaba, Kiyotsugu | Ritsumeikan Univ |
Keywords: Linear multivariable systems, Control of constrained systems, Convex optimization
Abstract: This paper is concerned with distributed cooperative control of linear agents with constraints on the amplitudes of inputs and outputs. We derive a condition for achieving both state synchronization and input/output constraints for the linear agents over an undirected communication graph. We develop a synthesis method of the desired state feedback gain in terms of linear matrix inequalities with the aid of invariant ellipsoids. The desired feedback gain can be efficiently obtained by solving a certain convex optimization independently of the number of agents.
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14:50-15:10, Paper MoM14.5 | Add to My Program |
Prescribing Transient and Asymptotic Behaviour of LTI Systems with Stochastic Initial Conditions |
Dresscher, Martijn | Univ. of Groningen |
Jayawardhana, Bayu | Univ. of Groningen |
Keywords: Linear systems, Analytic design, Control of constrained systems
Abstract: This paper considers two different control problems for deterministic systems with stochastic initial conditions where, in addition to the usual asymptotic behavior requirement, we are interested in the transient behavior of the state distribution evolution. For the first one, we study control design such that the state trajectories enter target set at a given transient time with a prescribed minimum cumulative distribution. For the second one, we propose control design where the distribution of state variable at transient time is close to the target distribution. We illustrate the efficacy of the proposed solutions to the aforementioned control problems through numerical examples.
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15:10-15:30, Paper MoM14.6 | Add to My Program |
Optimization-Based Control for Multi-Agent Deployment Via Dynamic Voronoi Partition |
Nguyen, Minh Tri | CentraleSupélec/L2S |
Stoica Maniu, Cristina Nicoleta | Supelec |
Olaru, Sorin | CentraleSupelec |
Keywords: Linear systems, Controller constraints and structure
Abstract: This paper presents a novel decentralized control law for the Voronoi-based deployment of a Multi-Agent dynamical system. At each time instant, a bounded convex polyhedral working region is partitioned using a Voronoi algorithm providing the agents with non-overlapping functioning zones. The agents' deployment objective is to drive the entire system into a stable static configuration which corresponds to a stationary maximal coverage. This goal is achieved by using local stabilizing feedback control ensuring the convergence of each agent towards a centroid of its associated functioning zone. The proposed approach considers the Chebyshev center as centroidal point of each Voronoi cell.
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MoM15 Invited Session, Guillaumet 2 |
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New Results in Multidimensional Systems Theory |
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Chair: Yeganefar, Nima | Univ. of Poitiers |
Co-Chair: Quadrat, Alban | Inria Lille - Nord Europe |
Organizer: Yeganefar, Nima | Univ. of Poitiers |
Organizer: Quadrat, Alban | Inria Lille - Nord Europe |
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13:30-13:50, Paper MoM15.1 | Add to My Program |
A Groebner Basis Approach to Solve a Rank Minimization Problem Arising in 2D-Identification (I) |
Rapisarda, Paolo | Univ. of Southampton |
Keywords: N-dimensional systems, Polynomial methods, Linear systems
Abstract: The problem of state-space modelling of 2D-trajectories from vector-exponential data can be solved using a duality approach. Finding a minimal complexity model, i.e. one having the minimal number of state variables among those unfalsied by the data, can be transformed to a rank-minimization problem involving constant matrices computed from the data. We illustrate a procedure that uses a Groebner basis solution to solve such problem.
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13:50-14:10, Paper MoM15.2 | Add to My Program |
Algorithms for Verification of Characteristic Sets of Discrete Autonomous Nd Systems with N >= 2 (I) |
Mukherjee, Mousumi | Indian Inst. of Tech. Bombay |
Pal, Debasattam | Indian Inst. of Tech. Bombay |
Keywords: N-dimensional systems, Infinite-dimensional systems, Polynomial methods
Abstract: An important question for multidimensional systems is to characterize the minimum information required to uniquely specify a 'trajectory'. For a discrete nD system described by partial difference equations with real constant coefficients, the notion of a characteristic set formalizes this idea. The issue of characteristic sets for n >= 3 has largely remained open since Valcher’s seminal work for n = 2 (Valcher (2000)). In this paper, we provide a necessary and sufficient condition for a given subset (either a cone or a sub-lattice) in Z^n to be a characteristic set for a discrete scalar autonomous nD system. This necessary and sufficient condition enables us to formulate an algebraic test for verifying whether a given cone or a sub-lattice is a characteristic set for a given discrete scalar autonomous nD system. We then provide algorithms – that are implementable using standard computational algebra packages – for doing this check. This is achieved by first converting the above-mentioned necessary and sufficient condition to another equivalent algebraic condition that is more suited for applying Groebner bases theory. We further pursue the question of 'minimality' of characteristic sets. We show how the idea of minimal characteristic sub-lattices is related with the notion of autonomy degree and Krull dimension. Thus, we provide a complete solution to the problem of determining if a given cone or a sub-lattice is a characteristic set for a scalar autonomous discrete nD system.
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14:10-14:30, Paper MoM15.3 | Add to My Program |
Computing Effectively Stabilizing Controllers for a Class of Nd Systems (I) |
Bouzidi, Yacine | INRIA |
Quadrat, Alban | Inria Lille - Nord Europe |
Cluzeau, Thomas | Univ. De Limoges |
Moroz, Guillaume | India Nancy - Grand Est |
Keywords: N-dimensional systems, Linear systems, Output feedback control (linear case)
Abstract: In this paper, we study the internal stabilizability and internal stabilization problems for multidimensional (nD) systems. Within the fractional representation approach, a multidimensional system can be studied by means of matrices with entries in the integral domain of structurally stable rational fractions, namely the ring of rational functions which have no poles in the closed unit polydisc Ubar^n= {z=(z_1,ldots,z_n) in C^n | |z_1|leq 1,ldots,|z_n|leq 1}. It is known that the internal stabilizability of a multidimensional system can be investigated by studying a certain polynomial ideal I=langle p_1,ldots,p_r rangle that can be explicitly described in terms of the transfer matrix of the plant. More precisely the system is stabilizable if and only if V(I)={z in C^n ; | ; p_1(z)=cdots=p_r(z)=0 } cap Ubar^n = emptyset. In the present article, we consider the specific class of linear nD systems (which includes the class of 2D systems) for which the ideal I is zero-dimensional, i.e., the p_i's have only a finite number of common complex zeros. We propose effective symbolic-numeric algorithms for testing if V(I) cap Ubar^n = emptyset, as well as for computing, if it exists, a stable polynomial p in I which allows the effective computation of a stabilizing controller. We finally illustrate our algorithms on an example and we provide timings of our prototype Maple implementation.
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14:30-14:50, Paper MoM15.4 | Add to My Program |
Structural Stability and Asymptotic Stability for Linear Multidimensional Systems: A Counterexample (I) |
David, Ronan | Univ. of Poitiers |
Bachelier, Olivier | Univ. of Poitiers |
Cluzeau, Thomas | Univ. De Limoges |
Silva Alvarez, Francisco José | Univ. De Limoges |
Yeganefar, Nader | Univ. of Provence |
Yeganefar, Nima | Univ. of Poitiers |
Keywords: N-dimensional systems, Linear systems
Abstract: In this paper, we revisit the notions of structural stability and asymptotic stability that are often considered as equivalent in the field of multidimensional systems. We illustrate that the equivalence between asymptotic and structural stability depends on where we define the boundary conditions. More precisely, we show that structural stability implies asymptotic stability when the boundary conditions are imposed on the positive axes. But a carefully designed counterexample shows that the opposite does not hold in this case. This illustrates once again the importance of the boundary conditions when dealing with multidimensional systems.
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14:50-15:10, Paper MoM15.5 | Add to My Program |
An Algebraic Approach to the Observer-Based Feedback Stabilization of Linear 2D Discrete Models (I) |
Bachelier, Olivier | Univ. of Poitiers |
Cluzeau, Thomas | Univ. De Limoges |
David, Ronan | Univ. of Poitiers |
Yeganefar, Nima | Univ. of Poitiers |
Keywords: N-dimensional systems, Linear multivariable systems, Observers for linear systems
Abstract: In a recent work, we have investigated the state feedback structural stabilization of linear 2D discrete models. Our main tools are a procedure which enables the state feedback stabilization of Roesser models and equivalence transformations in the sense of the algebraic analysis approach to linear systems theory. Starting from a Fornasini-Marchesini model, we can compute (if it exists) a stabilizing state feedback control law for an equivalent Roesser model and we can then recast it in order to obtain a stabilizing control law that can be applied to the original Fornasini-Marchesini model. Extending the same idea, we here focus on the observer-based dynamic output structural stabilization of linear 2D discrete models within the algebraic analysis framework. Given a Fornasini-Marchesini model, we briefly show how an equivalent Roesser model can be stabilized (if possible) by an observer-based controller computed through existing techniques. Then, we show how to interpret the obtained control law so that it stabilizes the original Fornasini-Marchesini model. Finally, we discuss the cases where our procedure succeeds and we point out some cases where it fails, giving insights to tackle the difficulties encountered in the latter cases.
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15:10-15:30, Paper MoM15.6 | Add to My Program |
Reduction of Discrete Linear Repetitive Processes to Nonsingular Roesser Models Via Elementary Operations (I) |
Boudellioua, Mohamed S. | Sultan Qaboos Univ |
Galkowski, Krzysztof | Univ. of Zielona Gora |
Rogers, Eric | Univ. of Southampton |
Keywords: N-dimensional systems, Polynomial methods, Linear multivariable systems
Abstract: A method based on the elementary operations algorithm (EOA) is developed that reduces a system matrix describing a discrete linear repetitive process to a 2-D nonsingular Roesser form such that all the input-output properties, including the transfer function matrix, are preserved. The transformation linking the original polynomial system matrix with its associated 2-D nonsingular Roesser form is that of input-output equivalence. The nature of the resulting system matrix in non-singular form and the transformation involved are established. Some areas for possible future use/applicaiton of the developed results will also be briefly discussed.
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MoM16 Regular Session, Daurat |
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Adaptive Control |
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Chair: Smith, Roy S. | Swiss Federal Inst. of Tech. (ETH) |
Co-Chair: Pyrkin, Anton | ITMO Univ |
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13:30-13:50, Paper MoM16.1 | Add to My Program |
Robust Adaptive Model Predictive Building Climate Control |
Tanaskovic, Marko | ETH Zurich |
Sturzenegger, David | ETH Zurich |
Smith, Roy S. | Swiss Federal Inst. of Tech. (ETH) |
Morari, Manfred | ETH Zurich |
Keywords: Adaptive control -applications, Autotuning, Robust adaptive control
Abstract: Model Predictive Control (MPC) is a promising algorithm for building climate control. However, the construction of an accurate building model is very challenging since identification experiments on buildings are, due to time and usage constraints, difficult to conduct and the construction data are often only known approximately. This paper proposes the use of a recently developed robust, adaptive MPC as a possible solution for handling this model uncertainty. Starting from an initial set of possible models, the algorithm relies on recursive set membership identification to shrink this set in each step of the closed-loop operation. The MPC enforces comfort constraints for all the models in the current set and hence achieves robust constraint satisfaction even during the adaptation phase. The proposed algorithm is compared to a standard, non-robust, non-adaptive MPC and to a non-robust, adaptive MPC in simulations using the EnergyPlus building simulation software.
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13:50-14:10, Paper MoM16.2 | Add to My Program |
Dual Rate Adaptive Control for an Industrial Heat Supply Process Using Signal Compensation Approach |
Chai, Tianyou | Northeastern Univ |
Jia, Yao | State Key Lab. of Synthetical Automation for Process Indus |
Wang, Hong | Pcific Northwest National Lab |
Su, Chun-Yi | Concordia Univ |
Keywords: Adaptive control -applications, Adaptive system and control, Iterative modelling and control design
Abstract: The industrial heat supply process (HSP) is a highly nonlinear cascaded process which uses a steam valve opening as its control input, the steam flow-rate as its inner loop output and the supply water temperature as its outer loop output. The model parameters, such as steam density, specific heat of steam, dirtiness resistance and coefficient of heat supply are usually unknown and nonlinear functions. Moreover, these model parameters vary in line with steam pressure, ambient temperature and the residuals caused by the quality variations of the circulation water. In this paper, the unknown variations of dynamics are represented as the combination of known previous sampled unmodeled dynamics and its changing rate. The combination signals aiming at eliminating the effects of the previous sampled unmodeled dynamics and tracking error are constructed and added onto the control signal from feedback controller based on linear deterministic model, and then a lifting technology is adopted to propose a novel compensation signal based dual rate adaptive controller. This controller is applied successfully to an industrial heat supply process, where it has been shown that both the supply water temperature and the rate of the changes of the steam flow-rate can be controlled well inside their targeted ranges when the process is subjected to unknown variations of its dynamics.
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14:10-14:30, Paper MoM16.3 | Add to My Program |
A New Approach for Flux and Rotor Resistance Estimation of Induction Motors |
Bazylev, Dmitry | ITMO Univ |
Doria-Cerezo, Arnau | Tech. Univ. of Catalonia (UPC) |
Pyrkin, Anton | ITMO Univ |
Bobtsov, Alexey | ITMO Univ |
Ortega, Romeo | Supelec |
Keywords: Adaptive control -applications, Nonlinear adaptive control, Nonlinear system identification
Abstract: In this paper we address the problems of flux and rotor resistance estimation of induction motors. We propose a radically new approach that combines the recently introduced techniques of parameter estimation based observers (PEBO) with the dynamic regression extension and mixing (DREM) parameter adaptation. The PEBO framework is used to recast the flux observation task as a parameter estimation problem, for which the DREM technique is utilised. The resulting flux observer is then combined with a standard gradient estimator for the rotor resistance. Simulation results of an adaptive implementation of the classical field oriented controller demonstrate the effectiveness of the proposed flux observer and rotor resistance estimator even in closed-loop operation.
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14:30-14:50, Paper MoM16.4 | Add to My Program |
A UGAS Sensorless Observer for Permanent Magnets Synchronous Machines Including Estimation and Compensation of Dead-Times Effects |
Tilli, Andrea | Univ. of Bologna |
Conficoni, Christian | Alma Mater Studiorum Bologna |
Bosso, Alessandro | Alma Mater Studiorum - Univ. of Bologna |
Keywords: Adaptive system and control, Continuous time system estimation, Adaptive control -applications
Abstract: In this work, a novel sensorless observer is proposed for Permanent Magnet Synchronous Machines, formally dealing with stator voltage actuation non-idealities. Rotor speed, position and stator fluxes, as well as the unknown parameters of the voltage perturbations are reconstructed considering a fixed reference frame for both the machine and the voltage actuator non-linear effects. Stator currents and commands for the voltage actuator are assumed to be the only known signals. The estimation scheme is proven to be Uniformly Globally Asymptotically Stable by means of rigorous results from adaptive systems theory. The effectiveness of this solution is validated by realistic simulation tests, including a detailed model of the power converter. Discretization of the presented solution is addressed accurately. A comparison is provided to show the advantages of the proposed observer against a solution which does not adopt any mechanism to compensate for the mismatch between ideal and actuated stator voltages.
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14:50-15:10, Paper MoM16.5 | Add to My Program |
Nonlinear Modeling and Observer for Supercapacitors in Electric Vehicle Applications |
El Fadil, Hassan | ENSA, Ibn Tofail Univ. Kénitra |
Giri, Fouad | Univ. of Caen Basse-Normandie |
Ahmed Ali, Tarek | ENSIETA |
Belhaj, Fatima Zahra | ENSA, Ibn Tofail Univ. Kenitra |
Rachid, Aziz | LGS Lab. ENSA, Ibn Tofail Univ. Kénitra |
Keywords: Iterative modelling and control design, Iterative learning control
Abstract: In Hybrid Electric Vehicle (HEV) the estimation of the state of charge (SOC) of storage systems is one of crucial issues. Indeed, the SOC depends on the internal voltages which are not accessible for measurement. In this paper a nonlinear observer allowing the estimation of the supercapacitor internal voltages is proposed. Using theoretical analysis and simulation it is proven that the proposed non-linear observer gives an accurate estimation of the SOC.
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15:10-15:30, Paper MoM16.6 | Add to My Program |
Adaptation of Aircraft's Wings Elements in Turbulent Flows by Local Voting Protocol |
Granichin, Oleg | Saint Petersburg State Univ |
Khantuleva, Tatjana | Saint Petersburg State Univ |
Amelina, Natalia | Saint-Petersburg State Univ |
Keywords: Adaptive control of networks, Mechanical and aerospace estimation, Multi-agent systems
Abstract: Miniaturization and increased performance calculators, sensors and actuators are opening up new possibilities of intelligent control complex mechatronic systems in the transient and turbulent conditions. Earlier adaptive control in a changing environment and with time-varying structure of the state space explored slightly due to the limited possibilities of practical implementation. The paper considers the model of an aircraft with a large number of sensors and actuators, distributed over surfaces of wings. In turbulent wind flows, it is shown that the multi-agent Local Vote Protocol with non-decreasing to zero step size allows equalization effects of disturbing forces acting on the different elements of wings.
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MoM17 Regular Session, Servanty |
Add to My Program |
Motion Control - II |
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Chair: Borrelli, Francesco | Univ. of California |
Co-Chair: Kugi, Andreas | Vienna Univ. of Tech |
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13:30-13:50, Paper MoM17.1 | Add to My Program |
Optimal Motion Planning for Non-Holonomic Robotic Systems |
Tchon, Krzysztof | Wroclaw Univ. of Tech |
Goral, Ida | Wroclaw Univ. of Tech |
Keywords: Motion Control Systems, Mobile robots, Guidance navigation and control
Abstract: The kinematic motion planning problem for non-holonomic robotic systems is studied as an optimal control problem. It is shown that the Jacobian motion planning algorithms designed within the Endogenous Configuration Space Approach are instances of the Sequential Linear Quadratic Optimal Control and the Sequential Quadratic Programming. A Lagrangian Jacobian motion planning algorithm is designed in parametric version, equivalent to the procedure of the Sequential Quadratic Programming. Two computational examples illustrate the algorithm's performance.
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13:50-14:10, Paper MoM17.2 | Add to My Program |
Autonomous Drift Cornering with Mixed Open-Loop and Closed-Loop Control |
Zhang, Fang | Tsinghua Univ |
Gonzales, Jon | Univ. of California Berkeley |
Li, Keqiang | Tsinghua Univ |
Borrelli, Francesco | Univ. of California |
Keywords: Motion Control Systems, Autonomous robotic systems, Identification and control methods
Abstract: Expert drivers have the skill to perform high side slip maneuvers, like drifting, during racing events to minimize lap time. Due to the complex dynamics of these maneuvers, transient drift is difficult to model and to control in autonomous vehicles. In this paper, the authors present a mixed open-loop and closed-loop control strategy to perform a transient drift-corning trajectory. The reference trajectory is generated from a ruled-based algorithm. We validate the planning and control techniques in simulation using simulink/Carsim, and experimentally using an open source, low cost 1/10 scale RC car.
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14:10-14:30, Paper MoM17.3 | Add to My Program |
Two-Degree-Of-Freedom Control for Trajectory Tracking and Perturbation Recovery During Execution of Dynamical Movement Primitives |
Karlsson, Martin | Lund Univ |
Bagge Carlson, Fredrik | Lund Univ. Dept. Automatic Control |
Robertsson, Anders | LTH, Lund Univ |
Johansson, Rolf | Lund Univ |
Keywords: Motion Control Systems, Robotics technology, Robots manipulators
Abstract: Modeling of robot motion as dynamical movement primitives (DMPs) has become an important framework within robot learning and control. The ability of DMPs to adapt online with respect to the surroundings, e.g., to moving targets, has been used and developed by several researchers. In this work, a method for handling perturbations during execution of DMPs on robots was developed. Two-degree-of-freedom control was introduced in the DMP context, for reference trajectory tracking and perturbation recovery. Benefits compared to the state of the art were demonstrated. The functionality of the method was verified in simulations and in real-world experiments.
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14:30-14:50, Paper MoM17.4 | Add to My Program |
Switched Control of a SCARA Robot with Shared Actuation Resources |
van der Maas, Annemiek | Eindhoven Univ. of Tech |
Steinbuch, Yuri | Storm Eindhoven |
Boverhof, Adrie | VDL Enabling Tech. Group (ETG) |
Heemels, Maurice | Eindhoven Univ. of Tech |
Keywords: Motion Control Systems, Robotics technology, Hardware-in-the-loop simulation
Abstract: Increasing performance demands on industrial motion systems often lead to more expensive hardware components and thus a high bill of materials. Given this trend, it is of interest to find solutions that still can provide good performance, but can be used to reduce the overall bill of materials. In this paper, such a solution is proposed by sharing actuation resources between several actuators and using advanced motion control algorithms for the resulting switched system to meet the performance requirements. Obviously, by the sharing of resources, less hardware components are needed, thereby significantly lowering the bill of materials. We demonstrate this solution on an industrial SCARA robot, where it is proposed to use a single amplifier to serve several actuators, rather than a separate amplifier for each actuator. Based on a switched nonlinear model of the robot, switched PID-type controllers are explored that connect to the industrial control practice. The potential of the proposed approach is shown both in simulations and real experiments on an industrial SCARA robot.
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14:50-15:10, Paper MoM17.5 | Add to My Program |
Efficient Generation of Fast Trajectories for Gantry Cranes with Constraints |
Böck, Martin | TU Wien |
Stöger, Andreas | TU Wien |
Kugi, Andreas | Vienna Univ. of Tech |
Keywords: Motion Control Systems, Robotics technology, Intelligent controllers
Abstract: Time is a crucial factor in the transport business. Besides the duration of the transport itself, also the loading and unloading of the goods is expected to be done as fast as possible to save valuable time and money. Amongst others, this holds true for container ships where the containers are usually loaded and unloaded by means of ship-to-shore gantry cranes. This scenario exemplarily motivates the investigations in this paper. Different methods are proposed for generating a trajectory for the load based on a geometric path connecting the loading and unloading position. As the path is usually just known right before the task has to begin, special emphasis lies on a fast calculation of the trajectory. The overall goal is to traverse the geometric path as fast as possible under the consideration of constraints for the gantry crane system. The optimal solution is calculated and serves as a reference for comparison reasons as the required computing time is usually rather large. Therefore, tailored methods for a fast calculation of the trajectory are developed. All the different approaches are evaluated and compared by means of representative test paths.
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15:10-15:30, Paper MoM17.6 | Add to My Program |
Bezier Curve Based Trajectory Generation and Nonlinear Friction Compensation for Feed Drive Contouring Control |
Simba, Kenneth Renny | Toyohashi Univ. of Tech |
Heppeler, Gunter | Univ. of Stuttgart |
Bui, Ba Dinh | Toyohashi Univ. of Tech |
Hendrawan, Yogi Muldani | Toyohashi Univ. of Tech |
Sawodny, Oliver | Univ. of Stuttgart |
Uchiyama, Naoki | TUT |
Keywords: Motion Control Systems, Identification and control methods, Robotics technology
Abstract: Generation of motion trajectories is a crucial task in feed drive control for efficient manufacturing and energy saving. They have to be smooth enough to be traversable without violating systems constraints. Literary, a number of methods such as spline parametric trajectories have been suggested for smooth trajectory generation. However, there are still many challenges left, for example, in order to smoothly track a spline parameterized trajectory, reference velocity as well as position have to be optimally planned, such that low-velocity should be used at the start and the end of the motion, as well as in all areas with high curvature. Additionally, mechanical systems experience friction forces which vary nonlinearly with velocities. Therefore, on implementing a smooth velocity profile, an appropriate friction compensator has to be considered to cancel out the effect of friction forces. In this study, we propose a method for generating smooth motion trajectories using quintic Bezier curves and smooth velocity profiles based on the altered bang-bang approach. A contouring controller with a feed forward friction compensator is applied in order to smoothly track the designed trajectory by canceling out the effect of friction forces. The performance of the proposed method was experimentally evaluated by comparing it with the conventional approach. Results have shown that the tracking performance can be greatly increased by reducing the average contour error by about 48% without violating systems constraints.
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MoM18 Regular Session, De Marnier |
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Intelligent Control Applications |
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Chair: Tan, Ying | The Univ. of Melbourne |
Co-Chair: Zeising, Patrick | Neusta Portal Services GmbH |
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13:30-13:50, Paper MoM18.1 | Add to My Program |
Design of Nonlinear Predictive Control for Pneumatic Muscle Actuator Based on Echo State Gaussian Process |
Cao, Yu | Huazhong Univ. of Science and Tech |
Huang, Jian | Huazhong Univ. of Science and Tech |
Guangzheng, Ding | Huazhong Univ. of Science and Tech |
Wang, Yongji | Huazhong Huazhong Univ. of Science and Tech |
Keywords: Intelligent controllers, Human Mechatronics, Robotics technology
Abstract: Recently, the application of Pneumatic Muscle Actuators (PMAs) for driving rehabilitation robots has become a matter of great concern. A traditional control algorithm, such as PID, cannot achieve satisfactory high-precision performance in trajectory tracking problem for PMAs, due to PMAs' features of nonlinear effects, slow response time, time-varying parameters. In this study we proposed a nonlinear predictive control strategy SNN-ESGP, which is comprised of a novel model called echo state Gaussian process (ESGP) that is suitable for modeling nonlinear unknown systems as well as measuring their uncertainties, and a single neural network (SNN) serves as the controller of the system. To analyze the system convergence, we utilize the gradient descent algorithm and deduce the iterative rules of the weights of SNN. The stability of closed-loop PMA control system is proved based on Lyapunov theorem. Finally, experimental studies are given to illustrate the overall efficiency of the control scheme with high-precision trajectory performance.
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13:50-14:10, Paper MoM18.2 | Add to My Program |
Stiffness and Damping Real-Time Control Algorithms for Adjustable Suspensions : A Strategy to Reduce Dynamical Effects on Vehicles in Off-Road Conditions |
Deremetz, Mathieu | IRSTEA |
Lenain, Roland | Cemagref |
Thuilot, Benoit | Univ. De Clermont-Ferrand |
Keywords: Intelligent controllers, Mobile robots, field robotics
Abstract: In this paper, the problem of dynamical effects of ground irregularity or stability of vehicles in off-road conditions is addressed thanks to a dynamic analysis of the vehicle. In particular, the choice of suitable real-time values for the stiffness and the damping of adjustable suspensions, in order to reduce dynamical effects, is investigated thanks to the analysis of a Laplace transfer function describing the mechanical behaviour of the vehicle. Moreover, a decoupled load transfer computation to identify the suspended masses on each suspension is used and a way to modify in real time suspension parameters by modifying the settling time value in order to drive over obstacles is proposed. This new point of view may permit to use effectively adjustable suspensions in off-road context. Previous approaches indeed only focus on the control of adjustable suspensions on road or by using an actuator in parallel of the suspension and are often dedicated to the driver comfort.
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14:10-14:30, Paper MoM18.3 | Add to My Program |
Visual Inertial SLAM: Application to Unmanned Aerial Vehicles |
Fink, Geoff | Univ. of Alberta |
Franke, Mirko | Tech. Univ. Dresden |
Lynch, Alan Francis | Univ. of Alberta |
Roebenack, Klaus | Tech. Univ. Dresden |
Godbolt, Bryan | Univ. of Alberta |
Keywords: Data-fusion, Multi sensor systems, Flying robots
Abstract: Unmanned Aerial Vehicles (UAVs) require an accurate estimate of their state. Computer vision provides a number of benefits over conventionally used sensors, such as the Global Positioning System (GPS) or a Motion Capture System (MCS), in order to achieve state estimation and localization relative to a scene. Our work uses the output of an existing Visual Simultaneous Localization and Mapping (VSLAM) system which provides a scaled position measurement. We propose an observer design to estimate vehicle position and linear velocity. The observer fuses an accelerometer measurement from an Inertial Measurement Unit (IMU) and VSLAM system output. The observer depends on an attitude estimate from an Attitude and Heading Reference System (AHRS). A change of coordinates is used to transform the system into a Linear Time-Varying (LTV) form. Using these coordinates we consider the observability of the Visual Inertial Simultaneous Localization and Mapping (VISLAM) problem. Two observer designs are proposed and their performance is validated in simulation and experiment.
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14:30-14:50, Paper MoM18.4 | Add to My Program |
Design of Passivity Based Cyber Physical System with Markovian Losses and Delay |
Singh, Padmini | IIT Kanpur |
Behera, Laxmidhar | Indian Inst. of Tech. Kanpur |
Verma, Nishchal K. | IIT Kanpur |
Keywords: Cyber-Physical Systems, Mobile robots, Telerobotics
Abstract: Control of Cyber Physical systems (CPS) in presence of Network uncertainty and complexity such as fixed delay or time varying delay, random packet loss, bandwidth limitation of network, traffic congestion are major challenges. In this paper we have proposed a passive architecture of CPS, in which a passive dynamical plant is controlled by a passive physical PD controller via a passive wireless network in presence of markovian loss and delay, due to passive behaviour of the plant and controller certain range of random losses are not effecting the performance of the robot. Furthermore we have used wave variable transformation to compensate the larger time delay, and wave variable encoder (WVE) decoder (WVD) to compensate second order markovian loss occuring in the communication network. Preserving the passivity of the transmitted signal between plant and controller delay and losses will not effect the signal strength and its behaviour is smooth. We have validate our theory using simulation results.
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14:50-15:10, Paper MoM18.5 | Add to My Program |
Spatial Iterative Learning Control: Output Tracking (I) |
Ljesnjanin, Merid | The Univ. of Melbourne |
Tan, Ying | The Univ. of Melbourne |
Oetomo, Denny Nurjanto | The Univ. of Melbourne |
Freeman, Christopher Thomas | Univ. of Southampton |
Keywords: Intelligent controllers, Intelligent robotics, Identification and control methods
Abstract: This paper focuses on tracking spatially repeatable tasks. In addition, these tasks are not necessarily temporally repeatable in the sense that the finite length of the corresponding time interval may change with each repetition. Because of that, the standard Iterative Learning Control (ILC) framework is not directly applicable. Namely, the standing assumption that the finite length of the time interval is fixed with each repetition, is violated. Motivated by human motor learning, this paper proposes a Spatial ILC (SILC) framework which leverages the spatial repeatability. In particular, the concept of spatial projection, closely related to temporal rescaling, is proposed. This allows to spatially relate the relevant information from the past repetition to the present repetition. To demonstrate the proposed framework, a class of nonlinear time-varying systems with relative degree zero is selected. In particular, using contraction mapping technique, it is shown that under appropriate assumptions, the corresponding tracking error converges under the proposed SILC control law. Finally, simulation results support the obtained result.
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15:10-15:30, Paper MoM18.6 | Add to My Program |
Certifiable Software Architecture for Human Robot Collaboration in Industrial Production Environments |
Brending, Stefan | Univ. of Bremen |
Lawo, Michael | Univ. Bremen |
Pannek, Juergen | Univ. of Bremen |
Sprodowski, Tobias | Univ. of Bremen |
Zeising, Patrick | Neusta Portal Services GmbH |
Zimmermann, Daniela | Neusta Mobile Solutions |
Keywords: Cyber-Physical Systems, Security and safety of HMS, Multi sensor systems
Abstract: Existing concepts for Human-Machine-Collaboration in industrial production require either the temporal or spacial separation of work places or are only applicable for small loads. By introducing a concept for the combination of work places of humans and machines we show how the temporal and spatial overlapping form of collaboration can be realized. The concept was implemented in a prototype setting by means of an intelligent software environment dynamically evaluating all available sensor data of commonly employed safety components. The required precision for certifying the safety of the core software system is shown empirically.
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MoM19 Regular Session, Gavarnie |
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Power Plant Control 1 |
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Chair: van Schoor, George | North-West Univ |
Co-Chair: Killian, Michaela | Vienna Univ. of Tech |
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13:30-13:50, Paper MoM19.1 | Add to My Program |
Enthalpy Control for the Feed Water Supply in a Once-Through Boiler with Disturbance Estimation |
Backi, Christoph Josef | Norwegian Univ. of Science and Tech |
Keywords: Modeling and simulation of power systems, Control system design, Optimal operation and control of power systems
Abstract: In this article, a nonlinear modeling approach to describe the enthalpy dynamics between the inlet of the economizer and the outlet of the evaporator inside a Once-Through Boiler is presented. Furthermore, a combined control and estimation approach based on an LQG controller consisting of an LQ regulator and an Extended Kalman Filter (EKF) is introduced. The EKF is thereby extended by a state in order to estimate the supplied heat, which constitutes a disturbance to the process. This can be due to fouling or varying heat values of the fuel during operation.
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13:50-14:10, Paper MoM19.2 | Add to My Program |
Integrated Control and Process Design in CFB Boiler Design and Control – Application Possibilities |
Hultgren, Matias | Univ. of Oulu |
Ikonen, Enso | Univ. of Oulu |
Kovacs, Jeno | Amec Foster Wheeler Energia Oy |
Keywords: Control system design, Interaction between design and control, Control of large-scale systems
Abstract: Integrated control and process design (ICPD) practices focus on an interaction between process and control design. The paper investigates ICPD design in circulating fluidized bed (CFB) power plants, which face increasing load change, efficiency and emission requirements. The state of ICPD research is examined and a classification of its methodologies is provided. The applicability of ICPD to large-scale CFB boilers is discussed for the first time based on this classification. Two ICPD case studies with a simple steam path mass storage model are presented for an industrial CFB boiler, with the aim of illustrating possibilities and challenges related to boiler ICPD. The steam mass storage amounts of the boiler superheating and evaporation sections are modified based on the dynamic relative gain array and closed-loop process optimization to generate processes with improved constant pressure mode output power setpoint tracking performance.
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14:10-14:30, Paper MoM19.3 | Add to My Program |
Utilization of Drum Boilers’ Storage Capacity for Flexible Operation (I) |
Majanne, Yrjö | Tampere Univ. of Tech |
Yli-Fossi, Timo | Tampere Univ. of Tech |
Korpela, Timo | Tampere Univ. of Tech |
Nurmoranta, Maria | Valmet Ltd |
Kortela, Jukka | Aalto Univ. School of Chemical Tech |
Keywords: Dynamic interaction of power plants, Optimal operation and control of power systems, Modeling and simulation of power systems
Abstract: Due to increasing amount of intermittent and uncontrollable renewable energy production in power systems, requirements for improved dynamic performance of controllable steam boilers will increase remarkably. Load tracking capacity of steam boilers consists of utilization of fast responding energy storages in boiler structures and change rate of available combustion power. This paper presents results of a dynamic analysis of the transient operation of a steam boiler exposed to fast load change. The results are evaluated against the requirements set by the maximum allowed thermal stresses in boiler structures and stability of steam parameters set by steam turbine operation. This project is a part of the FLEXe (Flexible Future Energy Systems) research program coordinated by CLIC Innovation Ltd and funded by the Finnish Funding Agency for Innovation TEKES.
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14:30-14:50, Paper MoM19.4 | Add to My Program |
Optimal Partitioning of a Boiler-Turbine Unit for Fuzzy Model Predictive Control |
Killian, Michaela | Vienna Univ. of Tech |
Kozek, Martin | Vienna Univ. of Tech |
Keywords: Modeling and simulation of power systems, Model predictive and optimization-based control, Nonlinear process control
Abstract: In order to effectively control the multi-input multi-output (MIMO) characteristics of a boiler-turbine unit Fuzzy model predictive control (FMPC) has been previously applied successfully. An important step in the FMPC design is the partitioning (also called the design of the antecedent rules). In this work it is shown that by exploiting the plant characteristics and by using suitable metrics of the nonlinearity a representative one-dimensional partition space can be defined. Furthermore, it is demonstrated that a simple partition into two linear models suffices to obtain a stable and performing control system. In order to achieve this simple FMPC a nonlinear stationary feed-forward decoupling is implemented. Simulation results demonstrate stability and performance of the resulting control system even for large reference steps. The methodology developed in this work is quite general and can be easily applied to the FMPC design for other nonlinear MIMO plants.
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14:50-15:10, Paper MoM19.5 | Add to My Program |
Energy and Exergy Analyses of a Subcritical Pulverised Coal-Fired Boiler Based on the Effects of Slagging and Fouling |
Martinson, Christiaan Adolph | North-West Univ |
van Schoor, George | North-West Univ |
Uren, Kenneth Richard | North-West Univ |
Keywords: Modeling and simulation of power systems, Dynamic interaction of power plants
Abstract: Globally coal-fired power plants are still predominantly utilised for production of electrical energy. The efficiency of a coal-fired power plant is greatly influenced by the performance of the boiler. In turn, the boiler performance is affected by the coal type, combustion characteristics, and the heat transfer from the flue gas side to water-steam side. In the boiler the heat transfer is impeded by the accumulation of ash deposits, known as slagging and fouling, on the heat transfer surfaces. In this paper the effects of slagging and fouling on the boiler performance are investigated by means of energy and exergy analyses. A boiler simulation model, representative of the combustion and heat transfer characteristics, is used to perform the analyses. From the results it is seen that slagging has the most significant effect, while fouling has a less significant influence, on the boiler energy and exergy efficiency.
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15:10-15:30, Paper MoM19.6 | Add to My Program |
Control Structure Design for Oxy-Fired Circulating Fluidized Bed Boilers Using Self-Optimizing Control and Partial Relative Gain Analyses |
Niva, Laura | Univ. of Oulu |
Hultgren, Matias | Univ. of Oulu |
Ikonen, Enso | Univ. of Oulu |
Kovacs, Jeno | Amec Foster Wheeler Energia Oy |
Keywords: Control system design, Process control applications
Abstract: Oxy combustion has been introduced in power plants for facilitated CO2 capture and storage (CCS). Existing process controls for air-fired circulating fluidized bed (CFB) boilers are not necessarily optimal for oxy-firing. New degrees of freedom and alternative structures for control should be carefully analyzed for performance and flexibility. In this paper, the application of self-optimizing control (SOC) and partial relative gain (PRG) methods is presented for the early phases of control structure design. Controlled variable (CV) candidate sets are studied using the SOC concept. For the proposed CV sets, PRG analysis is used to reveal possible SISO loops with manipulated variables (MVs). Structures with promising results from both analyses were discovered.
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MoM20 Open Invited Session, Toulouse |
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Control of Physiological Systems in Medicine: Models, Identification and
Clinical Application 2 |
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Chair: Pretty, Christopher | Univ. of Canterbury |
Co-Chair: Leonhardt, Steffen | RWTH Aachen |
Organizer: Desaive, Thomas | Univ. of Liege |
Organizer: Leonhardt, Steffen | RWTH Aachen |
Organizer: Evans, Neil D. | Univ. of Warwick |
Organizer: Pretty, Christopher | Univ. of Canterbury |
Organizer: Chappell, Michael | Univ. of Warwick |
Organizer: Docherty, Paul D | Univ. of Canterbury |
Organizer: Mendonça, Teresa | Faculdade De Ciências Da Univ. Do Porto |
Organizer: Chase, J. Geoffrey | Univ. of Canterbury |
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13:30-13:50, Paper MoM20.1 | Add to My Program |
Nominal Stiffness Identification for Tumor Detection of Women Breast in a Digital Image Elasto Tomography (DIET) System (I) |
Zhou, Cong | Univ. of Canterbury |
Chase, J. Geoffrey | Univ. of Canterbury |
Ismail, Hina Muhammad | Canterbury Univ |
Pretty, Christopher | Univ. of Canterbury |
Rodgers, Geoffrey W. | Univ. of Canterbury |
Signal, Matthew | Univ. of Canterbury |
Haggers, Marcus | Tiro Medical |
Keywords: Identification and validation, Quantification of physiological parameters for diagnosis and treatment assessment, Biomedical and medical image processing and systems
Abstract: This research develops a hysteresis loop analysis (HLA) based method for breast cancer diagnosis in a Digital Imaging Elasto-tomography (DIET) system. Dynamic displacements induced by mechanical actuation for 4 silicone breast phantoms (1 homogeneous healthy, 3 with 10-20mm stiffer inclusion “tumors”) are captured using the DIET system. Hysteresis loops for each measured reference point across the breast surface are reconstructed using the measured displacement and a calculated mass normalized restoring force. The distribution of the nominal elastic stiffness over the breast surface is estimated using an F-type hypothesis test and regression analysis. A higher stiffness is identified in the region of the inclusions, which is at least 2x greater than the nominal stiffness in other areas of the phantom. Thus, the method accurately detects and locates the inclusion in typical, representative silicone breast phantoms without misidentifying other regions or a healthy no-inclusion phantom. The overall results show the capability of the proposed method, based on the identification of the local nominal stiffness over the phantom surface as an efficient index, to accurately detect inclusion presence and location in a rapid, objective fashion using the non-invasive DIET approach.
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13:50-14:10, Paper MoM20.2 | Add to My Program |
Sensitivity Analysis for Stiffness Identification Using a DIET Breast Cancer Screening System (I) |
Zhou, Cong | Univ. of Canterbury |
Chase, J. Geoffrey | Univ. of Canterbury |
Ismail, Hina Muhammad | Canterbury Univ |
Pretty, Christopher | Univ. of Canterbury |
Rodgers, Geoffrey W. | Univ. of Canterbury |
Signal, Matthew | Univ. of Canterbury |
Haggers, Marcus | Tiro Medical |
Keywords: Identification and validation, Quantification of physiological parameters for diagnosis and treatment assessment, Biomedical and medical image processing and systems
Abstract: Cancerous tumors exhibit significantly higher stiffness than healthy breast tissues. a hysteresis loop analysis method is used to identify the nominal elastic stiffness in different horizontal directions for breast cancer diagnosis in a Digital Imaging Elasto-tomography (DIET) screening system. The sensitivity of the method to measurement errors from the DIET system is first evaluated using a homogeneous healthy phantom with different camera angles. The identification method is then validated against 4 phantoms with stiffer inclusions of 10-20mm diameter over a range of actuation frequencies. Results show displacement reconstruction errors from very small motion can be eliminated by using a threshold ∆d to significantly reduce errors in identified nominal elastane. The stiffer inclusion induced a greater number of reference points with higher stiffness in the inclus | |