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Last updated on July 28, 2017. This conference program is tentative and subject to change
Technical Program for Tuesday July 11, 2017
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Tu11 Plenary Session, Palais des sports |
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Snake Robots |
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Chair: Allgower, Frank | Univ. of Stuttgart |
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08:30-09:30, Paper Tu11.1 | Add to My Program |
Snake Robots |
Pettersen, Kristin Y. | Norwegian Univ. of Science and Tech |
Keywords: Guidance navigation and control, Robotics technology, Modeling
Abstract: The inspiration for snake robots comes from biological snakes. Snakes can move over virtually any type of terrain, including narrow and confined locations. They are good climbers, very efficient swimmers, and some snakes can even fly by jumping off branches and using their body to glide through the air. In this plenary talk we will review recent results on modelling, analysis and control of snake robots. The talk will also describe a new research direction within snake robotics, where underwater snake robots are equipped with thrusters along their body to improve maneuverability and provide hovering capabilities, and how this robot addresses current needs for subsea resident robots in the oil and gas industry, fish farming and other subsea applications.
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TuA01 Interactive Session, Caravelle 1.2 |
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Linear System |
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Chair: Conte, Giuseppe | Univ. Pol. Delle Marche |
Co-Chair: Niculescu, Silviu-Iulian | Lab. of Signals and Systems (L2S) |
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10:00-12:00, Paper TuA01.1 | Add to My Program |
Relaxed Conditions for Uniform Complete Observability and Controllability of LTV Systems with Bounded Realizations |
Batista, Pedro | Inst. Superior Técnico, Univ. Técnica De Lisboa |
Petit, Nicolas | MINES ParisTech |
Silvestre, Carlos | Univ. of Macau |
Oliveira, Paulo Jorge | Inst. Superior Técnico |
Keywords: Time-varying systems, Linear systems, Observers for linear systems
Abstract: Uniform complete observability and controllability are key concepts for the design of state observers and controllers for linear time-varying systems. While the definitions of these properties are simple, it is more often that not very difficult to show they hold for a particular system. This paper presents alternative simpler sufficient conditions. Examples are shown that illustrate the improvement over previous results, the fact that the new conditions are not necessary, and a practical application.
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10:00-12:00, Paper TuA01.2 | Add to My Program |
Nyquist Interpretation of the Large Gain Theorem |
Caverly, Ryan James | Univ. of Michigan |
Forbes, James | McGill Univ |
Keywords: Time-invariant systems, Linear systems, Robust controller synthesis
Abstract: This paper presents a proof of the Large Gain Theorem using the Nyquist Stability Criterion. The minimum gain constraint stipulated by the Large Gain Theorem guarantees the open-loop transfer function encircles the point (-1,0) exactly P times in the counterclockwise direction, where P is the number of open-loop open right-half plane poles. This guarantees asymptotic stability of the feedback system, even in the presence of an unstable open-loop transfer function. The Nyquist interpretation of the Large Gain Theorem is compared to Nyquist interpretations of the Large Gain and Passivity Theorems. Applications of the Large Gain Theorem are discussed and numerical examples illustrating the concept of minimum gain and the Large Gain Theorem are presented.
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10:00-12:00, Paper TuA01.3 | Add to My Program |
Frequency-Domain Methods for Sparse Linear Systems Discretisation |
Souza, Matheus | Feec / Unicamp |
Fioravanti, André R. | Unicamp |
Shorten, Robert | Nat. Univ. of Ireland |
Keywords: Time-invariant systems, Linear systems, Structural properties
Abstract: In this paper, the discretisation problem for sparse linear systems is revisited from a model approximation perspective. Instead of approximating the realisation matrices, our goal is to indeed focus on approximating the transfer function of the associated discretised system. Academic examples are included to validate the proposed theory.
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10:00-12:00, Paper TuA01.4 | Add to My Program |
Block Inverted Decoupling Control with Internal Model Structure for Non-Square Multivariable Time Delay Systems |
Zhou, Zehua | Shanghai Jiaotong Univ |
Lin, Shuyi | Shanghai Jiao Tong Univ |
Zhang, Guoqing | Dalian Maritime Univ |
Zhang, Weidong | Shanghai Jiaotong Univ |
Keywords: Linear multivariable systems, Decoupling problems, Systems with time-delays
Abstract: To extend inverted decoupling control method to the non-square multivariable time delay system, this paper presents a block inverted decoupling control approach with internal model structure. In this method, the non-square system is divided into two subsystems, and the decoupling structure is composed of two blocks. Each block in the designed structure is applied to each subsystem. With the proposed method, complex matrix computations are avoided, and the designed controller has low order. The stability of closed-loop system with the proposed method is analyzed in the paper. Numerical simulations are performed to illustrate the effectiveness of this methodology.
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10:00-12:00, Paper TuA01.5 | Add to My Program |
Characterization of Quasi L_infty/L_2 Hankel Norms of Sampled-Data Systems |
Inai, Akira | Kyoto Univ |
Hagiwara, Tomomichi | Kyoto Univ |
Kim, Jung Hoon | Korea Inst. of Science and Tech |
Keywords: Linear multivariable systems, Time-varying systems, Disturbance rejection (linear case)
Abstract: This paper is concerned with the Hankel operator of sampled-datasystems. The Hankel operator is usually defined as a mapping from the past input to the future output and its norm plays an important role in evaluating the performance of systems. Since the continuous-time mapping between the input and output is periodically time-varying (h-periodic, where h denotes the sampling period) in sampled-data systems, it matters when to take the time instant separating the past and the future when we define the Hankel operator for sampled-data systems. This paper takes an arbitrary Thetain[0,h) as such an instant, and considers the quasi L_infty/L_2 Hankel operator defined as the mapping from the past input in L_2(-infty,Theta) to the future output in L_infty[Theta,infty). The norm of this operator, which we call the quasi L_infty/L_2 Hankel norm at Theta, is then characterized in such a way that its numerical computation becomes possible. Then, regarding the computation of the L_infty/L_2 Hankel norm defined as the supremum of the quasi L_infty/L_2 Hankel norms over Thetain[0,h), some relationship is discussed between the arguments through such characterization and an alternative method developed in an earlier paper that is free from the computations of quasi L_infty/L_2 Hankel norms. A numerical example is studied to confirm the validity of the arguments in this paper.
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10:00-12:00, Paper TuA01.6 | Add to My Program |
Symplectic Discretization of Port Controlled Hamiltonian Systems |
Lefevre, Laurent | Univ. Grenoble Alpes |
Medianu Silviu, Octavian | Univ. “Pol. of Bucharest Faculty of AutomaticContro |
Keywords: Linear systems, Lagrangian and Hamiltonian systems
Abstract: In this paper, a time-discretization framework is proposed for Port Controlled Hamiltonian (PCH) systems using combined discretization rules for the flows and efforts, which preserves the continuous-time structure. As examples for this formulation, three symplectic time-discretization schemes are presented, using classic discretization rules (implicit/explicit Euler, implicit mid-point and implicit trapezoidal), for the flows and efforts. As continuous-time model for exemplification using this framework, a linear capacitor microphone circuit is selected.
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10:00-12:00, Paper TuA01.7 | Add to My Program |
Weak Interactions Based System Partitioning Using Integer Linear Programming |
Guicherd, Romain | Univ. of Sheffield |
Trodden, Paul | Univ. of Sheffield |
Mills, Andy | Univ. of Sheffield |
Kadirkamanathan, Visakan | The Univ. of Sheffield |
Keywords: Decoupling problems, Linear multivariable systems, Decentralized control
Abstract: The partitioning of a system model will condition the structure of the controller as well as its design. In order to partition a system model, one has to know what states and inputs to group together to define subsystem models. For a given partitioning, the total magnitude of the interactions between subsystem models is evaluated. Therefore, the partitioning problem seeking for weak interactions can be posed as a minimization problem. Initially, the problem is formulated as a non-linear integer minimization that is then relaxed into a linear integer programming problem. It is shown within this paper that cuts can be applied to the initial search space in order to find the least interacting partitioning; only composed of controllable subsystems. Two examples are given to demonstrate the methodology.
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10:00-12:00, Paper TuA01.8 | Add to My Program |
Influence of Wheel-Rail Contact Stiffness on the H_2 Controlled Active Suspension Design |
Turkay, Semiha | Anadolu Univ |
Leblebici, Asli | Osmangazi Univ |
Keywords: Complex systems, Linear multivariable systems
Abstract: In this work, the mathemtical model of a railway passenger car with conventional and radial-elastic wheels is analyzed. Stochastic excitations are applied to the wheelsets. The local elasticity between the wheel and the rail is modelled by a linearized stiffness behaviour due to geometrical effects to simplify the controller design procedure for H_2 analysis. An optimization of the vertical dynamics is performed by reducing the H2 norms of the dynamic wheel forces while keeping the RMS gain of carbody accelerations at a constant level. It is seen that the controller performs well on the low frequency range where the ride comfort is more pronounced and partially on the high frequency range to suppress the environmental ground vibrations and structure-borne noise.
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10:00-12:00, Paper TuA01.9 | Add to My Program |
Randomized Algorithm Based Fault Detection System Design for Uncertain LTI Systems |
Krueger, Minjia | Univ. of Duisburg Essen |
Könings, Tim | Univ. of Duisburg-Essen |
Liu, Yannian | Univ. Duisburg Essen |
Ding, Steven X. | Univ. of Duisburg-Essen |
Saijai, Jedsada | Burapha Univ |
Li, Linlin | Univ. of Science and Tech. Beijing |
Keywords: Diagnosis, Probabilistic robustness, Randomized algorithms
Abstract: This paper studies the design of fault detection (FD) system for uncertain linear time-invariant (LTI) systems based on randomized algorithms. With the help of probabilistic robustness techniques, an iterative design approach is proposed to determine the post-filter of observer-based residual generators with direct incorporation of the probability distribution of the model parameter uncertainties into the design procedure. The effectiveness of the proposed approach is demonstrated with an illustrative example.
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10:00-12:00, Paper TuA01.10 | Add to My Program |
Optimal Output Regulation for Underactuated Systems with Quasiperiodic References |
Corona, Dario | Univ. of Camerino |
Cristofaro, Andrea | Univ. of Camerino |
Corradini, Maria Letizia | Univ. Di Camerino |
Keywords: Regulation (linear case), Tracking, Optimal control theory
Abstract: In this paper the problem of optimizing the output regulation of a weakly dual redundant plant is addressed. When the system is underactuated, only a subset of the outputs can be arbitrarily controlled, and the remaining ones are constrained. With a specific focus on quasiperiodic references, i.e. signals that can be written as trigonometric series, we investigate the problem of finding the input that minimizes the asymptotic output tracking error, and how such solution is related to the inputs associated to the singularly optimal regulation of each output.
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10:00-12:00, Paper TuA01.11 | Add to My Program |
Gain Margin Based Conditions for Easy Simultaneous Achievement of Open and Closed Loop Diagonal Dominance under Unstructured Uncertainties |
Orsini, Valentina | Univ. Pol. Delle Marche |
Jetto, L. | Univ. Di Ancona |
Romagnoli, Raffaele | Univ. Libre De Bruxelles |
Keywords: Linear multivariable systems, Decoupling problems
Abstract: This paper proposes a simple and low numerical complexity technique for the simultaneous achievement of open and closed loop diagonal dominance. The method is based on the introduction of a static high gain inner feedback which modifies the plant to attain a diagonal dominant open loop compensated plant over an entire bandwidth of frequencies. The technique can be also applied to uncertain plants. The sufficient conditions derived for the open loop diagonal dominance also assure the simultaneous achievement of closed loop diagonal dominance under weak assumptions on the diagonal elements of the decoupled controller robustly stabilizing the plant. These assumptions agree with the usual closed-loop performance specifications, so that closed-loop diagonal dominance is achieved without any extra complication on the controller design procedure. The main merits of the present method are: applicability to uncertain plants, ease of implementation and low computational cost. Two examples taken from the relevant literature, are given to show the effectiveness of the proposed approach.
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10:00-12:00, Paper TuA01.12 | Add to My Program |
A Renewed Look at Zeros of Sampled-Data Systems—From the Lifting Viewpoint |
Yamamoto, Kaoru | Lund Univ |
Yamamoto, Yutaka | Kyoto Univ |
Niculescu, Silviu-Iulian | Lab. of Signals and Systems (L2S) |
Keywords: Linear systems, Time-invariant systems, Disturbance rejection (linear case)
Abstract: This paper studies the properties of the zeros of sampled-data systems. Since the basic study by Åström et al. that showed there can exist unstable zeros that have no relevance to the original continuous-time plant, there have been various studies that circumvent this effect by introducing various techniques. The present paper studies zeros of sampled-data systems from the standpoint of lifting. We will show the following: a) such unstable zeros are an artifact induced by the combination of the zero-order hold and the synchronous sampling; b) such zeros disappear when considered in the lifted plant; c) further, such an effect can be bypassed by a multirate technique. We will also review relationships with the existing techniques such as two-delay control. Analysis of some examples is given.
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10:00-12:00, Paper TuA01.13 | Add to My Program |
Observer-Based Predictive Repetitive Control with Experimental Validation |
Wang, Liuping | RMIT Univ |
Freeman, Christopher Thomas | Univ. of Southampton |
Rogers, Eric | Univ. of Southampton |
Keywords: Linear multivariable systems, Disturbance rejection (linear case), Observers for linear systems
Abstract: This paper develops a new design method for predictive repetitive control systems to track periodic reference signals or reject disturbances with bandlimited frequency content. In the presence of input disturbances acting on the system, the new design estimates these disturbances using an observer. This approach is complementary to the predictive repetitive control system designs previously reported where the periodic disturbance model was embedded in the controller. Supporting experimental results from application of the new design to a two joint robotic arm are given.
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TuA02 Interactive Session, Caravelle 1.3 |
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Advances in Vehicle Dynamics Control |
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Chair: Eriksson, Lars | Linköping Univ |
Co-Chair: Chamaillard, Yann | PRISME |
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10:00-12:00, Paper TuA02.1 | Add to My Program |
Autonomous Landing of UAVs under Unknown Disturbances Using NDI Autopilot and L1 Adaptive Augmentation |
Tripathi, Amit Kumar | Aeronautical Development Agency |
Patel, Vijay V | Aeronautical Development Agency, Bangalore |
Padhi, Radhakant | Indian Inst. of Science |
Keywords: Adaptive and robust control of automotive systems, Vehicle dynamic systems, Automotive system identification and modelling
Abstract: This paper presents autonomous landing of Unmanned Aerial Vehicles (UAVs) under unknown external disturbances and internal plant parameter uncertainties. The external disturbances such as wind shear, wind gust and ground effects are considered. The plant parameters uncertainties are also considered due to aerodynamic force and moment coefficients random perturbation. L1 adaptive controller with piece-wise-constant adaptation law is augmented over Nonlinear Dynamic Inversion (NDI) autopilot and implemented on Six Degree of Freedom (Six-DOF) model of a UAV. The NDI autopilot with two time scale separation is designed for the nominal plant. It tracks a reference trajectory computed from a path planning and guidance algorithm under undisturbed plant model with normal environment conditions. The L1 adaptive controller takes into account the disturbances and computes the adaptive control command which enables the plant trajectory tracking closer to the desired reference trajectory. The state predictor is designed to track the plant states smoothly by incorporating proportional and integral error terms in the state predictor model. The piece-wise-constant adaptive law is designed to estimate the unknown disturbances. The unknown disturbance estimates are used to design the adaptive control law to nullify the effect of the disturbance on the plant performance. The algorithm is simulated to show the auto landing performance on a Six-DOF UAV model.
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10:00-12:00, Paper TuA02.2 | Add to My Program |
Nonlinear Robust Control of Atkinson Cycle Engine (I) |
Murtaza, Ghulam | CUST Islamabad |
Bhatti, Aamer Iqbal | Muhammad Ali Jinnah Univ. Islamabad |
Ahmed, Qadeer | The Ohio State Univ |
Arshad, Ali | CIIT Islamabad |
Keywords: Engine modelling and control, Nonlinear and optimal automotive control, Simulation
Abstract: In this research, a second order sliding mode (SOSM) strategy to control the Atkinson cycle engine breathing subsystem with an alternative late intake valve closing (LIVC) scheme is presented. The control framework based on extended mean value engine model (EMVEM) of the Atkinson cycle engine in view of fuel economy is evaluated for the standard FUDS and US06 driving cycles. In this context, the authors have already proposed a control-oriented EMVEM model of the Atkinson cycle engine with variable intake valve actuation, well suited for SOSM design. To demonstrate the benefits of the VCR Atkinson cycle engine over conventional Otto cycle engine, in the presence of auxiliary loads and uncertain road loads, its EMVEM model is simulated by using a precisely tuned super-twisting controller having similar specifications as that of the conventional gasoline engine. The resulting approach confirms the significant decline in engine part load losses and improvement in the thermal efficiency and, accordingly, exhibits considerable enhancement in the fuel economy of the VCR Atkinson cycle engine over conventional Otto cycle engine during the wide operating range.
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10:00-12:00, Paper TuA02.3 | Add to My Program |
Nonlinear Stability Control of Autonomous Vehicles: A MIMO D2-IBC Solution |
Galluppi, Olga | Pol. Di Milano |
Formentin, Simone | Pol. Di Milano |
Novara, Carlo | Pol. Di Torino |
Savaresi, Sergio | Pol. Di Milano |
Keywords: Control architectures in automotive control, Autonomous Vehicles
Abstract: Stability control represents one of the most challenging tasks in autonomous vehicle dynamics. Within this context, model uncertainty may play a crucial role in determining the quality of the overall control system. In this work, we deal with nonlinear vehicle stability control design by using the D2-IBC (Data Driven - Inversion Based Control) method, wherein the dynamics of the system are modeled from data not to optimize the open-loop model matching but to maximize the closed-loop performance. Specifically, a multivariable extension of the method is derived and discussed in detail as far as the stability control application is concerned. This method will prove its effectiveness on a multi-body simulator of a 4-wheel steering autonomous vehicle.
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10:00-12:00, Paper TuA02.4 | Add to My Program |
Application of Genetic Algorithm on Parameter Optimization of Three Vehicle Crash Scenarios (I) |
Munyazikwiye, Bernard | Univ. of Agder |
Karimi, Hamid Reza | Pol. Di Milano |
Robbersmyr, Kjell Gunnar | Univ. of Agder |
Keywords: Modeling, supervision, control and diagnosis of automotive systems, Genetic algorithms in marine systems, Simulation
Abstract: This paper focuses on the development of mathematical models for vehicle frontal crashes. The models under consideration are threefold: a vehicle into barrier, vehicle-occupant and vehicle to vehicle frontal crashes. The first model is represented as a simple spring-mass-damper and the second case consists of a double-spring-mass-damper system, whereby the front mass and the rear mass represent the vehicle chassis and the occupant, respectively. The third model consists of a collision of two vehicles represented by two masses moving in opposite directions. The springs and dampers in the model are nonlinear piecewise functions of displacements and velocities respectively. More specifically, a genetic algorithm (GA) approach is proposed for estimating the parameters of vehicles front structure and restraint system for vehicle-occupant model. Finally, it is shown that the obtained models can accurately reproduce the real crash test data. Data for the vehicle into barrier were taken from the calibration test of a standard Ford Fiesta, model year 1987 at Grimstad in Norway. The second and third test data were taken from the National Highway Trafic Safety Administration (NHTSA).
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10:00-12:00, Paper TuA02.5 | Add to My Program |
Reconfigurable Control Design of Steering and Torque Vectoring Based on Reachability Set Analysis |
Nemeth, Balazs | Mta Sztaki |
Gaspar, Peter | Mta Sztaki |
Fényes, Dániel | MTA SZTAKI Inst. for Computer Science and Control |
Bokor, Jozsef | Hungarian Acad. of Sciences |
Keywords: Vehicle dynamic systems, Trajectory Tracking and Path Following, Nonlinear and optimal automotive control
Abstract: The paper proposes a reconfigurable control design of steering and torque vectoring using a variable-geometry suspension system. Torque vectoring control is based on independent driving of the wheels. Simultaneously, the steering angle is generated by the variable-geometry suspension system by varying the camber angle of the front wheels. The efficiencies of the wheel tilting and the torque vectoring, and their coordinated actuation are in the focus of the paper. In the analysis a reachable set computation method on the polynomial model of the vehicle based on the trajectory reversing method and the Sum-of-Squares (SOS) programming are proposed. Based on the analysis results a reconfigurable control is designed using the Linear Parameter Varying (LPV) method.
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10:00-12:00, Paper TuA02.6 | Add to My Program |
Decentralized Controllers for the Steering and Velocity in Vehicles |
Hernandez-Alcantara, Diana | Tecnologico De Monterrey, Campus Monterrey |
Amezquita-Brooks, Luis Antonio | Univ. Autonoma De Nuevo Leon |
Morales-Menendez, Ruben | Tecnologico De Monterrey, Campus Monterrey |
Keywords: Modeling, supervision, control and diagnosis of automotive systems, Control architectures in automotive control, Control of systems in vehicles
Abstract: Vehicle Control Systems (VCS) for the lateral (steering) and longitudinal (velocity) dynamics are normally used to improve the handling properties of a vehicle. However, when different VCS operate simultaneously in the vehicle, the global performance could be degraded because of the cross-coupling dynamics. In this article the design of decentralized controllers for the steering and velocity subsystems is presented. The resulting control scheme reduces the cross/coupling among the steering and longitudinal dynamics. These results were achieved by proposing a more complete vehicle model and analyzing the cross-coupling using a multivariable analysis and design framework known as Individual Channel Analysis and Design (IChAD). These results can be extended for other coupled subsystems.
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10:00-12:00, Paper TuA02.7 | Add to My Program |
Autonomous Drift Parking Using a Switched Control Strategy with Onboard Sensors |
Jelavic, Edo | ETH Zurich |
Gonzales, Jon | Univ. of California Berkeley |
Borrelli, Francesco | Univ. of California |
Keywords: Control architectures in automotive control, Nonlinear and optimal automotive control
Abstract: Drift parking represents an extreme maneuver that is beyond the skill set of the average driver, requiring adept use and timing of the handbrake, pedal brake, and steering wheel. The maneuver causes the vehicle to rotate rapidly and slide, nearly sideways (i.e. high side slip angle), into a desired parking spot. In this paper we propose a control strategy to quickly park a vehicle in a narrow space using a high side slip angle maneuver, or 'drift parking' maneuver. The proposed control scheme switches between nonlinear model predictive control and a linear feedforward-feedback policy. For experimental validation, we use an open source, low cost 1/10 scale RC vehicle called the Berkeley Autonomous Race Car developed at UC Berkeley.
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10:00-12:00, Paper TuA02.8 | Add to My Program |
Platoon Merging Distance Prediction Using a Neural Network Vehicle Speed Model |
Cicic, Mladen | Royal Inst. of Tech |
Liang, Kuo-Yun | Royal Inst. of Tech. (KTH) |
Johansson, Karl H. | Royal Inst. of Tech |
Keywords: Modeling, supervision, control and diagnosis of automotive systems, Information processing and decision support, Neural networks
Abstract: Heavy-duty vehicle platooning has been an important research topic in recent years. By driving closely together, the vehicles save fuel by reducing total air drag and utilize the road more efficiently. Often the heavy-duty vehicles will catch-up in order to platoon while driving on the common stretch of road, and in this case, a good prediction of when the platoon merging will take place is required in order to make predictions about overall fuel savings and to automatically control the velocity prior to the merge. The vehicle speed prior to platoon merging is mostly influenced by the road grade and by the local traffic condition. In this paper, we examine the influence of road grade and propose a method for predicting platoon merge distance using vehicle speed prediction based on road grade. The proposed method is evaluated using experimental data from platoon merging test runs done on a highway with varying level of traffic. It is shown that under reasonable conditions the error in the merge distance prediction is smaller than 8%.
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10:00-12:00, Paper TuA02.9 | Add to My Program |
Dynamic Full Range Input Shaping of Injection Parameters for Reduction of Transient NOx Emissions (I) |
Großbichler, Martin | Johannes Kepler Univ. Linz |
Schmied, Roman | Johannes Kepler Univ. Linz |
Waschl, Harald | Johannes Kepler Univ. Linz |
Keywords: Engine modelling and control
Abstract: For modern passenger car Diesel engines strong limitations on emissions, due to legislation, require large efforts in combustion and aftertreatment control. This control problem is mainly approached by an intensive stationary calibration process and dynamic compensation techniques. However, large differences in combustion conditions between steady state, as used for calibration, and real transient maneuvers, such as tip-ins, can lead to undesired emission peaks. Against this background, the present work adapts a previously introduced input shaping strategy for injection parameters, such that it is applicable in the full engine operation range. Different to the former approach, the shape of the correction profile is determined directly from identified local models of the selected injection parameters to the NOx response. By using local linear models it is possible to consider variations in the system dynamics and parameterize the input shapers in an automated fashion. Additionally this approach can be applied together with a state of the art engine control, since it does not need a change in the base calibration. The improved strategy is evaluated on a passenger car Diesel engine and it is shown that a reduction of the undesired NOx overshoot can be achieved without impacting other performance indicators.
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10:00-12:00, Paper TuA02.10 | Add to My Program |
A Robust Stabilization Method for a Saturated LPV System : Application to the Lateral Dynamics of Vehicles |
Bosche, Jerome | Univ. of Picardie Jules Verne |
Rabhi, Abdelhamid | M.I.S (Modelisation, Information Et Systèmes) |
El hajjaji, Ahmed | Univ. De Picardie Jules Verne |
Keywords: Vehicle dynamic systems, Control architectures in automotive control, Trajectory and Path Planning
Abstract: This paper deals with the active control with steering angle saturation constraint in vehicle to improve the safety and its stability. The reference tracking problem is addressed by minimizing both the lateral displacement and velocity errors. The vehicle dynamics is represented by a saturated input LPV (Linear Parameter Varying) system, affected by disturbances / uncertainties to be rejected. The corresponding state-space model considers both polytopic and norm-bounded uncertainties. It is aimed to compute a static output feedback gain, so as to place the set of all eigenvalues of the uncertain closed-loop state matrix mA_{C} in a disc, denoted by cD_D, while minimizing the effect of the disturbances on the system. This paper proposes an original technique, based on the resolution of lmi, to compute the gain matrix of the control law which can be structured as the parameters of a robust PID controller. In order to highlight the performance of the proposed control algorithm, numerical simulations are performed.
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10:00-12:00, Paper TuA02.11 | Add to My Program |
Fork Elongation Estimation in a Motorcycle Suspension Via Kalman-Filter Techniques for Semi-Active End-Stop Avoidance Control |
Colombo, Tommaso | Pol. Di Milano |
Delvecchio, Diego | Pol. Di Milano |
Savaresi, Sergio | Pol. Di Milano |
Keywords: Kalman filtering techniques in automotive control, Vehicle dynamic systems
Abstract: This paper is about the estimation of front suspension stroke in a motorcycle, oriented to the semi-active end-stop avoidance control. The proposed observer is based on a Kalman-filter that takes into account the external forces acting on suspension while the vehicle is turning or accelerating. Furthermore a practical state-reset strategy is proposed in order to improve estimation performances for wheelie manoeuvres and to limit the estimated state into suspension physical bounds. The experimental results show that position can be correctly estimated both on road and off-road driving conditions.
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10:00-12:00, Paper TuA02.12 | Add to My Program |
Emotions Embodied in the SVC of an Autonomous Driver System (I) |
Kowalczuk, Zdzislaw | Gdansk Univ. of Tech |
Czubenko, Michal | Gdansk Univ. of Tech. Faculty of Electronics, Telecom |
Keywords: Decision making and cognitive processes, Robotics technology, Intelligent controllers
Abstract: In this paper, a concept of {embodied intelligence} (EI) will be considered that is different from the `classical' definition. Though many ideas of the above two approaches to AI have recently been put into practice, unfortunately, none of the implementations can be fully identified with artificial intelligence. Projects that dare to approach AI and EI (like an autonomous car driver) should be based on both the AI concepts (symbolic and sub-symbolic), in solving real problems of ambient perception and decision-making. Therefore, Embodied (Artificial) Intelligence, in this paper, is understood as a methodology that uses all available resources and algorithms from the analytic and synthetic approaches, in order to implement an intelligent and autonomous agent. The xEmotion sub-system of ISD is designed to support the possibility of selecting a most appropriate response of an autonomous agent, or robot, to changes in the surrounding. Such agent under the control of the ISD system can perform efficiently due to a system of emotions, which - from the control theory viewpoint - can be interpreted as scheduling variables. The developed sub-system xEmotion integrated in a coherent way with psychological theories, allows the agent to create individual emotions, in response to observations, as it is in the case of an interactive avatar, dictobot, or an automatic autonomous xDriver, for instance. The processed emotions can be used both to promptly select a suitable reaction using the proposed two-level procedure, as well as to present emotions to another, external agent, which is in accordance with the contemporary trends in robotics.
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10:00-12:00, Paper TuA02.13 | Add to My Program |
Optimal Control of EGR System in Gasoline Engine Based on Gaussian Process (I) |
Zarghami, Mahdi | École De Tech. Supérieure |
HosseinNia, Hassan | Delft Univ. of Tech |
Babazadeh, Mehrdad | Univ. of Zanjan |
Keywords: Automotive system identification and modelling, Engine modelling and control
Abstract: The contribution described in this paper is concentrated on the integratation of exhaust gas recirculation (EGR) system into the process of combustion in an optimal manner. In practice, deriving a state-space model of this actuator is an energetic task as a result of involving some uncertain chemical reactions. To alleviate the effect of unobserved phenomena, which does not seem to be easy in modeling, an improved Gaussian Process (GP) is represented for identifying such dynamics. In this approach, practical modification in general formulation of GP is provided based on proportional feedback gain adjustment. Afterwards, the obtained model is considered for design of optimal model-based control strategy. The whole aim is focused on achieving a green economically gasoline engine by optimizing the trend of fuel consumption. Eventually, simulation results illustrate the effectiveness of proposed structure in EGR systems.
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TuA03 Interactive Session, Caravelle 2.1 |
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Stochastic Systems |
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Chair: Dey, Subhrakanti | Uppsala Univ |
Co-Chair: Firoozi, Dena | McGill Univ |
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10:00-12:00, Paper TuA03.1 | Add to My Program |
System Identification under Information Security |
Xu, Changbao | Chinese Acad. of Sciences |
Zhao, Yanlong | Chinese Acad. of Sciences |
Zhang, Ji-Feng | Chinese Acad. of Sciences |
Qi, Hongsheng | Chinese Acad. of Sciences |
Keywords: Stochastic system identification, Nonlinear system identification
Abstract: There are important information security problems for system identification, which have not been paid attention to and well studied. In this paper, we discuss the security problem of input information according to a class of system identification problems, and present security protocols in the sense of cryptography. It is ensured that the input information is not leaked during solving the identification problem, which can deal with passive attacks effectively. In addition, a quantitative relationship between the input information and the number of participants is given in this paper. The simulation results show that, in the range of allowed errors, the identification algorithm with the security protocol achieves the estimation accuracy. Moreover, the corresponding time complexity increases comparing with the original identification algorithm.
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10:00-12:00, Paper TuA03.2 | Add to My Program |
Do the Cubature and Unscented Kalman Filtering Methods Outperform Always the Extended Kalman Filter? |
Kulikov, Gennady Yu. | Inst. Superior Tecnico, Univ. De Lisboa |
Kulikova, Maria V. | Inst. Superior Técnico, Univ. De Lisboa |
Keywords: Estimation and filtering, Continuous time system estimation, Filtering and smoothing
Abstract: This paper elaborates three well-known state estimators, which are used extensively in practice. These are the classical continuous-discrete extended Kalman filter (EKF) and the continuous-discrete cubature Kalman filtering (CKF) and unscented Kalman filtering (UKF) algorithms designed recently. Nowadays, it is commonly accepted that the contemporary filters always outperform the traditional EKF in the accuracy of state estimation because of their higher-order approximation of the mean of propagated Gaussian density in the time- and measurement-update steps of the modern techniques. However, the present paper specifies this commonly accepted opinion and shows that despite the mentioned theoretical fact the EKF may outperform the CKF and UKF methods in the accuracy of state estimation when the stochastic system under consideration exposes a stiff behavior. That is why stiff stochastic models are difficult to deal with and require effective state estimation algorithms to be devised yet.
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10:00-12:00, Paper TuA03.3 | Add to My Program |
Constrained Posterior Cramér-Rao Bound for Discrete-Time Systems |
Andersson, Leif Erik | Norwegian Univ. of Science and Tech |
Imsland, Lars | Norwegian Univ. of Science and Tech |
Brekke, Edmund F. | Norwegian Univ. of Science and Tech |
Scibilia, Francesco | Norwegian Univ. of Science and Tech |
Keywords: Estimation and filtering, Bayesian methods, Error quantification
Abstract: This article presents a Cramér-Rao lower bound for the discrete-time filtering problem under linear state constraints. A simple recursive algorithm is presented that extends the computation of the Cramér-Rao lower bound found in previous literature by one additional step in which the full-rank Fisher Information matrix is projected onto the tangent hyperplane of the constraint set. This makes it possible to compute the constrained Cramér-Rao lower bound for the discrete-time filtering problem without reparametrization of the original problem to remove redundancies in the state vector, which improves insights into the problem. It is shown that in case of a positive-definite Fisher Information Matrix the presented constrained Cramér-Rao bound is lower than the unconstrained Cramér-Rao bound. The bound is evaluated on an example.
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10:00-12:00, Paper TuA03.4 | Add to My Program |
Model Predictive Control Meets Robust Kalman Filtering |
Zenere, Alberto | Univ. of Padova |
Zorzi, Mattia | Univ. Degli Studi Di Padova |
Keywords: Estimation and filtering, Robust adaptive control
Abstract: Model Predictive Control (MPC) is the principal control technique used in industrial applications. Although it offers distinguishable qualities that make it ideal for industrial applications, it can be questioned its robustness regarding model uncertainties and external noises. In this paper we propose a robust MPC controller that merges the simplicity in the design of MPC with added robustness. In particular, our control system stems from the idea of adding robustness in the prediction phase of the algorithm through a specific robust Kalman filter recently introduced. Notably, the overall result is an algorithm very similar to classic MPC but that also provides the user with the possibility to tune the robustness of the control. To test the ability of the controller to deal with errors in modelling, we consider a servomechanism system characterized by nonlinear dynamics.
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10:00-12:00, Paper TuA03.5 | Add to My Program |
Team-Optimal Incentive Stackelberg Strategies for Markov Jump Linear Stochastic Systems with H Infinity Constraint |
Mukaidani, Hiroaki | Hiroshima Univ |
Shima, Tadashi | Hiroshima Univ |
Unno, Masaru | The Univ. of Tsukuba |
Xu, Hua | Univ. of Tsukuba |
Dragan, Vasile | Romanian Acad |
Keywords: Stochastic control and game theory, Stochastic hybrid systems, Optimal control of hybrid systems
Abstract: The incentive Stackelberg game for a class of Markov jump linear stochastic systems with one leader and multiple non-cooperative followers subjected to the H infinity constraint is investigated. An incentive structure is adopted that allows the leader's team-optimal solution with the H infinity constraint to be achieved. It is shown that the incentive strategy set can be obtained by solving the cross-coupled stochastic algebraic Riccati-type equations (CCSAREs). In order to demonstrate the effectiveness of the proposed scheme, a numerical example is solved.
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10:00-12:00, Paper TuA03.6 | Add to My Program |
Minimum Variance Nonlinear Estimation: State Evolution Approach |
Nagy, Endre | - |
Keywords: Estimation and filtering
Abstract: State estimation methods for lumped parameter nonlinear systems are presented in the paper. All the methods are based on a nonlinear predictor, which estimates future states through state evolution computations. The prediction may be made in several successive steps or in one step as limit of multistep computations. The nonlinear estimator is predictor – corrector type one, correction is made through optimization on a finite horizon, giving possibility for approximate minimum variance estimation for a class of nonlinear plants. At the same time, the presented predictor may replace the predictor of extended Kalman filter, making possible better prediction and overall estimation through modification of the extended Kalman filter algorithm.
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10:00-12:00, Paper TuA03.7 | Add to My Program |
A New State Estimation Framework for Humanoids Based on a Moving Horizon Estimator |
Bae, Hyoin | Korea Advanced Inst. of Science and Tech |
Oh, Jaesung | KAIST |
Jeong, Hyobin | KAIST |
Oh, Jun Ho | KAIST |
Keywords: Estimation and filtering, Continuous time system estimation, Mechanical and aerospace estimation
Abstract: A large number of humanoid robot state estimators based on the Kalman filter (KF) have been proposed. However, such estimators cannot guarantee optimality when the system model is nonlinear or when non-Gaussian/correlated modelling error is present. Additionally, the use of a KF causes difficulty in coping with equality or inequality constraints. Because a bipedal humanoid robot is a complex nonlinear system, its mathematical model is limited in its ability to express the system accurately. Therefore, KF-based humanoid state estimation has unavoidable limitations. To overcome these, we propose a new approach to humanoid state estimation using a moving horizon estimation theory. So far, there are almost no studies on the moving horizon estimator-based humanoid state estimator, which is capable of accommodating nonlinear systems and constraints as well as being more robust to the non-Gaussian/correlated modelling error. The proposed estimator framework facilitates the use of a simple model, even in the presence of large modelling error. Additionally, it can estimate the humanoid state more accurately than the existing KF-based estimator framework. The performance and characteristics of the proposed approach were confirmed experimentally.
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10:00-12:00, Paper TuA03.8 | Add to My Program |
Mixed H2/Hoo State Feedback Control for Markov Jump Linear Systems with Hidden Observations |
Marcorin de Oliveira, André | Univ. of São Paulo |
Costa, Oswaldo Luiz V. | Univ. of Sao Paulo |
Keywords: Stochastic control and game theory, Optimal control theory, Control of switched systems
Abstract: In the present work, we study the mixed H2/Hoo state feedback control for Markov jump linear systems through a detector approach. It is considered that the Markov parameter θ(k) is not available to the controller, but instead there is an estimation ξ(k) given by a detector. Conditions for the synthesis of controllers that depend only on ξ(k) and stochastically stabilize the system while providing upper bounds for the H2 and Hoo norms are given in terms of linear matrix inequalities. The results are illustrated by a numerical example.
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10:00-12:00, Paper TuA03.9 | Add to My Program |
Circle Criterion for Continuous-Time Markov Jump MIMO Systems |
Porrelli Moreira da Silva, Lucas | Univ. of Campinas |
Gonçalves, Alim P. C. | UNICAMP |
Keywords: Simulation of stochastic systems, Stochastic control and game theory
Abstract: This paper addresses an LMI formulation for stability analysis of Lur'e type Markov Jump Multiple-Input, Multiple-Output (MIMO) Systems. We consider two possibilities for the unknown feedback nonlinearity, either it is deterministic or it varies with the Markov jumps. Based on this information, we propose conditions for testing the system absolute stability. The theoretical results are illustrated by numerical examples.
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10:00-12:00, Paper TuA03.10 | Add to My Program |
Estimation of Damped Sinusoidal Signals: An Observer-Based Approach |
Wang, Yang | Imperial Coll. London |
Chen, Boli | Imperial Coll. London |
Pin, Gilberto | Electrolux Professional S.p.A |
Parisini, Thomas | Imperial Coll. & Univ. of Trieste |
Keywords: Estimation and filtering
Abstract: This paper presents a novel observer-based method for estimating the parameters of an exponentially damped sinusoid, including the frequency, amplitude, phase and the damping factor. A second-order sliding-mode-based adaptation law is designed for estimating the frequency and the damping factor, while amplitude and phase are obtainable from the said parameters by straightforward algebra. The stability and robustness analysis in presence of an additive disturbance proves the existence of a tuning parameter set for which the estimator's dynamics are asymptotic stable and the estimation error asymptotically converges to a residual set whose size depends on the amplitude of the disturbance. Numerical and comparative examples show the effectiveness of the proposed estimation approach.
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10:00-12:00, Paper TuA03.11 | Add to My Program |
Pseudomeasurement Kalman Filter in Underwater Target Motion Analysis & Integration of Bearing-Only and Active-Range Measurement |
Miller, Alexander | Ippi Ras |
Miller, Boris | Monash Univ |
Keywords: Estimation and filtering, Kalman filtering techniques in marine systems control, Autonomous underwater vehicles
Abstract: This work considers passive and active target tracking by the UUV (Unmanned underwater vehicle) on the basis of bearing-only observations including azimuth and elevation angles. The aim is realization of target motion analysis (TMA), that is simulteneous target's position and velocity estimates. Some of nonlinear filters can be used for such problem, however most of these filters produce estimations with unknown bias and quadratic errors. Moreover, as it was mentioned long ago possible unobservability could take place. In this work we use the pseudomeasurements Kalman filtering (PKF) method which transforms the estimation problem to the linear one and gives the possibility to evaluate the moving target coordinates and velocities without bias. Since PKF gives unbiased estimate for the motion and the quadratic error it provides the good means for intergration of varios measurements methods such as passive (bearing-only) and active (range) metering. Using this filtering approach the position and velocity target tracking has been developed. Computer simulation results demonstrate good quality of TMA for randomly moving target
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10:00-12:00, Paper TuA03.12 | Add to My Program |
State-Multiplicative Noisy Systems: Robust H_infty Output-Feedback Control |
Gershon, Eli | Tel Aviv Univ |
Shaked, Uri | Tel-Aviv Univ |
Keywords: Synthesis of stochastic systems, Linear parametrically varying (LPV) methodologies, Stochastic control and game theory
Abstract: Linear discrete-time systems with stochastic and deterministic polytopic type uncertainties in their state-space model are considered. A dynamic output-feedback controller is obtained via a new approach which allows a derivation of a controller in spite of parameter uncertainty. In the proposed approach the system is described via a difference equation and an augmented system is then used to obtain the output-feedback controller parameters. The controller is obtained without assuming a specific structure to the quadratic Lyapunov function and it is the first time that an output-feedback controller is obtained for robust state-multiplicative systems. The controller minimizes the stochastic L_2-gain of the closed-loop where a cost function is defined to be the expected value of the standard H_infty performance index with respect to the stochastic uncertainty. An example is given that demonstrates the merit of the theory.
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10:00-12:00, Paper TuA03.13 | Add to My Program |
Multi-Sensor Transmission Management for Remote State Estimation under Coordination |
Ding, Kemi | Hong Kong Univ. of Science and Tech |
Li, Yuzhe | Univ. of Alberta |
Dey, Subhrakanti | Uppsala Univ |
Shi, Ling | Hong Kong Univ. of Science and Tech |
Keywords: Estimation and filtering, Stochastic control and game theory, Control over networks
Abstract: This paper considers the remote state estimation in a cyber-physical system (CPS) using multiple sensors. The measurements of each sensor are transmitted to a remote estimator over a shared channel, where simultaneous transmissions from other sensors are regarded as interference signals. In such a competitive environment, each sensor needs to choose its transmission power for sending data packets taking into account of other sensors' behavior. To model this interactive decision-making process among the sensors, we introduce a multi-player non-cooperative game framework. To overcome the inefficiency arising from the Nash equilibrium (NE) solution, we propose a correlation policy, along with the notion of correlation equilibrium (CE). An analytical comparison of the game value between the NE and the CE is provided, with/without the power expenditure constraints for each sensor. Also, numerical simulations demonstrate the comparison results.
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10:00-12:00, Paper TuA03.14 | Add to My Program |
Networked Fusion Estimation under Denial-Of-Service Attacks |
Chen, Bo | City Univ. of Hong Kong |
Yu, Li | Zhejiang Univ. of Tech |
Ho, Daniel W. C. | City Univ. of Hong Kong |
Zhang, Wen-An | Zhejiang Univ. of Tech |
Keywords: Estimation and filtering, Sensor networks, Control and estimation with data loss
Abstract: This paper studies the fusion estimation problem for a class of networked multi-sensor fusion systems (NMFSs) under bandwidth constraints and denial-of-service (DoS) attacks. The dimensionality reduction strategy is used to satisfy the finite bandwidth, while the prediction compensation strategy is used to reduce the information loss caused by attacks. Based on dimensionality reduction and DoS attack model, a recursive distributed Kalman fusion estimator (DKFE) is designed for the addressed NMFSs. An explicit form of the dimensionality reduction is given against DoS attacks, while an effective attack strategy is proposed for the attacker. An illustrative example is given to show the effectiveness of the proposed methods.
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TuA04 Interactive Session, Caravelle 2.2 |
Add to My Program |
Stochastic Systems II |
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Chair: Malhame, Roland P. | Ec. Pol. De Montreal |
Co-Chair: Tsumura, Koji | Univ. of Tokyo |
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10:00-12:00, Paper TuA04.1 | Add to My Program |
Robust Stability Analysis of Discrete-Time Linear Systems with Dynamics Determined by a Markov Process |
Hosoe, Yohei | Kyoto Univ |
Hagiwara, Tomomichi | Kyoto Univ |
Keywords: Stochastic control and game theory
Abstract: In this paper, we deal with discrete-time linear stochastic systems whose state transition is described by a sequence of random matrices determined by a Markov process. For such systems, we first show a linear-matrix-inequality-based stability condition. The use of conditional expectation plays a key role in the derivation. Then, we assume that the systems are uncertain in the sense that they are described by a sequence of random polytopes determined by a Markov process (to which the actual underlying random matrix sequence should belong), and extend the result about the above uncertainty-free case toward robust stability analysis, which leads to our main result. To show the usefulness of the result, we apply it to the case with stochastic switched systems having uncertain coefficient matrices, and provide a numerical example.
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10:00-12:00, Paper TuA04.2 | Add to My Program |
Linear Quadratic Gaussian Control for Discrete-Time Systems with Delay and Multiplicative Noise |
Liang, Xiao | Shandong Univ |
Xu, Juanjuan | Shandong Univ |
Zhang, Huanshui | Shandong Univ |
Keywords: Stochastic control and game theory
Abstract: This paper considers the linear quadratic Gaussian (LQG) control problem for discrete-time systems subject to multiplicative noises and input delay. When the state variables can be obtained exactly, the necessary and sufficient condition for the existence of a unique solution to the LQG control has been presented and an explicit analytical expression is given for the optimal LQG controller. More specially, the optimal LQG controller is derived which consists of the feedback form of the conditional expectation of the state and one additive deterministic term based on the coupled Riccati equations. Through the completing square approach, the optimal controller is obtained based on the solution to the forward and backward stochastic difference equations (FBSDEs).
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10:00-12:00, Paper TuA04.3 | Add to My Program |
A New Sigma-Point Filter--Uniform Random Sampling Kalman Filter |
Wang, Zitian | Northwestern Pol. Univ. of Automation |
Wang, Xiaoxu | Northwestern Pol. Univ |
Liang, Yan | Northwestern Pol. Univ |
Yang, Feng | Northwestern Pol. Univ |
Keywords: Estimation and filtering, Randomized methods, Simulation of stochastic systems
Abstract: This paper is motivated by the problem of more accurately estimating the hidden state in nonlinear dynamic system. We propose a uniform random sampling Kalman filter(URSKF) which can be regarded as a Sigma-point filter based on the statistical linearization method. Compared with other Sigma-point filters, the uniform random sampling method used to obtain the deterministic points can match the any-order moment of the prior distribution with the moderately increasing sampling points and automatically capture the more rich statistical properties of the system after nonlinear function mapping. Moreover, the URSKF is a derivative and square-rooting free operation which avoid computing Jacobian matrix and failing the filtering process for not always guaranteeing the covariance matrix to be positive definite, such as UKF. Besides, the computation complexity is linearly related to the system dimension avoiding the curse of high dimension in the Gauss-Hermite Quadratute Filter(GHQF). The performance of this filter is demonstrated by an aircraft tracking model. The simulation results show the URSKF performs higher accurately than the Unscented Kalman Filter(UKF), Central Difference Kalman Filter(CDKF) and Cubature Kalman Filter(CKF).
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10:00-12:00, Paper TuA04.4 | Add to My Program |
Adaptive Unscented Kalman Filter Using Maximum Likelihood Estimation |
Mahmoudi, Zeinab | Tech. Univ. of Denmark |
Poulsen, Niels Kjølstad | Tech. Univ. of Denmark |
Madsen, Henrik | Tech. Univ. of Denmark |
Jorgensen, John Bagterp | Tech. Univ. of Denmark |
Keywords: Estimation and filtering, Error quantification, Continuous time system estimation
Abstract: The purpose of this study is to develop an adaptive unscented Kalman filter (UKF) by tuning the measurement noise covariance. We use the maximum likelihood estimation (MLE) and the covariance matching (CM) method to estimate the noise covariance. The multi-step prediction errors generated by the UKF are used for covariance estimation by MLE and CM. Then we apply the two covariance estimation methods on an example application. In the example, we identify the covariance of the measurement noise for a continuous glucose monitoring (CGM) sensor. The sensor measures the subcutaneous glucose concentration for a type 1 diabetes patient. The root-mean square (RMS) error and the computation time are used to compare the performance of the two covariance estimation methods. The results indicate that as the prediction horizon expands, the RMS error for the MLE declines, while the error remains relatively large for the CM method. For larger prediction horizons, the MLE provides an estimate of the noise covariance that is less biased than the estimate by the CM method. The CM method is computationally less expensive though.
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10:00-12:00, Paper TuA04.5 | Add to My Program |
Estimation in Centrifugal Compressors Via Particle Filtering |
Bisone, Luigi | Consultant |
Bittanti, Sergio | Pol. Di Milano |
Casnedi, Mirko | Pol. Di Milano |
De Marco, Antonio | Consultant |
Garatti, Simone | Pol. Di Milano |
Pareschi, Diego | ABB Italy |
Pochiero, Alberto | ABB Italy |
Keywords: Estimation and filtering, Grey box modelling, Particle filtering/Monte Carlo methods
Abstract: A turbocharger is a fundamental device to improve power of internal combustion engines. In this paper, we focus on plants constituted by two turbochargers, each of which composed by the centrifugal compressor and the turbine, working together. In order to ensure the reliable and efficient operation of the turbochargers, new maintenance strategies are being developed, often based on the continuous measurement and monitoring of key variables. To this purpose, a model, which can be constructed from first principles, is a fundamental tool. However, some main variables are not accessible, posing an estimation problem. Herein, an innovative approach based on particle filtering is proposed. Its validity is assessed through experimental results reported in the paper.
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10:00-12:00, Paper TuA04.6 | Add to My Program |
Controllability Issues for Randomly Switching Piecewise Linear Markov Processes |
Goreac, Dan | Univ. Paris-Est, LAMA (UMR 8050), UPEMLV, UPEC, CNRS, F-774 |
Keywords: Stochastic control and game theory, Optimal control of hybrid systems, Stochastic hybrid systems
Abstract: We investigate some stability properties of approximate null-controllability (A0C). We show that A0C is inherited when increasing the number of observed jumps. However, in all generality, there is no direct connection between A0C with an initial mode and the A0C starting from directly accessible modes. We have also given a sufficient condition under which checking A0C implies AC and discuss some examples. Unfortunately, such conditions are too strong and do not cover all AC systems (see examples). In a second part, we give a Riccati technique-based viability kernel characterisation of A0C. Some conditions are inferred for AC.
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10:00-12:00, Paper TuA04.7 | Add to My Program |
Stable Model-Based Control with Gaussian Process Regression for Robot Manipulators |
Beckers, Thomas | Tech. Univ. of Munich |
Umlauft, Jonas | Tech. Univ. of Munich |
Hirche, Sandra | Tech. Univ. of Munich |
Keywords: Stochastic control and game theory, Adaptive system and control, Bayesian methods
Abstract: Computed-torque control requires a very precise dynamical model of the robot for compensating the manipulator dynamics. This allows reduction of the controller's feedback gains resulting in disturbance attenuation and other advantages. Finding precise models for manipulators is often difficult with parametric approaches, e.g. in the presence of complex friction or flexible links. Therefore, we propose a novel computed-torque control law which consists of a PD feedback and a dynamic feed forward compensation part with Gaussian Processes. For this purpose, the nonparametric Gaussian Process regression infers the difference between an estimated and the true dynamics. In contrast to other approaches, we can guarantee that the tracking error is stochastically bounded. Furthermore, if the number of training points tends to infinity, the tracking error is asymptotically stable in the large. In simulation and with an experiment, we demonstrate the applicability of the proposed control law and that it outperforms classical computed-torque approaches in terms of tracking precision.
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10:00-12:00, Paper TuA04.8 | Add to My Program |
H-Infinity Observer Design for a Class of Nonlinear Singular Stochastic Systems |
Barbata, Asma | Univ. De Lorraine |
Zasadzinski, Michel | CRAN |
Souley Ali, Harouna | Cran Umr 7039 Cnrs |
Keywords: Estimation and filtering, Continuous time system estimation, Synthesis of stochastic systems
Abstract: This paper is about the H-infinity observer design for a class of nonlinear singular stochastic systems. The system is first transformed such that the observation error can be written in a regular form and the augmented system is admissible. The use of Sylvester-like equations on the error dynamics permits to parameterize all the filter matrices via a single gain matrix. Then an affine change of coordinate is done on the control inputs to transform the problem into a singular robust stochastic nonlinear problem which is solved using a Lyapunov approach. Finally the mean square exponential stability (MSES) of the error's system and the H-infinity disturbance attenuation are ensured by the observer designed via the resolution of a LMI which permits to get the gain matrix used to construct the filter matrices.
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10:00-12:00, Paper TuA04.9 | Add to My Program |
Detection of Markov Chain Models from Observed Data Using Binary Hypothesis Testing and Consensus |
Raghavan, Aneesh | Inst. for Systems Res. Univ. of Maryland Coll. P |
Baras, John S. | Univ. of Maryland |
Keywords: Estimation and filtering, Bayesian methods, Sensor networks
Abstract: In this paper we consider the problem of detecting which Markov chain model generates observed time series data. We consider two Markov chains. The state of the Markov chain cannot be observed directly, only a function of the state can be observed. Using these observations, the aim is to find which of the two Markov chains has generated the observations. We consider two observers. Each observer observes a function of the state of the Markov chains. We formulate a binary hypothesis testing problem for each observer. Each observer makes a decision on the hypothesis based on its observations. Then observer 1 communicates its decision to observer 2 and vice-versa. If the decisions are the same, then a consensus has been achieved. If their decisions are different then the binary hypothesis testing problem is continued. This process is repeated until consensus has been achieved. We solve the binary hypothesis testing problem and prove the convergence of the consensus algorithm. The “value” of the information gained through 1-bit communication is discussed along with simulation results.
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10:00-12:00, Paper TuA04.10 | Add to My Program |
Projective Approximation Based Gradient Descent Modification |
Senov, Alexandr | Saint Petersburg State Univ |
Granichin, Oleg | Saint Petersburg State Univ |
Keywords: Learning theory, Statistical data analysis, Nonlinear system identification
Abstract: We present a new modification of the gradient descent algorithm based on the surrogate optimization with projection into low-dimensional space. It iteratively approximates the target function in low-dimensional space and takes the approximation optimum point mapped back to original parameter space as next parameter estimate. Main contribution of the proposed method is in application of projection idea in approximation process. Major advantage of the proposed modification is that it does not change the gradient descent iterations, thus it can be used with some other variants of the gradient descent. We give a theoretical motivation for the proposed algorithm and a theoretical lower bound for its accuracy. Finally, we experimentally study its properties on modelled data.
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10:00-12:00, Paper TuA04.11 | Add to My Program |
A Data-Driven Bed-Exit Detection Method Based on Load Cell Signal for an Intelligent Nursing Bed |
Lu, Limin | Zhejiang Univ |
Zhao, Chunhui | Zhejiang Univ |
Fu, Yongji | Hill-Rom Services Inc |
Keywords: Statistical data analysis, Time series modelling, Continuous time system estimation
Abstract: The patient falls out of bed in hospital have caused a serious problem that reduces the quality of life as well as increases the health-care costs. The aim of this study is to investigate the low cost data-driven bed-exit detection method for an intelligent nursing bed to provide alarms in advance that the patients are about to exit the bed only using real-time monitoring signals collected from four load cells installed at corners of bed. First, the coordinate equations of the position center are deduced according to the moment balance theory. Second, some typical patterns of patient’s actions on the bed are identified and distinguished using Fisher discriminant analysis (FDA) when the patient is found outside a predetermined region. Third, an alarm rule is defined by combing the calculation of the gravity center and the recognition of patient’s action pattern. The developed bed-exit method is verified based on experimental data of 102 hours collected from 14 adult volunteers participated in this study. Illustration results show that the proposed method can detect bed-exit event 21.00 seconds ahead of time with reliable sensitivity values of 100% and ratio of false alarms of 7.47%.
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10:00-12:00, Paper TuA04.12 | Add to My Program |
KITE : A Process-Based Mining Methodology Applied to the Extraction of Routing Rules |
Chabrol, Michelle | Limos |
Dalmas, Benjamin | Limos Cnrs Umr 6158 |
Norre, Sylvie | Univ. Blaise Pascal Clermont-Ferrand |
Rodier, Sophie | Crcgm (ea 3849) |
Keywords: Statistical data analysis, Simulation of stochastic systems
Abstract: Simulation is a widely used discipline to analyze and evaluate the outputs of a defined process in order to improve it. However, in domains such as healthcare, management rules or distribution functions are not techniques relevant enough to route the entities in the models. In this paper we propose KITE, a methodology to improve the extraction of knowledge from process-oriented datasets. We apply this methodology to the extraction of routing rules for healthcare simulation models.
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10:00-12:00, Paper TuA04.13 | Add to My Program |
Unsupervised Semiconductor Chamber Matching Based on Shape Comparison (I) |
Marino, Julien | STMicroelectronics Rousset |
Rossi, Francesco | Aix-Marseille Univ |
Ouladsine, Mustapha | Univ. D'aix Marseille III |
Pinaton, Jacques | STMicroelectronics |
Keywords: Statistical data analysis, Fault detection and diagnosis
Abstract: We present a new chamber matching algorithm designed for the semiconductor industry, which is completely data-driven and unsupervised. The behavior of an equipment is classified as different when the shape of the time series given by one of the sensors is significantly different. Shape comparison is performed using linear regression, hence allowing both offset and change of scale. The method detects both the chamber and the sensor in which the fault is present, then helping in activating corrective maintenances. Application results are shown with two examples of real failures in the semiconductor industry.
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TuA05 Open Invited Session, Latécoère |
Add to My Program |
Process Modelling, Monitoring, and Automation for Wastewater Treatment |
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Chair: Villez, Kris | Eawag |
Co-Chair: Pons, Marie-Noelle | Univ. De Lorraine |
Organizer: Villez, Kris | Eawag |
Organizer: Bellandi, Giacomo | DICEA Univ. Di Firenze |
Organizer: Smets, Ilse | KU Leuven, Department of Chemical Engineering, CREaS |
Organizer: Pons, Marie-Noelle | Univ. De Lorraine |
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10:00-10:20, Paper TuA05.1 | Add to My Program |
Automation and Control of a Dissolved Air Flotation Pilot Plant (I) |
Fonseca, Rodolpho R. | Univ. of Campinas |
Thompson Jr., José P. | Univ. of Campinas |
Franco, Ivan C. | FEI Univ |
da Silva, Flávio Vasconcelos | Univ. of Campinas |
Keywords: Wastewater treatment processes, Dynamics and control, Monitoring
Abstract: Turbidity is an important process variable on water treatment processes for safeguard health requirements, and dissolved air flotation (DAF) is a physical treatment that allows water turbidity reduction by floating particles dispersed on water. Hence, a DAF pilot plant was assembled and automated using supervisory control and data acquisition (SCADA), open platform of communication protocol (OPC) and Ethernet to test two possible strategies for water turbidity control. The results indicated that manipulating needle valve opening has advantages on DAF control.
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10:20-10:40, Paper TuA05.2 | Add to My Program |
Nonlinear System Identification of the Dissolved Oxygen to Effluent Ammonia Dynamics in an Activated Sludge Process (I) |
Chistiakova, Tatiana | Uppsala Univ |
Mattsson, Per | Univ. of Gävle |
Carlsson, Bengt | Univ. of Uppsala |
Wigren, Torbjörn | Uppsala Univ |
Keywords: Parameter and state estimation, Wastewater treatment processes, Modeling and identification
Abstract: Aeration of biological reactors in wastewater treatment plants is important to obtain a high removal of soluble organic matter as well as for nitrification but requires a significant use of energy. It is hence of importance to control the aeration rate, for example, by ammonium feedback control. The goal of this paper is to model the dynamics from the set point of an existing dissolved oxygen controller to effluent ammonia using two types of system identification methods for a Hammerstein model, including a newly developed recursive variant. The models are estimated and evaluated using noise corrupted data from a complex mechanistic model (Activated Sludge Model no.1). The performance of the estimated nonlinear models are compared with an estimated linear model and it is shown that the nonlinear models give a significantly better fit to the data. The resulting models may be used for adaptive control (using the recursive Hammerstein variant), gain-scheduling control, L2 stability analysis, and model based fault detection.
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10:40-11:00, Paper TuA05.3 | Add to My Program |
Control of a Farm Anaerobic Digester for Agricultural Wastes (I) |
Adouani, Nouceiba | Univ. De Lorraine |
Pons, Marie-Noelle | Univ. De Lorraine |
Assaad, Aziz | Univ. of Lorraine |
Hreiz, Rainier | Univ. De Lorraine |
Ravard, Benjamin | Univ. of Lorraine |
Pacaud, Stéphane | Univ. De Lorraine |
Keywords: Dynamics and control, Modeling and identification, Wastewater treatment processes
Abstract: The operation of an anaerobic digestion located on a farm and primarily fed by cattle slurry, manure and ensiled maize, has been simulated using the Anaerobic Digestion Model 1, combined with a thermodynamic model. The effect of temperature on the biological reactions has been taken into account, as well as the limited availability of the substrates. This can be compensated by co-digesting other substrates easily found in the vicinity of the farm such as glycerol (waste from biodiesel production). Strategies based on glycerol feeding or temperature set points change have been investigated in order to control the methane production.
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11:00-11:20, Paper TuA05.4 | Add to My Program |
Extent Computation under Rank-Deficient Conditions (I) |
Masic, Alma | Eawag |
Billeter, Julien | EPFL |
Bonvin, Dominique | EPFL |
Villez, Kris | Eawag |
Keywords: Modeling and identification of environmental systems, Modeling and identification, Wastewater treatment processes
Abstract: The identification of kinetic models can be simplified via the computation of extents of reaction on the basis of invariants such as stoichiometric balances. In the extent space, one can identify the structure and the parameters of reaction rates individually, which significantly reduces the number of parameters that need to be estimated simultaneously. So far, extent-based modeling has only been applied to cases where all the extents can be computed from measured concentrations. This generally excludes its application to many biological processes for which the number of reactions tends to be larger than the number of measured quantities. This paper shows that, in some cases, such restrictions can be lifted. In addition, this study demonstrates the applicability of extent-based model identification using laboratory experimental data.
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11:20-11:40, Paper TuA05.5 | Add to My Program |
Incorporating Sulfur and Relevant Reactions into a General Plantwide and Sewer Model (I) |
Hauduc, Hélène | Dynamita |
Johnson, Bruce | CH2M |
Bott, Charles | HRSD |
Ward, Mattew | CH2M |
Takacs, Imre | Dynamita |
Keywords: Wastewater treatment processes, Modeling and identification
Abstract: Sulfur is known to cause nuisances in wastewater treatment and sewer collection systems, such as corrosion, odours, oxygen demand, and precipitates. This is often handled through chemical addition, which will impact the subsequent wastewater treatment processes. Despite its importance, there is no integrated sulfur model for whole plant process optimization/design that could be used in practice. After a detailed literature review of chemical and biokinetic sulfur reactions, a plantwide model is upgraded with relevant reactions to predict the sulfur cycle in sewer collection systems, wastewater and sludge treatment as well as to estimate a risk of odour emissions. The developed model is applied on different case studies.
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11:40-12:00, Paper TuA05.6 | Add to My Program |
Real-Time Control-Oriented Quality Modelling in Combined Urban Drainage Networks (I) |
Sun, Cong Cong | IRI-UPC |
Joseph-Duran, Bernat | CETAQUA |
Maruejouls, Thibaud | LyRE |
Cembrano, Gabriela | UPC |
Meseguer, Jordi | CETAQUA |
Puig, Vicenc | Univ. Pol. De Catalunya |
Litrico, Xavier | Lyonnaise Des Eaux |
Keywords: Modeling and identification of environmental systems, Water quality and quantity management
Abstract: Urban drainage networks (UDN) carry urban wastewater to wastewater treatment plants (WWTP) in order to regenerate it before releasing it to the environment. Combined UDN (CUDN) carries both rain and wastewater together, which can overload the UDN and produce combined sewer overflows (CSO) that irreversibly pollute the environment. Management of CUDN is receiving increasing attention from both researchers and water managers, in order to meet the high quality standards required for water and environment according to Water Framework Directive. Because of the complex dynamics of water quality, integrated control of CUDN considering both flows and quality of the conveyed wastewater is a difficult problem. In order to operate CUDN efficiently, real-time control (RTC) based on a conceptual quality model appears as a suitable option. This paper mainly presents a simplified conceptual quality modelling approach to represent the dynamics of suspended solid in sewers of CUDN oriented to real-time control. A simulator of SWMM (storm water management model) integrated with a lumped conceptual model for total suspended solid (TSS) is used for calibration and validation. A real example of Perinot sewer network is used as a case study. Discussions about RTC implementation in CUDN are also provided in this paper, where Model Predictive Control (MPC) is proposed as the optimal method to control the integrated water and quality models in CUDN as future motivation.
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TuA06 Regular Session, Mermoz |
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Aeronautics and Aerospace Applications of Robust Control |
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Chair: Ninin, Jordan | ENSTA Bretagne, Lab-STICC UMR CNRS 6285 |
Co-Chair: Marcos, Andres | Univ. of Bristol |
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10:00-10:20, Paper TuA06.1 | Add to My Program |
Damping Improvement of a F-16 Aircraft through Linear Matrix Inequalities |
Andrade, J. P. P. | Federal Univ. of ABC |
Campos, V. A. F. | Federal Univ. of ABC |
Potts, A. S. | Federal Univ. of ABC |
Garcia, Claudio | Pol. School of the Univ. of Sao Paulo |
Keywords: Robust linear matrix inequalities, Robust control, Linear multivariable systems
Abstract: This work presents an application of Linear Matrix Inequalities (LMI) for the robust control of an F-16 aircraft through an algorithm that ensuring the damping factor to the closed-loop system. The results of some tests show that the zero and gain settings are sufficient to ensure robust performance and stability with respect to various operation points. This is one of the main characteristics of LMI’s, which are mathematical tools widely applied in control theory, which allow the simultaneous treatment of several performance and robustness requirements. The pole placement is the technique used with the aim to put the system poles in closed-loop in a specific region of the complex plane. Test results using a lateral dynamic model of the F-16 aircraft are presented and discussed.
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10:20-10:40, Paper TuA06.2 | Add to My Program |
A Global Optimization Approach to H_infty Synthesis with Parametric Uncertainties Applied to AUV Control |
Monnet, Dominique | ENSTA Bretagne, Lab-STICC UMR CNRS 6285 |
Ninin, Jordan | ENSTA Bretagne, Lab-STICC UMR CNRS 6285 |
Clement, Benoit | ENSTA Bretagne, Lab-STICC UMR CNRS 6285 |
Keywords: Robust controller synthesis, Robust control (linear case), Controller constraints and structure
Abstract: Given a Linear Time Invariant (LTI) system with parametric uncertainties, we propose a new method to synthesize a structured controller with H_infty constraints. Our approach is based on global optimization. The problem is formulated as a min-max optimization problem. A new version of a global optimization algorithm based on interval arithmetic is implemented to solve this kind of problems. To validate our approach, an example of Autonomous Underwater Vehicle (AUV) regulation to synthesize a PID controller with two H_infty constraints and two parametric uncertainties is given.
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10:40-11:00, Paper TuA06.3 | Add to My Program |
Semidenite Programming Solution to the Spacecraft Analysis and Control Problem |
Salton, Aurelio Tergolina | Pontifícia Univ. Católica Do Rio Grande Do Sul (PUCRS) |
Castro, Rafael | PUCRS |
Serpa Borges, Bernardo | Pontifical Catholic Univ. of Rio Grande Do Sul |
Flores, Jeferson Vieira | UFRGS |
Coutinho, Daniel | Univ. Federal De Santa Catarina |
Keywords: Robust linear matrix inequalities, Lyapunov methods, Aerospace
Abstract: This paper provides a semidefinite optimization solution to the analysis and control of a rigid rotating spacecraft. Due to the quaternion representation of a rotating body, the nonlinearities that describe the system are polynomial in nature and may be expressed in the Dierential Algebraic Representation (DAR). Once the system is in this form, it is possible to apply linear-based tools for the analysis and control design of the closed loop dynamics. The task is then reduced to that of a semidenite optimization problem subject to constraints in the form of Linear Matrix Inequalities (LMIs).
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11:00-11:20, Paper TuA06.4 | Add to My Program |
LFT Modeling and Mu Analysis of the Aircraft Landing Benchmark (I) |
Iannelli, Andrea | Univ. of Bristol |
Simplicio, Pedro | Univ. of Bristol |
Navarro-Tapia, Diego | Univ. of Bristol |
Marcos, Andres | Univ. of Bristol |
Keywords: Robustness analysis, Uncertainty descriptions
Abstract: The landing of a civil transport aircraft is one of the most challenging phases. The reason mainly lies in the need to satisfy different concurrent requirements in the face of a wide range of system variations and environmental perturbations. Automatic control laws have been developed in the past to address this complex scenario, using an involved iterative process of design, tuning and validation. Due to the uncertainties and perturbations present in this phase, robust synthesis techniques (e.g standard and structured H_inf design) provide an effective framework to accomplish these tasks. This compels on the other hand to rely on procedures to generate the proper mathematical description of the plant and the availability of analysis tools to obtain time efficient robust predictions and insight into the system being analyzed. This work presents the application of Linear Fractional Transformation modeling and mu analysis to the Aircraft Landing Benchmark proposed by ONERA and Airbus.
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11:20-11:40, Paper TuA06.5 | Add to My Program |
Robust Flare Control Design Using Structured H-Infinity Synthesis: A Civilian Aircraft Landing Challenge (I) |
Navarro-Tapia, Diego | Univ. of Bristol |
Simplicio, Pedro | Univ. of Bristol |
Iannelli, Andrea | Univ. of Bristol |
Marcos, Andres | Univ. of Bristol |
Keywords: Robust controller synthesis, Controller constraints and structure, Robust control applications
Abstract: This paper addresses the flare design of a civilian aircraft within the benchmark proposed by ONERA and AIRBUS to enhance the robustness and capabilities of autoland control systems. The flare segment must perform soft landings within a desired range of touchdown points on the runway in the presence of parametric uncertainties, strong wind turbulence and ground effects. In this paper, a structured H-infinity approach based on the standard H-infinity formulation is explored for the vertical speed controller. In addition, some strategies to improve the robustness of the autoland control system against some critical parameters are described. Finally, the longitudinal performance and robustness of the control system are examined through nonlinear nominal simulations and Monte-Carlo analysis.
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11:40-12:00, Paper TuA06.6 | Add to My Program |
Robust Autopilot Design for Crosswind Landing (I) |
Theis, Julian | Hamburg Univ. of Tech |
Ossmann, Daniel | Univ. of Minnesota |
Pfifer, Harald | Univ. of Nottingham |
Keywords: Robust control applications, Aerospace
Abstract: A comprehensive autolanding design for the representative model of a twin-engined commercial aircraft is presented in this paper. A cascaded structure is selected to facilitate the design task and to minimize control law switching. Classical loopshaping and robust control techniques are used to design the individual control loops. The emphasis is on design parameters with a clear relation to design objectives, resulting in an intuitive tuning procedure. The control system's ability to safely land the aircraft despite strong crosswind in a variety of possible scenarios is demonstrated in an industry-grade verification campaign. Monte Carlo simulations are used to assess the risk of unsafe landing conditions and provide insight into the performance characteristics and limitations of the proposed control system.
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TuA07 Regular Session, Spot |
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Closed Loop Identification |
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Chair: Van den Hof, Paul M.J. | Eindhoven Univ. of Tech |
Co-Chair: Gilson, Marion | Univ. of Lorraine |
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10:00-10:20, Paper TuA07.1 | Add to My Program |
Conditions for Handling Confounding Variables in Dynamic Networks (I) |
Dankers, Arne | Univ. of Calgary |
Van den Hof, Paul M.J. | Eindhoven Univ. of Tech |
Materassi, Donatello | Univ. of Tennessee |
Weerts, Harm H.M. | Eindhoven Univ. of Tech |
Keywords: Closed loop identification
Abstract: In this paper we focus on consistently identifying a transfer function (module) embedded in a dynamic network. When identifying a module embedded in a dynamic network, a critical choice is which variables to include as predictor inputs. In the system identification literature sufficient conditions have been derived. One condition is that there should be no confounding variables. We show that this condition can be relaxed.
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10:20-10:40, Paper TuA07.2 | Add to My Program |
Comparison of Regularized Least-Squares Approach and Predictive Error Method: Case Studies |
Fang, Mengyuan | Zhejiang Univ |
Zhu, Yucai | Zhejiang Univ |
Keywords: Closed loop identification, Bayesian methods
Abstract: There are recently studies on linear system identification with high order finite impulse response (FIR) models using the regularized least-squares approach. The regularized approach allows some bias to reduce variance so that the error of the regularized FIR model is minimized. This paper concerns the comparison between the regularized least-square approach and the traditional predictive error method (PEM), using a number of case studies. More cases are included than those used by the authors of the regularized approach, for example, non-white input signal, non-white output noise, low-order systems and closed-loop tests. In most cases PEM outperforms the regularized approach.
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10:40-11:00, Paper TuA07.3 | Add to My Program |
Closed-Loop Identication Based PID Tuning without External Excitation |
Yan, Wengang | Zhejiang Univ |
Zhu, Yucai | Zhejiang Univ |
Zhao, Jun | Zhejiang Univ |
Keywords: Closed loop identification, Identification for control
Abstract: Identification based PID tuning is studied in this work. A method is proposed to achieve the informativity of the closed-loop system. The basic idea is shifting the PID parameters appropriately according to the amplitude of the feedback error. In this way, not only the closed-loop system can be identified accurately without using test signals, but also the control performance can be improved during the data collection period. An internal model control (IMC) design method is applied to tune the PID parameters. The effectiveness of the proposed approach is illustrated by simulations.
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11:00-11:20, Paper TuA07.4 | Add to My Program |
Explicit Parameter-Dependent Representations of Periodic Solutions for a Class of Nonlinear Systems |
Al-Ameri Mohammed, Jehan | Univ. of Leicester |
Tyukin, Ivan | Univ. of Leicester |
Keywords: Nonlinear system identification, Adaptive system and control, Closed loop identification
Abstract: We propose a method for deriving computationally efficient representations of periodic solutions of parameterized systems of nonlinear ordinary differential equations. These representations depend on parameters of the system explicitly, as quadratures of parameterized computable functions. The method applies to systems featuring both linear and nonlinear parameterization, and time-varying right-hand-side; it opens possibilities to invoke scalable parallel computations for numerical evaluation of solutions for various parameter values. Application of the method to parameter estimation problems is illustrated with constructing an algorithm for state and parameter estimation for the Morris-Lecar system.
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11:20-11:40, Paper TuA07.5 | Add to My Program |
Recursive Online IV Methods for Identification of Continuous-Time Slowly Time-Varying Models in Closed Loop |
Padilla, Arturo | Univ. De Lorraine |
Garnier, Hugues | Univ. De Lorraine |
Young, Peter | Lancaster Univ |
Yuz, Juan I. | Univ. Técnica Federico Santa María |
Keywords: Recursive identification, Continuous time system estimation, Closed loop identification
Abstract: Model estimation of industrial processes is often done in closed loop due, for instance, to production constraints or safety reasons. On the other hand, many processes are time-varying because of aging effects or changes in the environmental conditions. In this study, a recursive estimation algorithm for linear, continuous-time, slowly time-varying systems operating in closed loop, is developed. The proposed method consists in coupling linear filter approaches to handle the time-derivative, with closed-loop instrumental variable (IV) techniques to deal with measurement noise. Simulations show the advantages of using this IV-based method.
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TuA08 Open Invited Session, Diamant |
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Interval Estimation Applied to Diagnosis and Control of Uncertain Systems |
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Chair: Raïssi, Tarek | Conservatoire National Des Arts Et Métiers |
Co-Chair: Polyakov, Andrey | INRIA Lille Nord-Europe |
Organizer: Raïssi, Tarek | Conservatoire National Des Arts Et Métiers |
Organizer: Efimov, Denis | Inria |
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10:00-10:20, Paper TuA08.1 | Add to My Program |
Determination of Reachable Flight Regions: A Zonotopic Approach (I) |
Eyang, Elodie | Univ. of Bordeaux - CNRS, IMS Lab |
Combastel, Christophe | Univ. of Bordeaux |
Zolghadri, Ali | Bordeaux Univ |
Keywords: Bounded error identification
Abstract: The general problem addressed in this paper is that of the estimation and prediction of the aircraft flight maneuvering envelope. This work is intended to be further used as the basis of a new approach for predictive safe flight envelope monitoring and early notification of developing off-nominal flight situations. The proposed method combines: i) a Zonotopic Kalman Filter (ZKF) to estimate the set of possible states related to the open-loop flight dynamics of an aircraft, ii) reachable tube computations based on a closed-loop model to predict the future evolution of an aircraft over a specified time window and based on some assumptions about future control activities. The reachable tubes over the moving anticipatory temporal window are initialized and computed at each sample time based on the estimated state set resulting from the ZKF prediction/correction observation scheme which takes into account bounded state and measurement uncertainties. The aircraft benchmark CALC (Civilian Aircraft Landing Challenge) jointly proposed by ONERA (French Aerospace lab) and AIRBUS has been used to provide some preliminary simulation results.
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10:20-10:40, Paper TuA08.2 | Add to My Program |
Interval Observer Design for Unknown Input Estimation of Linear Time-Invariant Discrete-Time Systems (I) |
Robinson, Elinirina Irena | ONERA |
Marzat, Julien | ONERA |
Raïssi, Tarek | Conservatoire National Des Arts Et Métiers |
Keywords: Bounded error identification, Cooperative systems, Fault detection and diagnosis
Abstract: In this paper, the problem of joint state and unknown input estimation for linear time-invariant (LTI) discrete-time systems using interval observer is addressed. This problem has already been studied in the context of continuous-time systems. To the best of our knowledge, unknown input interval-based estimation for discrete-time systems has not been considered in the litterature. Assuming that the measurement noise and disturbances are bounded, lower and upper bounds are first computed for the unmeasured state and then for the unknown inputs. The results obtained with a numerical example highlight the efficiency of the method.
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10:40-11:00, Paper TuA08.3 | Add to My Program |
Event-Based Prediction-Correction State Estimator (I) |
Rabehi, Djahid | Univ. of Orléans, PRISME Lab |
Meslem, Nacim | INP De Grenoble |
El Amraoui, Adnen | Ec. Centrale De Lille (Ec |
Ramdani, Nacim | Univ. D'orléans |
Keywords: Bounded error identification, Event-based control
Abstract: This paper deals with the problem of state estimation for linear continuous-time systems based on the Prediction-Correction (PC) set-membership approach. Although the abundant literature on using the PC estimation approach, the case of event-based measurement sampling is still poorly investigated. In the developed approach, the measurement in the correction step of the PC approach is taken only when a prior defined threshold is crossed. A convergence analysis is proposed for ensuring the boundedness of the estimated state enclosure. The effectiveness of the proposed approach is shown through numerical simulation for an unobservable linear system. This approach is compared to the classical PC approach where the measurement is continuously taken.
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11:00-11:20, Paper TuA08.4 | Add to My Program |
Actuator Fault Compensation in a Set-Membership Framework for Linear Parameter-Varying Systems (I) |
Lamouchi, Rihab | Conservatoire National Des Arts Et Métiers (Cnam) |
Amairi, Messaoud | National Engineering School of Gabes |
Raïssi, Tarek | Conservatoire National Des Arts Et Métiers |
Aoun, Mohamed | Bordeaux 1 |
Keywords: Bounded error identification, Linear parametrically varying (LPV) methodologies, Continuous time system estimation
Abstract: This paper presents an actuator fault compensation approach for a class of Linear Parameter-Varying (LPV) systems with noisy measurements. The proposed method is based on interval estimation assuming that the fault vector and the external disturbances are unknown but bounded. The main idea consists in designing a control law, based on a linear state feedback, to guarantee closed-loop stability. An additive control, based on fault bounds, is used to compensate the impact of actuator faults on system performances. The closed-loop stability of the robust fault compensation scheme is established in the Lyapunov sense. Finally, the theoretical results are illustrated using a numerical example.
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11:20-11:40, Paper TuA08.5 | Add to My Program |
Distributed Zonotopic Set-Membership State Estimation Based on Optimization Methods with Partial Projection (I) |
Wang, Ye | Univ. Pol. De Catalonia |
Alamo, Teodoro | Univ. De Sevilla |
Puig, Vicenc | Univ. Pol. De Catalunya |
Cembrano, Gabriela | UPC |
Keywords: Distributed control and estimation
Abstract: A distributed set-membership approach is proposed for the state estimation of large-scale systems. The uncertain system states are bounded in a sequence of the distributed set-membership estimators considering unknown-but-bounded system disturbances and measurement noise. In the framework of the set-membership approach, the measurement consistency test is implemented by finding parameterized intersection zonotopes. The size of the intersection zonotope is minimized by solving an optimization problem including a sequence of linear/bilinear matrix inequalities based on the weighted 2-norm criterion of the generator matrix. Meanwhile, for the distributed set-membership estimators, the partial projection method is considered to correct the estimation of the neighbor state. On the other hand, an on-line method is also provided. Finally, the proposed distributed set-membership approach is verifed in a case study based on a urban drainage network.
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11:40-12:00, Paper TuA08.6 | Add to My Program |
On Design of Interval Observers for Parabolic PDEs (I) |
Kharkovskaia, Tatiana | ITMO Univ |
Efimov, Denis | Inria |
Fridman, Emilia | Tel-Aviv Univ |
Polyakov, Andrey | INRIA Lille Nord-Europe |
Richard, Jean-Pierre | Ec. Centrale De Lille |
Keywords: Distributed control and estimation, Continuous time system estimation
Abstract: The problem of state estimation for heat non-homogeneous equations under distributed in space measurements is considered. An interval observer is designed, described by Partial Differential Equations (PDEs), for uncertain distributed parameter systems without application of finite-element approximations. Conditions of boundedness of solutions of interval observer with non-zero boundary conditions and measurement noise are proposed. The results are illustrated by numerical experiments with an academic example.
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TuA09 Regular Session, Argos |
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Optimal Control Theory I |
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Chair: Tarasyev, Alexander | Krasovskii Inst. of Mathematics and Mechanics of Ural Branch of RAS, Ural Federal Univ |
Co-Chair: Gusev, Mikhail | N.N.Krasovskii Inst. of Mathematics and Mechanics, Ural Branch of RAS |
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10:00-10:20, Paper TuA09.1 | Add to My Program |
On the Partial Rational Stabilizability of Nonlinear Systems by Optimal Feedback Control: Examples |
Zaghdoudi, Maâli | Tunisia |
Jammazi, Chaker | Univ. De Carthage, Ec. Pol. De Tunisie |
Keywords: Optimal control theory
Abstract: This paper deals with the problem of rational stabilizability of nonlinear control systems by optimal control. Many sufficient conditions are derived characterizing the partial rational stabilizability by optimal feedback laws. Our main results are applied on the class of control systems with drift, where an optimal feedback laws are built stabilizing partially these systems with the rate decay displaystyle frac{1}{t^{alpha}},,alpha>0.
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10:20-10:40, Paper TuA09.2 | Add to My Program |
Application of Optimal Control and Stabilization to an Infinite Time Horizon Problem under Constraints |
Krasovskii, Andrey | International Inst. for Applied Systems Analysis (IIASA) |
Lebedev, Pavel | Inst. of Mathematics and Mechanics, Ekaterinburg |
Tarasyev, Alexander | Krasovskii Inst. of Mathematics and Mechanics of Ural Branch |
Keywords: Optimal control theory, Hamiltonian trajectories in optimal control, Modeling for control optimization
Abstract: In modeling the dynamics of capital, the Ramsey equation coupled with the Cobb-Douglas production function is reduced to a linear differential equation by means of the Bernoulli substitution. This equation is used in the optimal growth problem with logarithmic preferences. We consider a vector field of the Hamiltonian system in the Pontryagin maximum principle, taking into account the control constraints. We prove the existence of two alternative steady states, depending on the constraints. A proposed algorithm for constructing growth trajectories combines methods of open-loop control and closed-loop stabilizing control. Results are supported by modeling examples.
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10:40-11:00, Paper TuA09.3 | Add to My Program |
Successive Convexification of Non-Convex Optimal Control Problems with State Constraints |
Mao, Yuanqi | Univ. of Washington |
Dueri, Daniel | Univ. of Texas at Austin |
Szmuk, Michael | Univ. of Washington |
Acikmese, Behcet | Univ. of Washington |
Keywords: Optimal control theory, Control of constrained systems, Real-time control
Abstract: This paper presents a Successive Convexification (SCvx) algorithm to solve a class of non-convex optimal control problems with certain types of state constraints. Sources of non-convexity may include nonlinear dynamics and non-convex state/control constraints. To tackle the challenge posed by non-convexity, first we utilize exact penalty function to handle the nonlinear dynamics. Then the proposed algorithm successively convexifies the problem via a project-and-linearize procedure. Thus a finite dimensional convex programming subproblem is solved at each succession, which can be done efficiently with fast Interior Point Method (IPM) solvers. Global convergence to a local optimum is demonstrated with certain convexity assumptions, which are satisfied in a broad range of optimal control problems. The proposed algorithm is particularly suitable for solving trajectory planning problems with collision avoidance constraints. Through numerical simulations, we demonstrate that the algorithm converges reliably after only a few successions. Thus with powerful IPM based custom solvers, the algorithm can be implemented onboard for real-time autonomous control applications.
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11:00-11:20, Paper TuA09.4 | Add to My Program |
An Indirect Method for Inequality Constrained Optimal Control Problems |
Wang, Zhong | Other |
Li, Yan | Northwestern Pol. Univ |
Keywords: Optimal control theory, Control of constrained systems, Systems with saturation
Abstract: The inequality constrained nonlinear optimal control problem is difficult to handle using indirect numerical methods, since solving the resulting two-point boundary value problem (TPBVP) usually requires a priori information about the structure of the solution. In this paper, a fast and accurate indirect method is proposed for a class of inequality constrained optimal control problems. Firstly, the analytic form of the optimal control is proved for the problem subject to input saturations. Secondly, trigonometric regularization function is designed and incorporated in the cost function to implement the state constraints. Then the state and input constrained optimal control problem is directly transformed into a standard two-point boundary value problem without constraints. Comparisons with the pseudospectral method are conducted to verify the effectiveness and efficiency of the proposed method. In the input constrained case, the proposed indirect method gives more accurate solution with much faster convergence speed. While for the optimal control problem with both input and state constraints, the proposed method sacrifices a little accuracy for a faster speed.
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11:20-11:40, Paper TuA09.5 | Add to My Program |
Experimentally Validated Model Predictive Controller for a Hexacopter |
Ligthart, Jeroen Augustinus Johannes | Eindhoven Univ. of Tech |
Poksawat, Pakorn | RMIT Univ |
Wang, Liuping | RMIT Univ |
Nijmeijer, Hendrik | Eindhoven Univ. of Tech |
Keywords: Optimal control theory, Control of constrained systems, UAVs
Abstract: In recent years, Unmanned Aerial Vehicles (UAVs) have become feasible solutions to various applications such as military flight missions, search and rescue operations, and geological mapping. The attitude control systems for UAVs need to be very robust to ensure safe and stable flights. To improve the stability beyond conventional control methods, a novel Model Predictive Control (MPC) formulation is proposed. In this paper, the mathematical derivation of the MPC controller is discussed. The novelty lies in the three-termed MPC cost function for attitude flight stability. The control strategy introduced in this paper is validated with experiments on a hexacopter in a custom fabricated experimental rig and with outdoor flight tests. The results show that the UAV is able to follow the operator's aggressive manoeuvring commands. Based on the data obtained, the MPC controller appears to be a promising control method to improve UAVs' performance.
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11:40-12:00, Paper TuA09.6 | Add to My Program |
On Extremal Properties of Boundary Points of Reachable Sets for a System with Integrally Constrained Control |
Gusev, Mikhail | N.N.Krasovskii Inst. of Mathematics and Mechanics, Ural Bran |
Zykov, Igor | N.N.Krasovskii Inst. of Mathematics and Mechanics UB RAS |
Keywords: Optimal control theory, Control problems under conflict and/or uncertainties, Application of nonlinear analysis and design
Abstract: We consider a reachability problem for a nonlinear affine-control system with quadratic integral constraints. For pointwise constrained control inputs it is known that a control function steering the trajectory to the boundary of its reachable set satisfies the Pontryagin maximum principle. For the case of integral constraints we show that every admissible control that steers the control system to the boundary of reachable set provides a local solution to some optimal control problem with integral cost functional. The last implies the Pontryagin maximum principle for the extremal controls. A numerical procedure for calculating the reachable sets based on the Pontryagin maximum principle is proposed.
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TuA10 Regular Session, Cassiopée |
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Application of Nonlinear Analysis and Design |
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Chair: Katebi, Reza | Univ. of Strathclyde |
Co-Chair: Massioni, Paolo | INSA De Lyon |
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10:00-10:20, Paper TuA10.1 | Add to My Program |
Robust Nonlinear Control of a Three-Tank System in the Presence of Mismatched Uncertainties |
Yang, Zi-Jiang | Ibaraki Univ |
Sugiura, Hiroyuki | Ibaraki Univ |
Keywords: Disturbance rejection, Robust control, Application of nonlinear analysis and design
Abstract: In this paper, we propose a finite-time disturbance observer-based robust control for output tracking of the Inteco three-tank system in the presence of mismatched nonlinear uncertainties. The controller is designed in a backstepping manner. At each step of the virtual controller design, a robust feedback controller with some effective nonlinear damping terms is designed so that the system states remain in the feasible domain. The virtual controller is enhanced by a finite-time disturbance observer, and the dynamic surface control technique which employs a first-order low-pass filter is adopted at each step of the virtual controller design to avoid the shortcoming of “explosion of terms”. Theoretical analysis is performed to clarify the control performance and simulation studies on the Inteco three-tank system model are included to show the efficacy of the proposed control method.
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10:20-10:40, Paper TuA10.2 | Add to My Program |
Swing-Up of the Moving Double Pendulum on a Cart with Simulation Based LQR-Trees |
Xu, Ke | Univ. Paderborn |
Timmermann, Julia | Univ. of Paderborn |
Traechtler, Ansgar | Univ. of Paderborn |
Keywords: Application of nonlinear analysis and design, Control of constrained systems, Real-time control
Abstract: This paper presents the control design problem for the real-time swing-up and stabilization of a double pendulum on a cart from a large set of non-stationary initial conditions. The proposed algorithm generates a tree of feedback stabilized trajectories leading to the upper equilibrium of the pendulum. For each trajectory in the tree, the algorithm determines the set of states near the nominal trajectory from which the system can be transfered to the upper equilibrium without violating the state and input constraints using the feedback controller of the trajectory. This set of states is defined as the funnel of the stabilized trajectory. The design of a control strategy for a large set of initial states is equivalent to the coverage of the desired region in state space using funnels. Several modifications of the original LQR-trees algorithm are introduced in this contribution, which includes a discretization based approximation of the funnel, the exploration of symmetric property of the double pendulum and the coverage of a design set which has a lower dimension than the state space. We show both simulation results and experimental validation of the proposed method.
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10:40-11:00, Paper TuA10.3 | Add to My Program |
Extended NGMV Predictive Control of Quasi-LPV Systems |
Grimble, Michael | Univ. of Strathclyde, Industrial Control Centre |
Majecki, Pawel | Univ. of Strathclyde |
Katebi, Reza | Univ. of Strathclyde |
Keywords: Application of nonlinear analysis and design, Optimal control theory, Linear parameter-varying systems
Abstract: A novel form of Nonlinear Generalized Minimum Variance controller is introduced, which has properties somewhere between those of a traditional model predictive controller and a Generalized Minimum Variance controller. Future set point information can be taken into account and an end state weighting can be introduced, but the algorithm is simpler than a traditional model predictive controller. The system includes a quasi linear parameter varying model and an input subsystem represented by a general nonlinear operator.
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11:00-11:20, Paper TuA10.4 | Add to My Program |
Robust Simulation of Rational Discrete-Time Systems Via Sum of Squares Relaxations |
Massioni, Paolo | INSA De Lyon |
Scorletti, Gerard | Ec. Centrale De Lyon |
Keywords: Application of nonlinear analysis and design, Sum-of-squares, Convex optimization
Abstract: This paper concerns the simulation of a class of nonlinear discrete-time systems under a set of initial conditions described by an ellipsoid. We derive a procedure allowing the propagation of such ellipsoids through time, which makes it possible to set a guaranteed hard bound on the evolution of the state of the system for all the possible initial conditions. At the end of the paper, we show an application of the method through three academics examples, two of which are taken from the theory of fractals.
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11:20-11:40, Paper TuA10.5 | Add to My Program |
Global Tracking-Stabilization Control of Mobile Robots with Parametric Uncertainty |
Maghenem, Mohamed | Univ. Paris Sud |
Loria, Antonio | CNRS |
Panteley, Elena V. | Cnrs, Itmo |
Keywords: Application of nonlinear analysis and design, Time-varying systems, Adaptive control
Abstract: We present a simple time-varying controller for tracking problem of mobile robots. We consider the full model of autonomous vehicles, including both the kinematics and the Lagrangian dynamics equations. Our control approach relies on designing a controller at the kinematics level, under any integrable virtual leader velocities, which is robust to any controller, at the torc level, that guarantees that the velocity errors are square integrable. In addition, we assume that the inertia is unknown hence, we use a passivity-based adaptive controller that guarantees the convergence of the velocity tracking errors.
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11:40-12:00, Paper TuA10.6 | Add to My Program |
Purcell Magneto-Elastic Swimmer Controlled by an External Magnetic Field |
Zoppello, Marta | Univ. Degli Studi Di Padova |
Giraldi, Laetitia | Univ. Cote D'azur, LJAD, INRIA Sophia-Antipolis |
Alouges, François | Ec. Pol. CMAP, CNRS UMR 7641 |
DeSimone, Antonio | SISSA |
Keywords: Application of nonlinear analysis and design, Tracking, Control in system biology
Abstract: This paper focuses on the mechanism of propulsion of a Purcell swimmer whose segments are magnetized and react to an external magnetic field applied into the fluid. By an asymptotic analysis, we prove that it is possible to steer the swimmer along a chosen direction when the control functions are prescribed as an oscillating field. Moreover, we discuss what are the main obstructions to overcome in order to get classical controllability result for this system.
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TuA11 Open Invited Session, Ariane 1 |
Add to My Program |
The Legacy of A.M. Lyapunov to Systems and Control Theory. 110 Years of the
Toulouse Edition "The General Problem of the Stability of Motion" - I |
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Chair: Pakshin, Pavel | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
Co-Chair: Panteley, Elena V. | Cnrs, Itmo |
Organizer: Pakshin, Pavel | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
Organizer: Panteley, Elena V. | Cnrs, Itmo |
Organizer: Pakshina, Natalia | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
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10:00-10:20, Paper TuA11.1 | Add to My Program |
Early Days of the Absolute Stability Theory in Saint Petersburg (Leningrad): Lurie, Rosenwasser, Yakubovich (I) |
Fradkov, Alexander L. | Russian Acad. of Sciences |
Lipkovich, Mikhail | Saint Petersburg State Univ |
Keywords: Stability of nonlinear systems, Lyapunov methods
Abstract: Absolute stability theory is an important and bright page in the history of automatic control theory. The ideas of its founders influenced subsequent development of control theory. The methods developed in their pioneering works formed the basis of many subsequent works on the theory of nonlinear and robust systems. In this talk the early stages of development of the absolute stability theory will be surveyed which were held in St. Petersburg, then Leningrad, in the 1940s-1960s and were primarily associated with the names of outstanding scientists Anatoly Lurie, Efim Rosenwasser, Vladimir Yakubovich. Particularly, the history of Lurie problem, Kalman-Yakubovich-Popov (KYP) lemma and circle criterion will be discussed.
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10:20-10:40, Paper TuA11.2 | Add to My Program |
Yakubovich's Method of Recurrent Objective Inequalities and Its Application in Adaptive Control and Robotics (I) |
Gusev, Sergei V. | St. Petersburg State Univ |
Bondarko, Vladimir A. | St. Petersburg State Univ |
Keywords: Adaptive control, Lyapunov methods, Tracking
Abstract: The purpose of the paper is to introduce to the control community the brilliant but little-known part of Yakubovich's academic heritage --- the method of recurrent objective inequalities. This method was successfully used by V.A.Yakubovich and his followers in pattern recognition, adaptive control and robotics. The paper deals with the last two topics. The most of surveyed results were published in Russian. A 1975 video about experiments with the first Soviet self-learning robot will be shown.
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10:40-11:00, Paper TuA11.3 | Add to My Program |
Three Approaches to the Proof of Kalman-Yakubovich-Popov Lemma (I) |
Gusev, Sergei V. | St. Petersburg State Univ |
Keywords: Lyapunov methods, Stability of nonlinear systems, Sum-of-squares
Abstract: The Kalman-Yakubovich-Popov (KYP) lemma is a fundamental result of control theory. It has applications in many areas of automatic control and is referred in thousands of papers. Every year new versions and generalizations of the KYP lemma are published. The paper explores three existing approaches to the proof of the lemma: algebraic methods, the use of linear-quadratic optimization, and the convex duality approach. A brief survey of the results achieved in each approach is presented, and some of the existing problems are discussed.
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11:00-11:20, Paper TuA11.4 | Add to My Program |
Stability Analysis of 2D Roesser Systems Via Vector Lyapunov Functions (I) |
Pakshin, Pavel | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
Emelianova, Julia | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
Galkowski, Krzysztof | Univ. of Zielona Gora |
Rogers, Eric | Univ. of Southampton |
Keywords: Lyapunov methods, Stability of nonlinear systems, Stability of hybrid systems
Abstract: The paper gives new results that contribute to the development of a stability theory for 2D nonlinear discrete and differential systems described by a state-space model of the Roesser form using an extension of Lyapunov's method. One of the main difficulties in using such an approach is that the full derivative or its discrete counterpart along the trajectories cannot be obtained without explicitly finding the solution of the system under consideration. This has led to the use of a vector Lyapunov function and its divergence or its discrete counterpart along the system trajectories. Using this approach, new conditions for asymptotic stability are derived in terms of the properties of two vector Lyapunov functions. The properties of asymptotic stability in the horizontal and vertical dynamics, respectively, are introduced and analyzed. This new properties arise naturally for repetitive processes where one of the two independent variables is defined over a finite interval. Sufficient conditions for exponential stability in terms of the properties of one vector Lyapunov function are also given as a natural follow on from the asymptotic stability analysis.
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11:20-11:40, Paper TuA11.5 | Add to My Program |
Two Lyapunov Methods in Nonlinear State Estimation Via Finite Capacity Communication Channels (I) |
Matveev, Alexey S. | St.Petersburg Univ |
Pogromsky, A. Yu. | Eindhoven Univ. of Tech |
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11:40-12:00, Paper TuA11.6 | Add to My Program |
Pass Profile Exponential and Asymptotic Stability of Nonlinear Repetitive Processes (I) |
Pakshin, Pavel | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
Emelianova, Julia | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
Emelianov, Mikhail | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
Galkowski, Krzysztof | Univ. of Zielona Gora |
Rogers, Eric | Univ. of Southampton |
Keywords: Lyapunov methods, Stability of nonlinear systems, Stability of hybrid systems
Abstract: This paper considers discrete and differential nonlinear repetitive processes using the state-space model setting. These processes are a particular class of 2D systems that have their origins in the modeling of physical processes. Their distinguishing characteristic is that one of the two independent variables needed to describe the dynamics evolves over a finite interval and therefore they are defined over a subset of the upper-right quadrant of the 2D plane. The current stability theory for nonlinear dynamics assumes that they operate over the complete upper-right quadrant and this property may be too strong for physical applications, particulary in terms of control law design. With applications in mind, the contribution of this paper is the use of vector Lyapunov functions to characterize a new properties termed pass profile exponential stability and pass profile asymptotic stability.
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TuA12 Open Invited Session, Ariane 2 |
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Reinforcement Learning for Control |
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Chair: Busoniu, Lucian | Tech. Univ. of Cluj-Napoca |
Co-Chair: De Schutter, Bart | Delft Univ. of Tech |
Organizer: Busoniu, Lucian | Tech. Univ. of Cluj-Napoca |
Organizer: Babuska, Robert | Delft Univ. of Tech |
Organizer: Jagannathan, Sarangapani | Missouri Univ. of Science and Tech |
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10:00-10:20, Paper TuA12.1 | Add to My Program |
Learning Suboptimal Broadcasting Intervals in Multi-Agent Systems (I) |
Tolic, Domagoj | Univ. of Dubrovnik |
Palunko, Ivana | Univ. of Dubrovnik |
Keywords: Reinforcement learning control, Remote and distributed control
Abstract: In this paper, agents learn how often to exchange information with neighbors in cooperative Multi-Agent Systems (MASs) such that their user-defined cost functions are minimized. The investigated cost functions capture trade-offs between the MAS local control performance and energy consumption of each agent in the presence of exogenous disturbances. Agent energy consumption is critical for prolonging the MAS mission and is comprised of both control (e.g., acceleration, velocity) and communication efforts. The proposed methodology starts off by computing upper bounds on asynchronous broadcasting intervals that provably stabilize the MAS. Subsequently, we utilize these upper bounds as optimization constraints and employ an online learning algorithm based on Least Square Policy Iteration (LSPI) to minimize the cost function for each agent. Consequently, the obtained broadcasting intervals adapt to the most recent information (e.g., delayed and noisy agents' inputs and/or outputs) received from neighbors and provably stabilize the MAS. Chebyshev polynomials are utilized as the approximator in the LSPI while Kalman Filtering (KF) handles sampled, corrupted and delayed data. The proposed methodology is exemplified in a consensus control problem with general linear agent dynamics.
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10:20-10:40, Paper TuA12.2 | Add to My Program |
Stacked Adaptive Dynamic Programming with Unknown System Model (I) |
Osinenko, Pavel | Tech. Univ. Chemnitz |
Göhrt, Thomas | Tech. Univ. Chemnitz |
Devadze, Grigory | Tech. Univ. Chemnitz |
Streif, Stefan | Tech. Univ. Chemnitz |
Keywords: Reinforcement learning control
Abstract: Adaptive dynamic programming is a collective term for a variety of approaches to infinite-horizon optimal control. Common to all approaches is approximation of the infinite-horizon cost function based on dynamic programming philosophy. Typically, they also require knowledge of a dynamical model of the system. In the current work, application of adaptive dynamic programming to a system whose dynamical model is unknown to the controller is addressed. In order to realize the control algorithm, a model of the system dynamics is estimated with a Kalman filter. A stacked control scheme to boost the controller performance is suggested. The functioning of the new approach was verified in simulation and compared to the baseline represented by gradient descent on the running cost.
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10:40-11:00, Paper TuA12.3 | Add to My Program |
Data-Driven Adaptive LQR for Completely Unknown LTI Systems (I) |
Jha, Sumit Kumar | Indian Inst. of Tech. Delhi, New Delhi |
Basu Roy, Sayan | Indian Inst. of Tech. Delhi |
Bhasin, Shubhendu | Indian Inst. of Tech. Delhi |
Keywords: Reinforcement learning control
Abstract: In this paper, a data-driven on-policy optimal control design is proposed for continuous-time linear time invariant (LTI) systems with completely unknown dynamics. An online system identifier and control gain parameter estimator, which use past and current data together with standard gradient descent update laws, facilitate the design of an adaptive optimal controller that guarantees parameter convergence without the need of persistence of excitation (PE). Unlike the classical approach of enforcing the restrictive PE condition on the regressor, the data-driven approach is verifiable online and establishes parameter convergence from information rich past stored data simultaneously with the current data. A state feedback controller is designed using a dynamic gain parameter which is shown to converge to the neighborhood of the optimal LQR gain. Semi-global uniformly ultimately bounded (UUB) stability of the overall system is established using Lyapunov-based analysis. Simulation results further validate the developed result.
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11:00-11:20, Paper TuA12.4 | Add to My Program |
Optimal Control Via Reinforcement Learning with Symbolic Policy Approximation (I) |
Kubalik, Jiri | Czech Inst. of Informatics, Robotics, and Cybernetics, CTU I |
Alibekov, Eduard | Czech Tech. Univ. in Prague |
Babuska, Robert | Delft Univ. of Tech |
Keywords: Reinforcement learning control, Evolutionary algorithms in control and identification
Abstract: Model-based reinforcement learning (RL) algorithms can be used to derive optimal control laws for nonlinear dynamic systems. With continuous-valued state and input variables, RL algorithms have to rely on function approximators to represent the value function and policy mappings. This paper addresses the problem of finding a smooth policy based on the value function represented by means of a basis-function approximator. We first show that policies derived directly from the value function or represented explicitly by the same type of approximator lead to inferior control performance, manifested by non-smooth control signals and steady-state errors. We then propose a novel method to construct a smooth policy represented by an analytic equation, obtained by means of symbolic regression. The proposed method is illustrated on a reference-tracking problem of a 1-DOF robot arm operating under the influence of gravity. The results show that the analytic control law performs at least equally well as the original numerically approximated policy, while it leads to much smoother control signals. In addition, the analytic function is readable (as opposed to black-box approximators) and can be used in further analysis and synthesis of the closed loop.
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11:20-11:40, Paper TuA12.5 | Add to My Program |
Near-Optimal Control with Adaptive Receding Horizon for Discrete-Time Piecewise Affine Systems (I) |
Xu, Jia | Delft Univ. of Tech |
Busoniu, Lucian | Tech. Univ. of Cluj-Napoca |
De Schutter, Bart | Delft Univ. of Tech |
Keywords: Reinforcement learning control
Abstract: We consider the infinite-horizon optimal control of discrete-time, Lipschitz continuous piecewise affine systems with a single input. Stage costs are discounted, bounded, and use a 1 or infinity-norm. Rather than using the usual fixed-horizon approach from model-predictive control, we tailor an adaptive-horizon method called optimistic planning for continuous actions (OPC) to solve the piecewise affine control problem in receding horizon. The main advantage is the ability to solve problems requiring arbitrarily long horizons. Furthermore, we introduce a novel extension that provides guarantees on the closed-loop performance, by reusing data ("learning") across different steps. This extension is general and works for a large class of nonlinear dynamics. In experiments with piecewise affine systems, OPC improves performance compared to a fixed-horizon approach, while the data-reuse approach yields further improvements.
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11:40-12:00, Paper TuA12.6 | Add to My Program |
Improved Classification with Semi-Supervised Deep Belief Network |
Wang, Gongming | Beijing Univ. of Tech |
Qiao, Junfei | Beijing Univ. of Tech |
Li, Xiaoli | Univ. of Science and Tech. Beijing |
Wang, Lei | Beijing Univ. of Tech |
Qian, Xiao-long | Northeastern Univ |
Keywords: Fuzzy and neural systems relevant to control and identification
Abstract: Classification problem is important for big data processing, and deep learning method named deep belief network (DBN) is successfully applied into classification. But traditional DBN is an unsupervised learning method, which leads to a gap between extracted features and concrete tasks. In this paper, a semi-supervised DBN (SSDBN) based on semi-supervised restricted Boltzmann machine(SSRBM) is proposed to shorten the gap and improve the accuracy of classification. Firstly, through introducing relevance constraint, supervised information is equivalently integrated into the learning process of restricted Boltzmann machine. Secondly, SSDBN-based model is constructed to improve the accuracy of classification problem. Finally, the proposed SSDBN is validated with hand-written digits classification standard dataset MNIST, and experimental results show that SSDBN outperforms traditional DBN and other models with respect to classification.
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TuA13 Invited Session, St Exupéry |
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History of the Control of Distributed Parameter Systems |
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Chair: Meurer, Thomas | Christian-Albrechts-Univ. Kiel |
Co-Chair: Dochain, Denis | Univ. Catholique De Louvain |
Organizer: Meurer, Thomas | Christian-Albrechts-Univ. Kiel |
Organizer: Dochain, Denis | Univ. Catholique De Louvain |
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10:00-10:40, Paper TuA13.1 | Add to My Program |
On Fattorini's Paper: ``Boundary Control Systems'' (I) |
Zwart, Hans | Univ. of Twente |
Keywords: well-posed distributed parameter systems, Linear systems, Time-invariant systems
Abstract: In 1968 Fattorini published in SIAM Journal on Control his well-known paper with the title ``Boundary Control Systems''. In this paper he sets up the abstract theory for systems described by partial differential equations with a control at the boundary. The theory as presented is complete, meaning that it could be copied into textbooks and articles without major alternations. In his paper and in these textbooks one finds examples illustrating the use of this abstract concept. However, as we will show, these examples are much older, and are more or less standard within the theory of partial differential equations with an inhomogeneous boundary condition.
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10:40-11:00, Paper TuA13.3 | Add to My Program |
Time-Domain and Frequency Domain Approaches to LQ-Optimal Control of Infinite-Dimensional Systems (I) |
Winkin, Joseph J. | Univ. of Namur (UNamur) |
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11:00-11:20, Paper TuA13.4 | Add to My Program |
Stabilization of Partial Differential Equations: The Importance of the Nonlinearities (I) |
Coron, Jean-michel | Univ. Pierre Et Marie Curie |
Keywords: Asymptotic stabilization, Distributed nonlinear control, stability of distributed parameter systems
Abstract: In this talk we survey how some successful methods for the stabilization of nonlinear finite dimensional control systems have been adapted to deal with control systems modeled by means of nonlinear partial differential equations. A special emphasis is put on cases where the nonlinearities have an important role and the methods will be presented on physical equations, as the heat equation, the Navier-Stokes and the Euler equations of incompressible fluids, the Saint-Venant equations (shallow water equations), the Korteweg-de Vries equations and the Schrödinger equations. We also present a real life application, namely the regulation of the rivers La Sambre and La Meuse. Challenging open problems are also briefly described.
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11:20-11:40, Paper TuA13.5 | Add to My Program |
Taking a Step Back: A Brief History of PDE Backstepping (I) |
Vazquez, Rafael | Univ. De Sevilla |
Krstic, Miroslav | Univ. of California at San Diego |
Keywords: backstepping control of distributed parameter systems
Abstract: In this talk, we take a brief tour through the history of backstepping as a method for boundary control of Partial Differential Equations (PDEs). We start by reviewing its origins in finite-dimensional control theory and some early works that used Volterra integral transformations. Next we recall the first seminal works of Smyshlyaev and Krstic, which allows us to present the main ingredients of the method, namely the concepts of a backstepping invertible transformation, a target system and the kernel equations, as well as dual results that allow to design observers. From these ideas, the method has been since used to design controllers and observers for many different PDE systems, including parabolic and hyperbolic systems, flows governed by the Navier-Stokes, the Ginzburg-Landau, or the MHD equations, Timoshenko beams, and others. We explore some of these results, as well as some extensions such as adaptive backstepping controllers.
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11:40-12:00, Paper TuA13.6 | Add to My Program |
Some Perspectives in PDE Control (I) |
Meurer, Thomas | Christian-Albrechts-Univ. Kiel |
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TuA14 Open Invited Session, Guillaumet 1 |
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Modelling, Control and Fault Diagnosis for Building Energy Management
Systems |
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Chair: Monnigmann, Martin | Ruhr-Univ. Bochum |
Co-Chair: Ferrari, Riccardo M.G. | Delft Univ. of Tech |
Organizer: Aubrun, Christophe | Univ. of Lorraine |
Organizer: Sauter, Dominique D.J. | Univ. of Lorraine |
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10:00-10:20, Paper TuA14.1 | Add to My Program |
A Message Passing Algorithm for Automatic Synthesis of Probabilistic Fault Detectors from Building Automation Ontologies (I) |
Ferrari, Riccardo M.G. | Delft Univ. of Tech |
Dibowski, Henrik | Honeywell, Home and Building Tech. Lab. Prague |
Baldi, Simone | Delft Univ. of Tech |
Keywords: Estimation and fault detection, Fault diagnosis and fault tolerant control, FDI for nonlinear Systems
Abstract: Model-based fault diagnosis has been indicated as a fundamental method in enabling optimal maintenance of buildings, thus leading to important energy savings. Anyway, accurate models of buildings and their technical equipment are seldom available, and this lack of knowledge applies even more to descriptions of modeling and measurement uncertainties, which are needed for developing robust fault detection thresholds with given performances in terms of False Alarm Rates. In the present paper we propose to overcome both limitations, by introducing: 1) a methodology for the automatic synthesis of a global model of a building and its equipment, leveraging a purposely built ontology-based Building Information Model; and 2) a novel message passing algorithm called MP-BUP for automatically propagating the effects of uncertainties and derive robust probabilistic thresholds.
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10:20-10:40, Paper TuA14.2 | Add to My Program |
Domestic Heat Generation and Distribution with Time-Variant Receding Horizon Control (I) |
Löhr, Yannik | Ruhr-Univ. Bochum |
Monnigmann, Martin | Ruhr-Univ. Bochum |
Keywords: Modeling and simulation of power systems, Model predictive and optimization-based control, Optimal operation and control of power systems
Abstract: Modern domestic heating systems combine conventional heat sources with more advanced devices such as heat pumps or energy storages. Due to the existence of multiple sources and sinks, the question arises, how to operate these systems in an economically optimal fashion. It is natural to pose this question as an optimal control problem that is solved on a receding horizon, where the receding horizon allows to account for periodically updated predictions of the heat demand and energy prices. These periodic updates imply, however, the optimal control problem has time-variant constraints and a time-variant cost function. We demonstrate the resulting receding horizon optimal control scheme can be solved and optimizes the heat flows in a domestic heating system that comprises a heat pump, a thermal storage and an auxiliary heater. Our results show the predictive controller is able to anticipate and compensate for heat shortages due to heat pump blocking times.
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10:40-11:00, Paper TuA14.3 | Add to My Program |
Distributed Clustering-Based Sensor Fault Diagnosis for HVAC Systems (I) |
Boem, Francesca | Imperial Coll. London |
Reci, Redona | Univ. of Padua |
Cenedese, Angelo | Univ. of Padova |
Parisini, Thomas | Imperial Coll. & Univ. of Trieste |
Keywords: Distributed Fault-tolerant Control, Reconfigurable control, sensor and actuator faults
Abstract: The paper presents a distributed Sensor Fault Diagnosis architecture for Industrial Wireless Sensor Networks monitoring HVAC systems, by exploiting a recently proposed distributed clustering method. The approach allows the detection and isolation of multiple sensor faults and considers the possible presence of modeling uncertainties and disturbances. Detectability and isolability conditions are provided. Simulation results show the effectiveness of the proposed method for an HVAC system.
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11:00-11:20, Paper TuA14.4 | Add to My Program |
Model-Based Fuzzy Control of Air-Conditioning Systems Using Air Bypass for Optimized Dehumidification (I) |
Schulte, Horst | HTW Berlin |
Goldschmidt, Nico | Univ. of Applied Sciences (HTW) Berlin, Faculty 1: School O |
Keywords: Advanced control technology, Nonlinear process control, Process modeling and identification
Abstract: This paper presents a model-based multi-variable controller for large-scale air-conditioning systems. First, a generic model of a cross-flow heat exchanger is proposed. Thereafter a control-oriented model in Takagi-Sugeno form is derived based on well-reasoned simplifications. The Takagi-Sugeno structure allows for the design of a parallel-distributed output feedback controller for the entire operating range of the air-conditioning system with respect to the outlet air temperature and humidity. An illustrative example with common requirements and ambient conditions demonstrates the effectiveness of the proposed controller scheme.
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11:20-11:40, Paper TuA14.5 | Add to My Program |
Distributed Diagnosis of Actuator and Sensor Faults in HVAC Systems (I) |
Papadopoulos, Panayiotis | Univ. of Cyprus |
Reppa, Vasso | Supélec |
Polycarpou, Marios M. | Univ. of Cyprus |
Panayiotou, Christos | Univ. of Cyprus |
Keywords: Distributed Fault Diagnosis, Applications of FDI and FTC, FDI for nonlinear Systems
Abstract: This paper presents a model-based methodology for diagnosing actuator and sensor faults affecting the temperature dynamics of a multi-zone heating, ventilating and air-conditioning (HVAC) system. By considering the temperature dynamics of the HVAC system as a network of interconnected subsystems, a distributed fault diagnosis architecture is proposed. For every subsystem, we design a monitoring agent that combines local and transmitted information from its neighboring agents in order to provide a decision on the type, number and location of the faults. The diagnosis process of each agent is realized in three steps. Firstly, the agent performs fault detection using a distributed nonlinear estimator. After the detection, the local fault identification is activated to infer the type of the fault using two distributed adaptive estimation schemes and a combinatorial decision logic. In order to distinguish between multiple local faults and propagated sensor faults, a distributed fault isolation is applied using the decisions of the neighboring agents. Simulation results of a 5-zone HVAC system are used to illustrate the effectiveness of the proposed methodology.
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11:40-12:00, Paper TuA14.6 | Add to My Program |
Model Predictive Control for Hydronic Heating Systems in Residential Buildings (I) |
Fielsch, Sven | Univ. of Wuppertal |
Grunert, Tim | Vaillant GmbH |
Stursberg, Matthias | Vaillant GmbH |
Kummert, Anton | Univ. of Wuppertal |
Keywords: Model predictive and optimization-based control
Abstract: This paper aims at transferring the benefits reported on model predictive control (MPC) for office buildings to residential buildings. A modular modeling approach for heating systems and a modified control design is proposed. The advantages of the attempt of particularly taking the hydraulic domain into account in the MPC law are shown and a comparison with a standard controller is done via simulation.
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TuA15 Open Invited Session, Guillaumet 2 |
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Control and Coordination for Synchromodal Transport Systems |
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Chair: Siri, Silvia | Univ. of Genova |
Co-Chair: Sacone, Simona | Univ. of Genova |
Organizer: Negenborn, Rudy | Delft Univ. of Tech |
Organizer: Sacone, Simona | Univ. of Genova |
Organizer: Siri, Silvia | Univ. of Genova |
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10:00-10:20, Paper TuA15.1 | Add to My Program |
Sectors Co-Operation in Air Traffic Management (I) |
Adacher, Ludovica | Roma Tre |
Flamini, Marta | Uninettuno Univ |
Romano, Elpidio | Uninettuno Univ |
Keywords: Automatic control, optimization, real-time operations in transportation, Modeling and simulation of transportation systems, Transportation logistics
Abstract: Congestion in the air traffic network is a problem with an increasing relevance for airlines costs as well as for airspace safety. One of the major issue is the limited capacity of the air network, that is the limited maximum number of aircraft that can coexist on some points of the network. This value can also vary during the day for safety constraints (weather and visibility). In this work an Autonomous Agent approach is proposed to solve in real time the problem of air traffic congestion. The air trac network is divided in different sectors each one modeled with a graph. Each sector has its own control decision agent managing the air traffic involved in it. When a congestion occurs in a sector the control decision agent has to reschedule and/or reroute the flights with the aim of respecting capacity constraints and of limiting delays. In this paper rerouting solutions are obtained by applying an iterative procedure based on a generalized Dijkstra algorithm on the graph. We test the effects of different levels of cooperation between agents controlling adjacent sectors while solving the congestion problem.
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10:20-10:40, Paper TuA15.2 | Add to My Program |
Efficient Dynamic Programming Solution to a Platoon Coordination Merge Problem with Stochastic Travel Times (I) |
van de Hoef, Sebastian | KTH, Royal Inst. of Tech |
Johansson, Karl H. | Royal Inst. of Tech |
Dimarogonas, Dimos V. | Royal Inst. of Tech |
Keywords: Automatic control, optimization, real-time operations in transportation, Intelligent transportation systems, Multi-vehicle systems
Abstract: The problem of maximizing the probability of two trucks being coordinated to merge into a platoon on a highway is considered. Truck platooning is a promising technology that allows heavy vehicles to save fuel by driving with small automatically controlled inter-vehicle distances. In order to leverage the full potential of platooning, platoons can be formed dynamically en route by small adjustments to their speeds. However, in heavily used parts of the road network, travel times are subject to random disturbances originating from traffic, weather and other sources. We formulate this problem as a stochastic dynamic programming problem over a finite horizon, for which solutions can be computed using a backwards recursion. By exploiting the characteristics of the problem, we derive bounds on the set of states that have to be explored at every stage, which in turn reduces the complexity of computing the solution. Simulations suggest that the approach is applicable to realistic problem instances.
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10:40-11:00, Paper TuA15.3 | Add to My Program |
Distributed Fault Tolerant Perimeter Control for Urban Road Networks (I) |
Haddad, Jack | Tech. Inst. of Tech |
Mirkin, Boris | Tech. -- Israel Inst. of Tech |
Keywords: Decentralized Control and Systems, Automatic control, optimization, real-time operations in transportation, Modeling and simulation of transportation systems
Abstract: Actuation failures in perimeter control might cause severe system performance degradation, if the control policy is not designed to compensate these failures. Current aggregate traffic models and perimeter control strategies do not integrate the effect of component failures, and cannot compensate them. The component failures are uncertain in nature, and very often it is impossible to predict in advance which component may fail during system operation, and when the component failure occurs. In the current paper, an adaptive fault-tolerant distributed control scheme is developed for a multi-region MFD system model. The control goal is to achieve a desired tracking performance with simultaneous (i) actuating control components failures, (ii) model parameters uncertainties, and (iii) unknown demand disturbances.
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11:00-11:20, Paper TuA15.4 | Add to My Program |
Congestion and Emissions Reduction in Freeway Traffic Networks Via Supervisory Event-Triggered Control (I) |
Ferrara, Antonella | Univ. of Pavia |
Pasquale, Cecilia | Univ. of Genova |
Sacone, Simona | Univ. of Genova |
Siri, Silvia | Univ. of Genova |
Keywords: Automatic control, optimization, real-time operations in transportation, Modeling and simulation of transportation systems, Intelligent transportation systems
Abstract: This paper proposes an innovative control scheme for regulating traffic in freeway networks via ramp metering in order to reduce congestion and traffic emissions. The control scheme is composed by a supervisor, acting at a higher level, which receives measurements from the whole network and periodically makes a prediction on the system evolution, and by local feedback controllers, acting at a lower level. These latter are textit{extended} PI-ALINEA controllers which compute the control action not only on the basis of measurements immediately downstream the on-ramp, as in standard PI-ALINEA, but also on the basis of other measurements or predictions referred to farther locations which are time-varying and communicated by the supervisor. The supervisor decides when the control law of textit{extended} PI-ALINEA controllers needs to be changed according to an event-triggered logic.
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11:20-11:40, Paper TuA15.5 | Add to My Program |
Coordinated Production Inventory Routing Planning for Perishable Food (I) |
Li, Yantong | Univ. of Evry-Val D’essonne |
Chu, Feng | Univ. of Evry of Val-Essonne |
Chen, Kejia | Fuzhou Univ |
Keywords: Transportation logistics, Freight transportation, Coordinated control
Abstract: The production inventory routing problem is an integrated supply chain planning problem where the decisions concerning production, inventory and routing are simultaneously determined. We present an extended production inventory routing model dealing with the perishable food where the quality is explicitly formulated. We adapt a two phase iterative approach to solve the propose model. The model is first decomposed into two sub-problems and solved sequentially, then an iterative procedure is applied to remedy the flaw of the decomposition method. The computational results on randomly generated instances with up to 50 retailers show that we can obtain good quality solutions within acceptable time.
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11:40-12:00, Paper TuA15.6 | Add to My Program |
Adaptive Control for a Class of Partially Unknown Non-Affine Systems: Applied to Autonomous Surface Vessels (I) |
Haseltalab, Ali | Delft Univ. of Tech |
Negenborn, Rudy | Delft Univ. of Tech |
Keywords: Adaptive and robust control in marine system, Autonomous surface vehicles, Neural networks
Abstract: In this paper, a neural network-based adaptive control algorithm is proposed for a class of non-affine systems where the nonlinear influence of the system input on the states is unknown. The algorithm transforms the problem of controlling non-affine systems to control of nonlinear affine systems and then, by approximating the inverse of the input function, calculates feasible control input. Lyapunov technique, Uniform Ultimate Boundedness and Matrix Singular Values are used for stability analysis and design of the controller. In order to investigate the performance of the algorithm, it is applied to an autonomous vessel where the dynamics of the propeller is unknown.
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TuA16 Open Invited Session, Daurat |
Add to My Program |
Simple Adaptive Control |
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Chair: Barkana, Itzhak | Barkana Consulting |
Co-Chair: Rusnak, Ilan | RAFAEL |
Organizer: Barkana, Itzhak | Barkana Consulting |
Organizer: Fradkov, Alexander L. | Russian Acad. of Sciences |
Organizer: Mizumoto, Ikuro | Kumamoto Univ |
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10:00-10:20, Paper TuA16.1 | Add to My Program |
On Robustness and Perfect Tracking with Simple Adaptive Control in Nonlinear Systems (I) |
Barkana, Itzhak | Barkana Consulting |
Keywords: Adaptive system and control, Robust adaptive control, Nonlinear adaptive control
Abstract: A recent paper revisited and modified the use of various components of the simple adaptive control (SAC) approach of LTI systems and showed how one can use passivity concepts such that, while it maintains robustness with disturbances, it also allows asymptotically perfect tracking in ideal conditions. Using the extension of passivity conditions to nonstationary systems, this paper extends the analysis of robustness with disturbances and asymptotically perfect tracking in ideal conditions to nonstationary and nonlinear systems.
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10:20-10:40, Paper TuA16.2 | Add to My Program |
Two Tracking Architectures Using Simple Adaptive Control within a Linear Loop (I) |
Weiss, Haim M. | Rafael |
Rusnak, Ilan | RAFAEL |
Keywords: Adaptive system and control, Adaptive control -applications, Robust adaptive control
Abstract: The paper deals with control architectures when a Simple Adaptive Control (SAC) based subsystem is a part of a linear closed loop. The main issue of such control architecture is the stability. It is proved that a linear closed loop with a SAC based subsystem remains stable and the performance converges to a respective linear closed loop. Two cases with different control architectures are considered in the paper: (i) Three-loop missile autopilot with a SAC based fins actuator; (ii) A target tracking loop where the classical SAC architecture cannot be implemented per se and the model to be tracked is the target state estimator. The performance of these architectures is demonstrated by simulations.
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10:40-11:00, Paper TuA16.3 | Add to My Program |
Simple Adaptive Algorithm for Plants with Input Delay and Disturbances (I) |
Furtat, Igor | Inst. of Problems of Mechanical Engineering Russian Acad |
Keywords: Model reference adaptive control
Abstract: The paper describes the simple adaptive algorithm for linear time-invariant plants with any relative degree, input delay and bounded disturbances. Synthesis of the control system is based on the modified high order tuners. The proposed algorithm ensures required accuracy of difference between the plant output and the reference signal, which significantly depends on external disturbances. The simulations illustrate the effectiveness of the designed algorithm.
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11:00-11:20, Paper TuA16.4 | Add to My Program |
Event-Triggered Adaptive Control of Minimum-Phase Systems (I) |
Selivanov, Anton | Tel Aviv Univ |
Fridman, Emilia | Tel-Aviv Univ |
Fradkov, Alexander L. | Russian Acad. of Sciences |
Keywords: Adaptive system and control, Control over networks
Abstract: We study passification-based adaptive control of minimum-phase systems with sampled measurements. First, we remove the "relative degree one" assumption previously imposed in Selivanov et al. (2015). To achieve this, we introduce the shunting method that allows to obtain hyper-minimum-phase augmented system, which is further stabilized by a passification-based adaptive controller. Second, we introduce a switching event-triggering mechanism to reduce the number of transmitted measurements. The advantage of adaptive control and the benefit of the switching approach are demonstrated by an example of adaptive flight control.
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11:20-11:40, Paper TuA16.5 | Add to My Program |
Adaptive Tracking of a Multi-Sinusoidal Signal with DREM-Based Parameters Estimation (I) |
Borisov, Oleg | ITMO Univ |
Gromov, Vladislav | ITMO Univ |
Vedyakov, Alexey | ITMO Univ |
Pyrkin, Anton | ITMO Univ |
Bobtsov, Alexey | ITMO Univ |
Aranovskiy, Stanislav | CentraleSupelec - IETR |
Keywords: Adaptive control -applications, Filtering and smoothing, Adaptive system and control
Abstract: In this paper tracking of an unknown multi-sinusoidal signal with fast online frequency estimation is addressed. The latter has been achieved by the so-called dynamic regressor extension and mixing (DREM) approach, which allows to increase performance of multiple frequency estimation. Designed predictive compensation algorithm is capable to operate under presence of computational or transmission delays. The resultant controller has been implemented to a robotic arm with a computer vision system. An extensive experimental study shows undoubted advantages of the DREM-based frequency estimator in comparison to the classical gradient approach. A detailed analysis of the transient response properties is provided in the paper.
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11:40-12:00, Paper TuA16.6 | Add to My Program |
Robust Adaptive Magnetic Control of Satellites with Uncertain Parameters (I) |
Leduc, Harmonie | Laas Cnrs |
Peaucelle, Dimitri | LAAS-CNRS |
Lovera, Marco | Pol. Di Milano |
Pittet, Christelle | CNES |
Keywords: Adaptive control -applications, Robust adaptive control
Abstract: Recently developed results for direct adaptive control design in the context of uncertain systems in descriptor form are discussed and applied to a satellite attitude control problem. Thanks to descriptor model handling the methodology allows to address with convexity arguments uncertainties on the inertia matrix. The design of the adaptive law is done with semi-definite programming tools (LMI solvers) and is applicable with the sole knowledge of a controller stabilizing the nominal system (no passivity assumptions). The tackled satellite model is linear (assuming small pointing errors), full 3D rotations are considered (axes are coupled), and mixed reaction wheel and magnetotorquer actuation is adopted. Compared to the provided initial LTI control law, adaptive control increases robustness margins by a factor 262%.
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TuA17 Regular Session, Servanty |
Add to My Program |
Motion Control - III |
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Chair: Pool, Daan Marinus | Delft Univ. of Tech. Faculty of Aerospace Engineering |
Co-Chair: Su, Jianbo | Shanghai Jiaotong Univ |
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10:00-10:20, Paper TuA17.1 | Add to My Program |
Incremental Nonlinear Dynamic Inversion Control for Hydraulic Hexapod Flight Simulator Motion Systems |
Huang, Yingzhi | Faculty of Aerospace Engineering, Delft Univ. of Tech |
Pool, Daan Marinus | Delft Univ. of Tech. Faculty of Aerospace Engineering |
Stroosma, Olaf | Delft Univ. of Tech |
Chu, Qiping | Delft Univ. of Tech. Faculty of AerospaceEngineering |
Keywords: Motion Control Systems, Mechatronic systems, Design methodologies
Abstract: Hydraulic driven manipulators face serious control problems due to the nonlinear system dynamics and model and parametric uncertainties of hydraulic actuators. In this paper, a novel sensor-based Incremental Nonlinear Dynamic Inversion controller is applied to force tracking control of hydraulic actuators of a hexapod flight simulator motion system, which together with an outer-loop motion tracking controller forms a motion control system. Due to the use of feedback of pressure difference derivatives, the proposed technique is not dependent on accurate model and parameters, which makes the controller inherently robust to model uncertainties. Furthermore, The sensor-based control approach is particularly suitable for hydraulic force tracking in existence of an outer-loop controller decoupling hydraulic-mechanic interaction term from the inner-loop dynamics. Simulation results indicate that the novel approach yields better tracking performance and confirm the greater robustness to model and parametric uncertainties compared with a traditional nonlinear dynamic invention approach.
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10:20-10:40, Paper TuA17.2 | Add to My Program |
Disturbance Observer Control for AC Speed Servo with Improved Noise Attenuation |
Vonkomer, Jakub | Software, R&D, VONSCH S.r.o |
Belai, Igor | Slovak Univ. of Tech. in Bratislava |
Huba, Mikulas | Slovak Univ. of Tech |
Keywords: Motion Control Systems, Design methodologies
Abstract: The paper deals with a noise attenuation design of a modification of the disturbance observer (DO) based PI control for an AC servo drive with the dominant first-order dynamics. The achieved results are compared with the traditional PI control. The DO based filtered PI (DO-FPI) controller consists of the P control with adjustable filter. It is augmented with an integral action based on load reconstruction using equally filtered plant dynamics inversion. The availability of broadly scalable filters requires a simple one-parameter based tuning. In looking for a possibly good noise attenuation, it allows changing the filter order and time constants by keeping nearly the same speed of disturbance responses as in the PI control. An application to the speed servo control with an incremental position sensor brings to light interesting properties of the compared solutions. The DO FPI and PI control give nearly equally robust solutions. However, in case of PI control it is at the expense of significantly increased torque ripple.
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10:40-11:00, Paper TuA17.3 | Add to My Program |
High Performance DC Servo System Design Based on Scheduled Disturbance Observer |
Xiang, Guofei | Shanghai Jiao Tong Univ |
Wang, Lu | Shanghai Jiao Tong Univ |
Su, Jianbo | Shanghai Jiaotong Univ |
Keywords: Motion Control Systems, Design methodologies
Abstract: This paper studies the smooth and precise speed regulation of DC servo system subject to both unknown external disturbances and internal uncertainties. we first propose a disturbance observer based switching control scheme, consists of two DOBs and a switching logic. Thereafter, a novel switching mechanism is meticulously designed to switch the different DOBs according to the variation of output error and settling time, and the stability of the scheduled system is analyzed through Lyapunov stability theory. Experiments on speed regulation show that both smooth dynamic responses at transient state and high accuracy performance at steady state are achieved and the effectiveness of the proposed control scheme is verified.
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11:00-11:20, Paper TuA17.4 | Add to My Program |
Navigation Function Used for Parallel Parking in Restricted Area by a Differentially-Driven Mobile Robot |
Przybyła, Mateusz | Poznań Univ. of Tech |
Kowalczyk, Wojciech | Poznan Univ. of Tech |
Kozlowski, Krzysztof R. | Poznan Univ. of Tech |
Keywords: Motion Control Systems, Mobile robots, Guidance navigation and control
Abstract: This work has examined the use of navigation function (NF) for the motion task of parallel parking performed by mobile robot with kinematic constraints working in two-dimensional environment with obstacles. Classic navigation function approach assumes omnidirectional robot. In this paper NF extended with orientation component was tested. It can be tuned to guarantee global convergence to the target position with desired orientation. This paper provides results of experiments with simulated as well as physical robot, showing typical behavior of the method, as well as authors' remarks on its benefits and disadvantages.
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11:20-11:40, Paper TuA17.5 | Add to My Program |
Automatic Gain Tuning for Robust PID Control Using Time-Delay Control |
Jin, Maolin | Korea Inst. of Robot and Convergence (KIRO) |
Lee, Jun Young | Daegu Gyeongbuk Inst. of Science and Tech. (DGIST) |
Chang, Pyung Hun | Korea Adv. Inst. of Sci. & Tech |
Kim, Min-Gyu | Korea Inst. of Robot and Convergence (KIRO) |
Kang, Sang Hoon | UNIST (Ulsan National Inst. of Science and Tech |
Keywords: Motion Control Systems
Abstract: Auto-tuning of robust PID Control is presented. To this end, we propose the equivalence condition between the modied TDC using sliding mode concept and the PID controller in a discrete-time domain. To realize auto-tuning of the PID control gains, we have synergistically combined the sliding mode concept and adaptive control. The desired error dynamics is described by using sliding mode concept, and the adaptive gain dynamics is proposed using the sliding variable. A leakage term is used for the gain dynamics to cope with the noise effect. The gain automatically increases when the sliding mode error is large, and decreases when sliding mode error is relatively small. The tracking errors of the proposed method are almost identical compared with those of well-tuned constant gains. Consequently, auto-tuning of the gains for the PID controller is realized instead of manual tuning.
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11:40-12:00, Paper TuA17.6 | Add to My Program |
Using Iterative LQR to Control Two Quadrotors Transporting a Cable-Suspended Load |
Alothman, Yaser N | Essex Univ |
Guo, Minhuan | Nanjing Univ. of Science and Tech |
Gu, Dongbing | Univ. of Essex |
Keywords: Motion Control Systems, Flying robots, Modeling
Abstract: This paper is focused on the tracking control problem of two quadrotors carrying one cable-suspended payload. The paper main contributions include a dynamic model constructed by Euler-Lagrange equations for this system, an iterative linear quadratic regulator (iLQR) optimal controller, which is able to track the desired trajectory for the payload position and attitude and a simulation for tracking a spiral trajectory. The nonlinear dynamic model is linearised by considering the angles of connected links from the payload to each quadrotor as the equilibrium point. The iLQR control algorithm is developed for the full system consisting of two quadrotors connected with a point mass load in order to improve the tracking performance and avoid the slung load swing. The simulation results demonstrate that the iLQR approach is able to improve the tracking performance compared with an LQR controller.
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TuA18 Invited Session, De Marnier |
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MDE of Mechatronic Products, Processes and Resources for Intelligent
Evolving CPPS |
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Chair: Vogel-Heuser, Birgit | Tech. Univ. of Munich |
Co-Chair: Moulianitis, Vassilis | Univ. of the Aegean |
Organizer: Vogel-Heuser, Birgit | Tech. Univ. of Munich |
Organizer: Hehenberger, Peter | Univ. of Applied Sciences Upper Austria |
Organizer: Fantuzzi, Cesare | Univ. of Modena and Reggio Emilia |
Organizer: Moulianitis, Vassilis | Univ. of the Aegean |
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10:00-10:20, Paper TuA18.1 | Add to My Program |
Configuring the Deployment into Software-Based Controllers through Hierarchical Simulations (I) |
Barbieri, Giacomo | Univ. of Modena and Reggio Emilia |
Borsari, Roberto | Tetra Pak Packaging Solutions S.p.A |
Fantuzzi, Cesare | Univ. of Modena and Reggio Emilia |
Keywords: Cyber-Physical Systems, Design methodologies, Modeling
Abstract: The deployment of control algorithms into software-based controllers is fundamental for the correctness of the designed application. Deployment involves both the configuration of design choices and the management of unpredictable behaviors of controllers. Tools and methodologies must be identified for supporting the activity. This paper proposes to break-down the deployment process into layers of abstraction. Simulations and modeling patterns are introduced for configuring the design choices of each abstraction layer. However, the verification of the approach through the application to real case studies will be matter of future works.
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10:20-10:40, Paper TuA18.2 | Add to My Program |
Supporting the Development of Interdisciplinary Product Lines in the Manufacturing Domain (I) |
Kowal, Matthias | TU Braunschweig |
Ananieva, Sofia | FZI Res. Center for Information Tech |
Thüm, Thomas | TU Braunschweig |
Schaefer, Ina | TU Braunschweig |
Keywords: Engineering methods for HMS
Abstract: The increasing demand for highly customizable manufacturing systems leads to an extreme number of possible machine variants. Feature models are often used to manage this system diversity. The development and maintenance of feature models are error-prone and time-consuming tasks, especially considering industrial-size models with thousands of features. In many cases, engineers might want to focus only on a few features relevant for their own domain. Additionally, each change may lead to anomalies in the feature model. In this paper, we present an approach to provide engineering support by giving user-friendly explanations for hidden dependencies and anomalies in feature models.
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10:40-11:00, Paper TuA18.3 | Add to My Program |
Evaluation of Manipulators under CPPS Frame (I) |
Moulianitis, Vassilis | Univ. of the Aegean |
Zachiotis, Georgios | Univ. of Patras |
Valsamos, Charalampos | Univ. of Patras |
Aspragathos, Nikos | Univ. of Patras |
Keywords: Robots manipulators, Cyber-Physical Systems
Abstract: In this paper, a method for evaluating robots as parts of a CPPS based on their abilities is presented. The relationship between the CPPS characteristics and robot abilities is determined. The minimum level of robot abilities is determined in order to have a positive influence on CPPS. The proposed mapping is used to evaluate the anatomy of three types of open chain robots: fixed anatomy, reconfigurable and metamorphic robots. Metamorphic robots, a class of modular open chain manipulators, are found to be better than the other two types. However, their superiority comes with increased complexity of the system.
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11:00-11:20, Paper TuA18.4 | Add to My Program |
Modeling of Interdependencies between Products, Processes and Resources to Support the Evolution of Mechatronic Systems (I) |
Hoang, Xuan-Luu | Helmut Schmidt Univ |
Marks, Philipp | Univ. of Stuttgart |
Weyrich, Michael | Univ. of Stuttgart |
Fay, Alexander | Helmut Schmidt Univ |
Keywords: Modeling, Mechatronic systems, Identification and control methods
Abstract: Due to different trends in manufacturing, existing mechatronic systems, such as automated manufacturing machines, are obliged to evolve in order to cope with a quickly changing environment. The evolution of mechatronic systems is achieved by adaptation processes, where changes in the physical structure of a system and/or its automation software are performed. An important phase of an adaptation process is the modeling and analysis of existing interdependencies between system elements which serve as a basis for subsequent adaptation phases. However, current modeling approaches mostly focus on single system element types and do not regard the holistic system, i.e., products, processes and resources. Accordingly, in this contribution a concept for modeling interdependencies between products, processes and resources is proposed with the aim of providing a solid data base for the generation of adaption options. The application of the concept is demonstrated by an illustrative example of a pick-and-place unit.
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11:20-11:40, Paper TuA18.5 | Add to My Program |
A Framework for Sizing Embedded Mechatronic Systems During Preliminary Design (I) |
Delbecq, Scott | Safran Electronics & Defense |
Budinger, Marc | INSA Toulouse |
Hazyuk, Ion | INSA Toulouse |
Sanchez, Florian | Inst. Clément Ader, UMR CNRS 5312, INSA, Toulouse, France |
Piaton, Jerome | Safran Electronics & Defense |
Keywords: Design methodologies, Mechatronic systems, Modeling
Abstract: This paper presents a Python framework for the preliminary design of embedded mechatronic systems. Mechatronic systems have the particularity to involve several levels of design and several technologies. In addition, embedded systems introduce to the design problem specific constraints like energy consumption, resistance/impact to/on environment, geometrical integration and reliability. In order to support the designer in satisfying these constraints, a Model-Based Design methodology and the corresponding framework is proposed. Models used during preliminary design of such multi-domain systems come from several disciplines and have different scales: distributed parameters (3D FEM, 3D CFD) for local level, lumped parameters (1D/0D, ODE/ADE) and state machine for global level. The dynamic simulation through 0D-1D models of the system to be designed is commonly used to validate architectural choices and preliminary sizing that requires multi-disciplinary optimization. Unfortunately, optimization can not only apply to the system level and resort to 3D models cannot be avoided, even during the early design phases. The proposed framework aims at implementing the optimization loops at both local and global levels in an open source environment. The proposed framework’s features will be underlined through a case study - a rotary electromechanical actuator for primary flight control.
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11:40-12:00, Paper TuA18.6 | Add to My Program |
Maintenance Effort Estimation with KAMP4aPS for Cross-Disciplinary Automated PLC-Based Production Systems - a Collaborative Approach (I) |
Vogel-Heuser, Birgit | Tech. Univ. of Munich |
Heinrich, Robert | Karlsruhe Inst. of Tech. (KIT) |
Cha, Suhyun | Tech. Univ. München |
Rostami, Kiana | Karlsruhe Inst. of Tech. (KIT) |
Ocker, Felix | Tech. Univ. of Munich |
Koch, Sandro | Karlsruher Inst. of Tech |
Reussner, Ralf | KIT |
Ziegltrum, Simon | Tech. Univ. of Munich |
Keywords: Mechatronic systems, Modeling
Abstract: Automated production systems (aPSs) are often in operation for several decades. Due to a multiplicity of reasons, these assets have to be maintained and modified over the time multiple times and with respect to multiple engineering domains. An increased economic pressure demands to perform these tasks in an optimized way. Therefore, it is necessary to estimate change effects with respect to multidisciplinary interdependencies, required surrounding non-functional tasks and the effort and costs included in each step. This paper outlines available cost estimation methods for PLC-based automation and Information Systems (ISs). We introduce Karlsruhe Architectural Maintainability Prediction for aPS (KAMP4aPS), an approach to estimate the necessary maintenance tasks to be performed and their related costs for the domain of aPSs by extending KAMP, which is limited to change propagation analysis on ISs. KAMP requires a metamodel to derive these tasks automatically. Unfortunately, a domain spanning metamodel is missing for aPSs. Hence, we need to develop a part of the metamodel derived from an AutomationML description for the chosen demonstrator at first. Finally, we apply and compare different estimation methods and KAMP4aPS to analyze the exchange of a fieldbus system as exemplary change scenario on a lab size plant to demonstrate the benefits of our discipline-spanning approach.
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TuA19 Regular Session, Gavarnie |
Add to My Program |
Power System Control 1 |
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Chair: Perninge, Magnus | Linnaeus Univ |
Co-Chair: Lestas, Ioannis | Univ. of Cambridge, |
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10:00-10:20, Paper TuA19.1 | Add to My Program |
Nonlinear Adaptive Backstepping Excitation Controller Design for Higher-Order Models of Synchronous Generators |
Roy, Tushar Kanti | Deakin Univ |
Mahmud, Md. Apel | Deakin Univ |
Oo, Amanullah M. T. | Deakin Univ |
Pota, Hemanshu | Univ. of New South Wales |
Keywords: Power systems stability, Control system design, Analysis and control in deregulated power systems
Abstract: In this paper, a nonlinear excitation control scheme is proposed to enhance transient stability and voltage regulation of higher-order synchronous generators. The controller is designed based on an adaptive backstepping method and the fifth-order dynamical model of synchronous generators is used to design the controller. The proposed controller is designed recursively to adapt some unknown stability sensitive parameters of synchronous generators and these unknown parameters are estimated through adaptation laws based on the formulation of control Lyapunov functions (CLFs). The proposed control scheme is also capable to overcome the over-parameterization problems of unknown parameters. Finally, the effectiveness of the proposed scheme is evaluated on a test single machine infinite bus system by applying a symmetrical three-phase short-circuit fault at different locations of the test system and compared to that of an existing adaptive backstepping controller. Simulation results demonstrate the superiority of the proposed control scheme over the existing controller in terms of settling time and providing additional damping into the system.
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10:20-10:40, Paper TuA19.2 | Add to My Program |
Optimal Tertiary Frequency Control in Power Systems with Market-Based Regulation |
Perninge, Magnus | Linnaeus Univ |
Eriksson, Robert | Royal Inst. of Tech |
Keywords: Optimal operation and control of power systems, Analysis and control in deregulated power systems, Real time simulation and dispatching
Abstract: The system frequency of a power systems is a good indicator of the networks resilience to major disturbances. In a completely deregulated setting, for example in the Nordic power system, the system operator controls the system frequency manually by calling-off bids handed in to a market, called the regulating market. In this paper we formulate the problem of optimal bid call-off on the regulating market, that the system operator is faced with each operating period, as an optimal switching problem with execution delays. As general optimal switching problems with execution delays are computationally cumbersome we resort to a recently developed suboptimal solution scheme, based on limiting the feedback information in the control loop.
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10:40-11:00, Paper TuA19.3 | Add to My Program |
Power-Imbalance Allocation Control for Secondary Frequency Control of Power Systems |
Xi, Kaihua | Delft Univ. of Tech |
Dubbeldam, Johan | Delft Univ. of Tech |
Lin, Hai Xiang | Delft Univ. of Tech |
van Schuppen, Jan H. | Van Schuppen Control Res |
Keywords: Optimal operation and control of power systems, Intelligent control of power systems, Control of renewable energy resources
Abstract: To balance the power supply and demand with optimized control cost and nominal synchronized frequency, we propose a secondary frequency control approach, named Power-Imbalance Allocation Control (PIAC), for power systems with lossless networks, consisting of synchronous machines, frequency dependent power sources and passive loads. With Proportional-Integral control, the power imbalance is estimated by a coordinator with aggregated frequency deviations and the control inputs are optimally allocated to the controllers after solving an economic power dispatch problem on-line. The advantage of the approach is that the estimated power imbalance converges to the actual power imbalance exponentially with neither overshoot of control inputs nor unnecessary oscillations of the frequency. In addition, the convergence speed only depends on a control coefficient which is independent of any other parameters of the power systems and of the economic power dispatch problem.
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11:00-11:20, Paper TuA19.4 | Add to My Program |
Extended Partial States Observer Based Load Frequency Control Scheme Design for Multi-Area Power System Considering Wind Energy Integration |
Chen, Chunyu | Southeast Univ |
Zhang, Kaifeng | Southeast Univ |
Yuan, Kun | Southeast Univ |
Wang, Wei | Dispatching Control Center of Gansu Electric Power Corp |
Keywords: Power systems stability, Modeling and simulation of power systems, Control of renewable energy resources
Abstract: With the increase of wind energy integration in power systems, frequency control meets new challenges due to the uncertainty and stochasticity of wind power. In this paper, in respect to the frequency instability problem caused by disturbances of wind power, we propose an extended partial observer based load frequency control (LFC) scheme. An extended partial states observer (EPSO) is first designed to estimate both the unmeasurable states of the LFC system and wind power disturbance. And then a composite feedback controller using estimation from EPSO as well as measurable states of the LFC system itself is designed, thus attenuating the wind energy disturbance in the output channel and achieving asymptotical stability of both frequency and tie-line interchange power of the control area. The proposed LFC scheme has better feasibility to practical application since it is in essence a linear combination of measurable states values and EPSO-observed states values. Besides, it has better control performance than PI controller and saves the lengthy computational work of parameters tuning for PI controller with the aid of pole placement technique.
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11:20-11:40, Paper TuA19.5 | Add to My Program |
Primary Frequency Regulation in Power Networks with Ancillary Service from Load-Side Participation |
Kasis, Andreas | Univ. of Cambridge |
Devane, Eoin | Univ. of Cambridge |
Lestas, Ioannis | Univ. of Cambridge, |
Keywords: Smart grids, Optimal operation and control of power systems, Modeling and simulation of power systems
Abstract: We consider the problem of designing distributed generation and demand control schemes that provide ancillary service in primary frequency regulation in power networks such that stability and fairness in the power allocation can be guaranteed. It is desirable in such schemes that load side participation in frequency control is activated only when the frequency exceeds prescribed thresholds so as to avoid frequent intervention in the operation of loads. This, however, leads to nonlinear control schemes with vector elds with discontinuous derivatives. In this paper, we investigate how stability and optimality may be ensured when such dynamics are considered. We show that subgradient methods can be used to derive decentralised conditions that ensure optimality of the equilibrium points. decentralised conditions for asymptotic stability that are valid in this context are also provided. We illustrate our results with simulations on the IEEE 68 bus system, where it is demonstrated that the inclusion of controllable loads offers improved transient behaviour and that an optimal power allocation among controllable loads is achieved.
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11:40-12:00, Paper TuA19.6 | Add to My Program |
Spatially Continuous Modeling and Control of Swing Dynamics in Electric Power Grids |
Sirota, Lea | Massachusetts Inst. of Tech |
Annaswamy, Anuradha | Massachusetts Inst. of Tech |
Keywords: Modeling and simulation of power systems, Control system design
Abstract: We propose a new control approach for swing oscillation suppression in large power grids, based on a spatially continuous representation of the system. Traditional modeling is spatially discrete irrespective of the grid size, perceiving the swing dynamics as frequency and phase oscillations. However, we show that for long chains of generators the overall swing dynamics is essentially governed by propagating electro-mechanical waves, retrieving the oscillations only locally. We therefore model the system by partial differential equations, where we decompose the grid into open and closed ended chains of generators, strings and rings. The key principle of the proposed approach is generation of uni-directional control waves that achieve closed loop matching of measured disturbance waves. While in strings this is naturally implemented by actuation at the boundary, the lack of boundaries in rings poses significant challenges. We solve the problem by introducing a new method for interior generation of near exact uni-directional waves. The method, which we denote by Interior Wave Suppression control, requires a minimal number of concentrated actuation and measurement devices for a given ring.
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TuA20 Regular Session, Toulouse |
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Bio and Ecological Systems - Modeling and Control of Biomedical Systems 1 |
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Chair: Teutsch, Tanja | Univ. of Stuttgart |
Co-Chair: Martinez Molina, John J. | Univ. Grenoble Alpes, GIPSA-Lab |
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10:00-10:20, Paper TuA20.1 | Add to My Program |
Refractive Index Estimation from Spectral Measurements of a Plasmonic Glucose Sensor and Wavelength Selection |
Teutsch, Tanja | Univ. of Stuttgart |
Mesch, Martin | Univ. of Stuttgart, 4th Physics Inst |
Giessen, Harald | Univ. of Stuttgart, 4th Physics Inst |
Tarin Sauer, Cristina | Univ. of Stuttgart |
Keywords: Developments in measurement, signal processing
Abstract: Noninvasive glucose monitoring is a desired objective in diabetes therapy and monitoring the glucose levels in the tear fluid is one possibility to approach this objective. The plasmonic glucose sensor presented within this work consists of metal nanostructures which cause a resonance in the optical response and the resonance wavelength position depends on the refractive index of the surrounding. Glucose selectivity is guaranteed by functionalizing the sensor with a hydrogel that swells with glucose and thus changes its refractive index. The focus of this work lies on the relationship between the refractive index and the resulting transmission spectra of the sensor. Based on this understanding, an estimation algorithm is presented, which provides a refractive index value for any measured spectrum. It is shown that this new estimation algorithm improves previous results. For a mobile application of the sensor, the transmission can only be measured at few discrete wavelengths rather than the whole spectrum. The choice of these discrete wavelengths has a huge influence on the estimation results. The developed estimation algorithm is used to build an objective function to determine the best wavelengths via sequential forward feature selection. The results of the feature selection show that even reducing the discrete wavelengths to a number of four, refractive index estimation can be performed with a relative error below 0.05%.
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10:20-10:40, Paper TuA20.2 | Add to My Program |
A Four-Stage Localization Method for Epileptic Seizure Onset Zones |
Wan, Ting | China Univ. of Geosciences |
Wu, Min | China Univ. of Geosciences |
Lai, Xuzhi | China Univ. of Geosciences |
Wan, Xiongbo | China Univ. of Geosciences |
She, Jinhua | Tokyo Univ. of Tech |
Du, Yuxiao | Guangdong Univ. of Tech |
Keywords: Bio-signals analysis and interpretation
Abstract: This paper presents a four-stage localization method for epileptic seizure onset zones (SOZs). This method combines the advantages of both the Shannon-entropy-based complex Morlet wavelet transform (SE-CMWT) and adaptive-genetic-algorithm-based matching pursuit (AGA-MP) methods to achieve satisfactory localization performance. The Hilbert transform method is used to identify events of interest. The SE-CMWT-based power spectral density method is applied to acquire channels of interest (CoIs). By using the Morlet wavelets as the dictionary elements, the AGA-MP method combined with Morlet wavelets is developed to detect high-frequency oscillations (HFOs) on CoIs with faster speed and higher accuracy than the AGA-MP method. And the characteristics of HFOs are used to localize SOZs based on the half-maximum method. A comparison shows that our method has higher sensitivity and specificity than four existing methods.
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10:40-11:00, Paper TuA20.3 | Add to My Program |
A Bio-Energetic Model of Cyclist for Enhancing Pedelec Systems |
Rosero, Nadia | Univ. Grenoble Alpes, CNRS, GIPSA-Lab |
Martinez Molina, John J. | Univ. Grenoble Alpes, GIPSA-Lab |
Leon, Henry | Univ. De La Sabana |
Keywords: Physiological Model, Knowledge modelling and knowledge based systems, Control in system biology
Abstract: The paper presents a model that includes a whole-body bio-energetic analysis of the cyclist and bike dynamics. It could be used to solve control-design problems for pedelec systems. The behavior of some physiological variables during cycling is reproduced by keeping an energy aware transfer flow. The modeling approach considers three main levels: i) physiological, ii) bio-mechanical and iii) pure-mechanical. Physical laws of energy/mass conservation were applied to allow simulate the ways in which energy is stored, transferred and dissipated at each level.
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11:00-11:20, Paper TuA20.4 | Add to My Program |
A Formally-Verified Safety System for Closed-Loop Anesthesia |
Yousefi, Mahdi | The Univ. of British Columbia |
van Heusden, Klaske | Univ. of British Columbia |
Mitchell, Ian M. | Univ. of British Columbia |
Ansermino, John Mark | Univ. of British Columbia |
Dumont, Guy | Univ. of British Columbia |
Keywords: Control of physiological and clinical variables, Pharmacokinetics and drug delivery
Abstract: The benefits of closed-loop control of anesthesia in terms of drug usage, robustness to inter-patient variability and postoperative outcomes have been demonstrated in a number of clinical studies. However, to obtain regulatory approval for such systems to be employed as medical devices in operating rooms, patient safety must be demonstrated. This paper formalizes a previously published safety system for closed-loop anesthesia using formal model verification techniques. This safety system specifies safety constraints on the patient states based on the therapeutic window of propofol. To verify the feasibility of the safety constraints in all situations, a finite number of simulation scenarios can be performed. However, the formal methods verify the feasibility problem for all possible admissible inputs and states without the need for simulation. The formalized safety system for closed-loop anesthesia guarantees that the patient states stay within safety constraints.
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11:20-11:40, Paper TuA20.5 | Add to My Program |
Glycemic Monitoring in Critical Care Using Nonlinear State Estimators |
Aguirre-Zapata, Estefanía | Insituto Tecnológico Metropolitano |
Juan Diego, Cardenas-Cartagena | Escuela De Ingeniería De Antioquia |
García-Tirado, José Fernando | Insituto Tecnológico Metropolitano |
Keywords: Chronic care and/or diabetes, Parameter and state estimation, Monitoring
Abstract: As it is already known, patients under physiological stress, i.e., during a stay at an intensive care unit (ICU), often experience stress-induced hyperglycemia and insulin resistance even if they are not diagnosed with diabetes. In order to perform tight glycemic control (TGC) either by human intervention or by means of an automatic insulin infusion system, a proper monitoring system of the critical variables needs to be available. In this paper, the problem of estimating the state of the glucose-insulin system for a critically ill patient is investigated. Unlike most contributions, the interstitial glucose is assumed to be continuously measured by a continuous glucose monitor (CGM) instead of plasma glucose which is not usually available in most clinical facilities. Moreover, the measurement noise is characterized by a non-Gaussian noise as is suggested in recent studies. Three nonlinear filters are investigated, the Extended Kalman Filter (EKF), the Unscented Kalman Filter (UKF), and the Particle Filter (PF), under three different scenarios.
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11:40-12:00, Paper TuA20.6 | Add to My Program |
Separation of Cardiac and Ventilation-Related Signals within Electrical Impedance Tomography Data Based on Multi-Dimensional Ensemble Empirical Mode Decomposition (I) |
Xuxue, Sun | USF |
Orschulik, Jakob | RWTH Aachen |
Malmivuo, Jaakko | Aalto Univ |
Leonhardt, Steffen | RWTH Aachen |
Keywords: Medical imaging and processing, Biomedical and medical image processing and systems, Quantification of physiological parameters for diagnosis and treatment assessment
Abstract: Electrical impedance tomography (EIT) is an promising imaging technology for continuous bedside monitoring of ventilation and perfusion. However, due to the spatial and frequency overlapping of ventilation and cardiac components in the heart-lung interaction system, it's difficult to separate the components in spontaneous breathing subjects. We introduces an intuitive method based on multi-dimensional ensemble empirical mode decomposition to explore the intrinsic oscillation modes of the ventilation and cardiac components from EIT data. This study combines the spatial information with temporal information, and establishes the combination strategy for the two physiological components based on multi-scale analysis. Our study presents preliminary in-vivo results from two healthy male subjects, and qualitatively validates the efficiency of resolving the overlapping of ventilation and perfusion components. The method proposed in our study is believed to open up new possibilities for the assessment of lung ventilation and perfusion.
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TuA21 Open Invited Session, Conques |
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Multi-Objective Optimization Techniques in Control Systems Engineering |
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Chair: Reynoso-Meza, Gilberto | Pontificia Univ. Católica De Paraná |
Co-Chair: Balandin, Dmitry V. | Nizhny Novgorod State Univ |
Organizer: Reynoso-Meza, Gilberto | Pontificia Univ. Católica De Paraná |
Organizer: Sánchez, Helem Sabina | Univ. Pol. De Catalunya |
Organizer: Sanchis, Javier | Pol. Univ. of Valencia |
Organizer: Vilanova, Ramon | Univ. Autònoma De Barcelona |
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10:00-10:20, Paper TuA21.1 | Add to My Program |
Pareto Optimal Generalized H_2-Control and Optimal Protection from Vibration (I) |
Balandin, Dmitry V. | Nizhny Novgorod State Univ |
Kogan, Mark M. | Architecture and Civil Engineering Univ |
Keywords: Linear systems, Time-invariant systems, Parametric optimization
Abstract: A novel multi-objective control problem with generalized H_2 criteria is studied for a linear system with a single disturbance input and multiple objective outputs. The generalized H_2-norm is the L_2 to L_{infty} gain of the system with the L_{infty}-norm, understood in a broader sense than usual. Necessary conditions for Pareto optimality are derived in this paper. By using Germeyer convolution it is established that Pareto optimal controllers can be synthesized in terms of LMIs as the generalized H_2-optimal controllers for the closed-loop system with the single input and the single output consisting of the scaled objective outputs. Vibration isolation and attenuation problems are considered in a novel framework as applications of the approach proposed. Pareto optimal isolators and attenuators are synthesized for two basic models in the problems of optimal protection from vibration.
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10:20-10:40, Paper TuA21.2 | Add to My Program |
Non-Linear Identification of a Peltier Cell Model Using Evolutionary Multi-Objective Optimization (I) |
Huilcapi Subia, Victor Manuel | Univ. Pol. Salesiana |
Herrero Durá, Juan Manuel | Pol. Univ. of Valencia |
Blasco, Xavier | Pol. Univ. of Valencia |
Martínez Iranzo, Miguel Andrés | Univ. Pol. De Valencia |
Keywords: Evolutionary algorithms
Abstract: In this paper a technique for identifying a first principles model of a Peltier cell using Multi-Objective Evolutionary optimization and experimental data is proposed. The methodology of multi-objective optimization applied together with the method of representation of the Pareto front called level diagram enables the analysis of the set of models obtained for the temperatures of a Peltier cell in different scenarios. Level diagrams facilitate the selection of a compromise model to characterize the thermoelectric module successfully. The main advantage of the multi-objective design methodology is to easily understand the trade-off among several Pareto optimal solutions. The designer can select the final solution according to his/her preferences without missing the knowledge available from the set of optimal solutions.
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10:40-11:00, Paper TuA21.3 | Add to My Program |
Considerations on Loop Pairing in MIMO Processes. a Multi-Criteria Analysis (I) |
Herrero Durá, Juan Manuel | Pol. Univ. of Valencia |
Reynoso-Meza, Gilberto | Pontificia Univ. Católica De Paraná |
Ramos Fernández, César | Pol. Univ. of Valencia |
Blasco, Xavier | Pol. Univ. of Valencia |
Keywords: Evolutionary algorithms, Linear multivariable systems, Parametric optimization
Abstract: In this paper a new multi-objective approach for loop pairing in multi-input/multi- output processes is studied. Each controller structure of proposed input-output pairing is considered as a possible design concept. Under the meaningful objective space, defined by the control engineer, the concepts are compared and a final controller with a given trade-off is chosen. By means of an example, the paper establishes several findings: first, the controller type can be relevant when deciding on possible pairings and second, it is even more relevant the objectives chosen by the designer and his/her preferences. These findings point to multi-objective approach pairing as a powerful and promising technique.
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11:00-11:20, Paper TuA21.4 | Add to My Program |
Heuristic Kalman Algorithm for Multiobjective Optimization (I) |
Hultmann Ayala, Helon Vicente | Pontifical Catholic Univ. of Paraná |
Coelho, Leandro Dos Santos | Pontifical Catholic Univ. of Parana |
Reynoso-Meza, Gilberto | Pontificia Univ. Católica De Paraná |
Keywords: Evolutionary algorithms, Process control
Abstract: This papers presents a new heuristic multiobjective optimization procedure based on Kalman filtering. The novel approach is compared to the well-known Nondominated Sorting Genetic Algorithm version II with the Zitzler, Deb and Thiele test suite showing favorable results for the Kalman based solution. Further improvement on the proposed algorithm is made with respect to the learning factor, which is set to be time-dependent, improving the algorithm in most cases and diminishing the number of control parameters. The proposed multiobjective optimization algorithm is interesting due to its convergence and coverage quality, its computational complexity and few parameters to be adjusted.
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11:20-11:40, Paper TuA21.5 | Add to My Program |
Non-Linear Robust Identification of a Lead Acid Battery Model Using Multiobjective Evolutionary Algorithms (I) |
Pajares, Alberto | Univ. Pol. De Valencia |
Blasco, Xavier | Pol. Univ. of Valencia |
Herrero Durá, Juan Manuel | Pol. Univ. of Valencia |
Simarro, Raul | Univ. Pol. De Valencia |
Keywords: Evolutionary algorithms
Abstract: This paper presents a complete (charging, discharging and thermal characteristics) non-linear model identification of a lead acid battery by using a multi-objective (MO) approach. Batteries are a very important part for a lot of processes, hybrid electric vehicles (HEV) are an example. In an HEV, the battery model is critical because defines the electrical behaviour of the system and directly influences the control strategy. The batteries can be charged and discharged at any time, so a complete battery model to simulate the vehicle behaviour and its control is needed. This paper presents a solution to this problem, taking into a account accuracy (the best fits batteries dynamics behaviour) and the robustness (non-modelled dynamics and manufacturing tolerance) properties of the model are considered simultaneously under a MO approach. Thanks to the MO approach the performance of each one of the Pareto optimal models can be analysed and a preferred model selected. In addition, an evaluation phase of the model has been done where it is observed that the model performance is accurate.
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11:40-12:00, Paper TuA21.6 | Add to My Program |
Multi-Objective Optimization for Gene Expression Noise Reduction in a Synthetic Gene Circuit (I) |
Boada, Yadira | Univ. Pol. De València |
Vignoni, Alejandro | Max Planck Inst. of Molecular Cell Biology and Genetics |
Picó, Jesús | Univ. Pol. De Valencia |
Keywords: Control in system biology, Parametric optimization, Systems biology
Abstract: Stochasticity in biological systems often referred to as gene expression noise is ubiquitous. The main sources of this noise come about in two ways. The implicit randomness of the biochemical reactions generates intrinsic noise inside the cell. Other cellular processes are themselves products that vary over time and from each cell to another, producing the so-called extrinsic noise. Controlling the mean expression level of a gene while reducing its noise is a challenge in many applications of Synthetic Biology. In previous works, we proposed a gene synthetic circuit to reduce gene expression noise while achieving a desired mean expression level. The circuit combines a negative feedback loop and a cell-to-cell communication mechanism based on quorum sensing. In this work, we use a multi-objective optimization design approach to find the best values for the tunable-in-the-lab parameters that, for a given desired mean expression value, achieve minimization of gene expression noise caused by intrinsic and extrinsic fluctuations. Our approach allows tuning the circuit parameters required to minimize noise effects, providing results which prove in accordance with genome-wide experimental data reported in the literature. Exploring different scenarios, either considering only intrinsic noise or considering both extrinsic and intrinsic ones, we find that the design strategies obtained for both cases are not transferable. Thus, designing the circuit parameters taking into account only intrinsic noise yields a sub-optimal design with decreased performance when evaluated in a scenario where both extrinsic and intrinsic noise are present.
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TuA22 Open Invited Session, Cordes |
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Wind Turbine and Wind Farm Control: Control Challenges and Solutions |
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Chair: van Wingerden, Jan-Willem | Delft Univ. of Tech |
Co-Chair: Pao, Lucy Y. | Univ. of Colorado at Boulder |
Organizer: van Wingerden, Jan-Willem | Delft Univ. of Tech |
Organizer: Fleming, Paul | NREL |
Organizer: Schlipf, David | Univ. of Stuttgart |
Organizer: Johnson, Kathryn | Colorado School of Mines |
Organizer: Pao, Lucy Y. | Univ. of Colorado at Boulder |
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10:00-10:20, Paper TuA22.1 | Add to My Program |
Models Used for the Simulation and Control of a Segmented Ultralight Morphing Rotor (I) |
Zalkind, Daniel | Univ. of Colorado Boulder |
Pao, Lucy Y. | Univ. of Colorado at Boulder |
Martin, Dana | Colorado School of Mines |
Johnson, Kathryn | Colorado School of Mines |
Keywords: Control of renewable energy resources, Control system design
Abstract: We present the models used in the simulation and control of a segmented, ultralight morphing rotor (SUMR). These simplified, linear models highlight some differences between the SUMR concept and conventional rotor designs. The models also aid in controller development and turbine design. A baseline controller is presented for the SUMR. To demonstrate how simplified models can be used for system optimization, we present actuator requirements for adequate closed-loop performance. Full, nonlinear, aero-elastic simulations are performed to fine tune the baseline controller for competing objectives. Finally, avenues for future work are outlined.
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10:20-10:40, Paper TuA22.2 | Add to My Program |
Active Power Control of Waked Wind Farms (I) |
van Wingerden, Jan-Willem | Delft Univ. of Tech |
Pao, Lucy Y. | Univ. of Colorado at Boulder |
Aho, Jake | Univ. of Colorado at Boulder |
Fleming, Paul | NREL |
Keywords: Control of renewable energy resources, Analysis and control in deregulated power systems, Control system design
Abstract: Active power control can be used to balance the total power generated by wind farms with the power consumed on the electricity grid. With the increasing penetration levels of wind energy, there is an increasing need for this ancillary service. In this paper, we show that the tracking of a certain power reference signal provided by the transmission system operator can be significantly improved by using feedback control at the wind farm level. We propose a simple feedback control law that significantly improves the tracking behavior of the total power output of the farm, resulting in higher performance scores. The effectiveness of the proposed feedback controller is demonstrated using high-fidelity computational fluid dynamics simulations of a small wind farm.
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10:40-11:00, Paper TuA22.3 | Add to My Program |
MPPT and Yaw Control Combination of a New Twin Wind Turbines Structure (I) |
Guenoune, Ibrahim | Ec. Centrale De Nantes |
Plestan, Franck | Ec. Centrale De Nantes-CNRS |
Chermitti, Ali | Faculty of Tech |
Keywords: Control system design, Control of renewable energy resources
Abstract: A robust integral backstepping controller is designed in this paper in order to control a new structure of twin wind turbines. The idea of this new concept is the free rotation of the structure face the wind without using an actuator. This challenge can achieve by creating the difference between the drag forces of the two rotors, in order to initiate a yaw rotation. The controller aims at maximizing the electrical power by an optimal orientation of the structure. A strategy based on backstepping approach is proposed.
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11:00-11:20, Paper TuA22.4 | Add to My Program |
Robust Lidar-Based Closed-Loop Wake Redirection for Wind Farm Control (I) |
Raach, Steffen | Univ. of Stuttgart |
Boersma, Sjoerd | Delft Univ. of Tech |
van Wingerden, Jan-Willem | Delft Univ. of Tech |
Schlipf, David | Univ. of Stuttgart |
Cheng, Po Wen | Stuttgart Chair of Wind Energy, Univ. of Stuttgart |
Keywords: Control of renewable energy resources, Intelligent control of power systems, Modeling and simulation of power systems
Abstract: Wind turbine wake redirection is a promising concept for wind farm control to increase the total power of a wind farm. Further, the concept aims to avoid partial wake overlap on a downwind wind turbine and hence aims to decrease structural loads. Controller for wake redirection need to account for model uncertainties due to the complexity of wake dynamics. Therefore, this work focuses first on modeling a wind farm using an uncertain plant description and second on the design of a robust Hinf controller for closed-loop wake redirection by applying standard robust modeling and control techniques on a wind farm. The wake center position is estimated and fed back to a controller which uses the yaw actuator to redirect the wake. For several inflow conditions, step simulations are conducted and system identifications are performed to obtain multiple plant models. This set of models is used to derive a nominal plant and an uncertainty set. Both the nominal model and the uncertainty set define the uncertain plant model. The robust controller is then designed showing promising results in a medium-fidelity CFD simulation model with time-varying inflow conditions.
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11:20-11:40, Paper TuA22.5 | Add to My Program |
Logarithmic Power Feedback for Extremum Seeking Control of Wind Turbines (I) |
Rotea, Mario | The Univ. of Texas at Dallas |
Keywords: Control of renewable energy resources, Real time optimization and control
Abstract: When a wind turbine operates between the cut-in and rated wind speeds, the machine is controlled to maximize wind energy capture. The extremum seeking control (ESC) algorithm has been proposed to locate and track the optimal operating condition for power maximization. This is accomplished by applying the ESC to the power signal to determine optimal values for parameters of the control law or actuator settings. Since the power signal is proportional to the cube of the mean wind speed, changes in wind conditions may lead to significant variations in the performance of the ESC algorithm. This paper demonstrates that replacing the power signal with its logarithm yields an algorithm with robust and predictable performance despite variations in the mean wind speed. The theoretical analysis of the ESC with log-of-power feedback is done using a simple differential equation model. Numerical simulations support the theory.
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11:40-12:00, Paper TuA22.6 | Add to My Program |
Adjoint-Based Model Predictive Control of Wind Farms: Beyond the Quasi Steady-State Power Maximization (I) |
Vali, Mehdi | Univ. of Oldenburg |
Petrović, Vlaho | Univ. of Oldenburg |
Boersma, Sjoerd | Delft Univ. of Tech |
van Wingerden, Jan-Willem | Delft Univ. of Tech |
Kühn, Martin | Univ. of Oldenburg |
Keywords: Control of renewable energy resources, Optimal operation and control of power systems, Model predictive and optimization-based control
Abstract: In this paper, we extend our closed-loop optimal control framework for wind farms to minimize wake-induced power losses. We develop an adjoint-based model predictive controller which employs a medium-fidelity 2D dynamic wind farm model. The wind turbine axial induction factors are considered here as the control variable to influence the overall performance of the wind farm by taking wake interactions of wind turbines into account. A constrained optimization problem is formulated to maximize the total power production of a given wind farm. An adjoint approach as an efficient tool is utilized to compute the gradient for such a large-scale system. The computed gradient is then modified to deal with the defined final set and practical constraints on the wind turbine control inputs. The performance of the wind farm controller is examined for a more realistic test case, a layout of a 2by3 wind farm with dynamical changes in wind direction. The effectiveness of the proposed approach is studied through simulations.
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TuA23 Open Invited Session, Lourdes |
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Recent Trends in Modeling, Estimation and Control with PDEs |
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Chair: Prieur, Christophe | CNRS |
Co-Chair: Le Gorrec, Yann | Femto-St, Ensmm |
Organizer: Meurer, Thomas | Christian-Albrechts-Univ. Kiel |
Organizer: Le Gorrec, Yann | Femto-St, Ensmm |
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10:00-10:20, Paper TuA23.1 | Add to My Program |
Solving the Regulator Problem for a 1-D Schr"{o}dinger Equation Via Backstepping (I) |
Zhou, Hua-Cheng | Acad. of Mathematics and Systems Science, Acad. Sinica |
Weiss, George | Tel Aviv Univ |
Keywords: output regulation for distributed parameter systems, backstepping control of distributed parameter systems
Abstract: We solve the output regulator problem for a system described by a Neumann boundary controlled anti-stable one-dimensional Schr"{o}dinger equation by the backstepping approach. The output to be controlled is not required to be measured and its observation operator is assumed to be admissible for a certain C_0-semigroup that is related to the original system, while the measurements used for control are located at the boundary. First we show that the open-loop system is well-posed. Then we find a state feedback control law to solve the output regulator problem by the backstepping method. We design a finite-dimensional reference observer and an infinite-dimensional disturbance observer. Based on this observer, we propose an output feedback controller to achieve output regulation.
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10:20-10:40, Paper TuA23.2 | Add to My Program |
Backstepping Control of Linear 2x2 Hyperbolic Systems with Dynamic Boundary Conditions (I) |
Deutscher, Joachim | Univ. Erlangen-Nürnberg |
Gehring, Nicole | Tech. Univ. of Munich |
Kern, Richard | Tech. Univ. of Munich |
Keywords: control of hyperbolic systems and conservation laws, backstepping control of distributed parameter systems
Abstract: In this paper the boundary control of linear 2x2 hyperbolic systems with spatially-varying coefficients and dynamic boundary conditions is considered. This leads to the stabilization problem for a bidirectionally coupled PDE-ODE system. For its solution a two-step backstepping approach is developed, that yields the usual kernel equations and additional decoupling equations of simple form. The latter can be traced back to a Volterra integral equation of the second kind, which is directly solvable with a successive approximation. The results of the paper are illustrated for a heavy rope with load.
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10:40-11:00, Paper TuA23.3 | Add to My Program |
Boundary Control of a Rijke Tube Using Irrational Transfer Functions with Experimental Validation (I) |
de Andrade, Gustavo Artur | Federal Univ. of Santa Catarina |
Vazquez, Rafael | Univ. De Sevilla |
Pagano, Daniel Juan | Federal Univ. of Santa Catarina |
Keywords: Infinite-dimensional systems, control of hyperbolic systems and conservation laws, thermal and process control applications of distributed parameter systems
Abstract: This paper is concerned with boundary stabilization of thermoacoustic oscillations in the Rijke tube. This system consists of a vertical tube open in both ends and a heater placed in the lower half of the tube. A speaker placed under the tube is used as actuator while a microphone placed near the top of the tube provides the pressure measurement. To study this problem we consider that the mathematical model takes the form of two interconnected compartments: one for the cold zone and other for the hot zone. Each compartment is described by the linearized Euler equations of gas dynamics and the interaction between these compartments is given by the heater model. The control input is applied on the left boundary condition of the cold zone. From this model we derive an irrational transfer function to design a stabilizing boundary control in the frequency domain. In particular, we derive necessary and sufficient conditions for the input-output stability through the use of Nyquist-type test. Experimental results show the effectiveness and real-life applicability of the method.
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11:00-11:20, Paper TuA23.4 | Add to My Program |
Fluid-Flow Modeling and Stability Analysis of Communication Networks (I) |
Espitia, Nicolas | Grenoble Univ |
Girard, Antoine | CNRS |
Marchand, Nicolas | GIPSA-Lab CNRS |
Prieur, Christophe | CNRS |
Keywords: control of hyperbolic systems and conservation laws, infinite-dimensional multi-agent systems and networks, Input-to-State Stability
Abstract: This paper deals with a fluid-flow modeling under compartmental representation of a network. The motivating example is a communication network made up of buffers and transmission lines where densities and flows of packets are viewed as macroscopic variables respecting the conservation laws. The main contribution lies in the resulting model. It is a coupled linear hyperbolic partial differential equations (PDEs) with an ordinary differential equation (ODEs) along with a dynamic boundary condition. Input-to-State Stability of an optimal equilibrium is analyzed using Lyapunov techniques.
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11:20-11:40, Paper TuA23.5 | Add to My Program |
Regional Stabilization for a Class of Bilinear Systems (I) |
Zerrik, E. Hassan | MACS Team; Sciences Faculty, Moulay Ismail Univ |
Ait Aadi, Abderrahman | Moulay Ismail Univ |
Larhrissi, Rachid | Moulay Ismail Univ |
Keywords: Asymptotic stabilization, stability of distributed parameter systems
Abstract: The aim of this paper is to study regional stabilization for a class of bilinear systems evolving in a spatial domain Omega. It consists in studying the asymptotic behaviour of such a system in a subregion omega of Omega, then we give sufficient conditions for weak, strong and exponential stabilization on omega. Also, we concentrate on the determination of the control which ensures regional stabilization and minimizes a given performance cost. The obtained results are illustrated by simulations.
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11:40-12:00, Paper TuA23.6 | Add to My Program |
Closed-Loop Perturbations of Well-Posed Linear Systems (I) |
Haine, Ghislain | Inst. Superieur De L’aeronautique Et De L’espace |
Keywords: Infinite-dimensional systems, Linear systems, well-posed distributed parameter systems
Abstract: We are concerned with the perturbation of a rather general class of linear time-invariant systems, namely emph{well-posed linear system} (WPLS), under additive linear perturbations seen as feedback laws. Let Sigma be a WPLS with (A,B,C) as generating triple. For all control operator E, and all observation operator F such that (A,E,F) is the generating triple of a WPLS, we prove that, if (A,B,F) and (A,E,C) are also the generating triples of some WPLS, for all admissible feedback operator K for (A,E,F), we can construct a WPLS Sigma^K whose generating triple is (A^K,B^K,C^K), where A^K is the infinitisemal generator of the closed-loop of (A,E,F) by the feedback operator K. Furthermore, we give necessary and sufficient condition such that exact controllability persists from Sigma to Sigma^K. In particular, we show that this is the case for all sufficiently small bounded operator K.
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TuA24 Regular Session, Pic du Midi |
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Switched Systems |
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Chair: Forni, Fulvio | Univ. of Cambridge |
Co-Chair: Kobayashi, Koichi | Hokkaido Univ |
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10:00-10:20, Paper TuA24.1 | Add to My Program |
On the Observability of Switched Linear Systems with Unobservable Modes |
Martinez-Martinez, Sinuhé | Univ. De Reims Champagne-Ardenne |
Messai, Nadhir | Univ. De Reims Champagne-Ardenne |
Boukhobza, Taha | Univ. De Lorraine |
Manamanni, Noureddine | Univ. De Reims Champagne Ardenne |
Keywords: Hybrid and switched systems modeling, Complex system management, Reachability analysis, verification and abstraction of hybrid systems
Abstract: The behaviour of a linear switched system is strongly dependent on the sequence in which the system switches. The choice of such switching sequence may affect some basic properties of the switched system such as the stability or the state reconstruction. This paper deals with the existence of sequences allowing to recover the state of a switched linear system for which the modes are not observable. A sequence of modes introduces a huge amount of possible combinations among the parameters. This work gives extended conditions to verify the observability of a switched structured linear system where some particular combinations of parameters avoid to recover the state from the output and its derivatives. The study is carried out in a structural framework where only the knowledge of the system's structure is needed. Such conditions are particularly intuitive on the proposed graph and extend the capabilities of the classic graphical approach.
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10:20-10:40, Paper TuA24.2 | Add to My Program |
Path-Complete Positivity of Switching Systems |
Forni, Fulvio | Univ. of Cambridge |
Jungers, Raphaël M. | Univ. Catholique De Louvain |
Sepulchre, Rodolphe J. | Univ. of Cambridge |
Keywords: Hybrid and switched systems modeling, Event-based control
Abstract: The notion of path-complete positivity is introduced as a way to generalize the property of positivity from one LTI system to a family of switched LTI systems whose switching rule is constrained by a finite automaton. The generalization builds upon the analogy between stability and positivity, the former referring to the contraction of a norm, the latter referring to the contraction of a cone (or, equivalently, a projective norm). We motivate and investigate the potential of path-complete positivity and we propose an algorithm for the automatic verification of positivity.
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10:40-11:00, Paper TuA24.3 | Add to My Program |
Data Assignment and Parameter Adaptation for Switched LPV System Estimation |
Hadid, Baya | Informatics and Control Systems Res. Unit Mines Douai, Mines |
Lecoeuche, Stéphane | Mines De Douai |
Keywords: Hybrid and switched systems modeling, Linear parametrically varying (LPV) methodologies, Nonlinear system identification
Abstract: Most of the studies related to the special class of systems called Switched Linear Parameter Varying (LPV) systems are considered in terms of multi-Lyapunov analysis and control design. This issue attracted a lot of attention since a single controller with acceptable performance may not exist for LPV systems with a large parameter variation region. Even more, the mode sequence has mostly considered a priori known and independent of the system parameters. In this paper, a methodology is investigated for the estimation of the discrete state and parameters for a class of discrete-time (DT) Switched LPV systems. A clustering technique based on an interpretation of belief functions combined to the least squares algorithm is used to estimate the scheduled parameters. The simulation example demonstrates the effectiveness of the identification method by giving results in terms of discrete state estimation, parameter estimation and output fit.
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11:00-11:20, Paper TuA24.4 | Add to My Program |
Hybrid Observer for an Intrinsic Impulsive Feedback System |
Yamalova, Diana | Uppsala Univ |
Churilov, Alexander | St.Petersburg State Univ |
Medvedev, Alexander | Uppsala Univ |
Keywords: Hybrid and switched systems modeling
Abstract: This paper deals with continuous plants subject to intrinsic pulse-modulated feedback, thus exhibiting hybrid closed-loop dynamics. The system structure implements a hybrid oscillator and arises in living organisms, e.g. when episodically firing neurons control the production of hormones in endocrine glands. Hybrid observers reconstructing both the continuous and discrete states of the hybrid plant from only continuous measured outputs are considered. They excel over the existing solutions through the introduction of two co-ordinated feedbacks of the output estimation error: one correcting the continuous state estimates and another adjusting the discrete ones. Different types of the feedback operator to the discrete estimates are analyzed. The observer design problem is reduced to synchronization of the observer solution with that of the plant. The synchronous mode of the observer is rendered locally stable by the selection of the feedback gains. Numerical illustration of the design procedure and observer performance with respect to a pulse-modulated model of testosterone regulation is provided.
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11:20-11:40, Paper TuA24.5 | Add to My Program |
Dead-Beat Stabilizability of Autonomous Switched Linear Discrete-Time Systems |
Fiacchini, Mirko | GIPSA-Lab, CNRS |
Millerioux, Gilles | Univ. De Lorraine |
Keywords: Hybrid and switched systems modeling, Switching control, Stability and stabilization of hybrid systems
Abstract: The paper deals with dead-beat stabilizability of autonomous switched linear discrete-time systems. More precisely, it is investigated with the problem of finding a condition on the sequences of switches which guarantee that the state of the system reaches the origin in finite steps. A literature overview highlights the fact that such a problem is an open problem in the general case. First, we give necessary and sufficient conditions under which such an autonomous switched linear discrete-time system is dead-beat stabilizable. Then, an algorithm is proposed for deciding when such a sequence exists and for providing the sequence. It is shown that the complexity of the test can be much lower than the exhaustive search.
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11:40-12:00, Paper TuA24.6 | Add to My Program |
Behavioral Analysis in Nursing and Caregiving Services Using Switched Linear Regression Models |
Kobayashi, Koichi | Hokkaido Univ |
Hiraishi, Kunihiko | JAIST |
Choe, Sunseong | Osaka Univ. of Ec. and Law |
Uchihira, Naoshi | Japan Advanced Inst. of Science and Tech |
Keywords: Hybrid and switched systems modeling
Abstract: In order to improve quality of nursing and caregiving services, it is important to analyze behaviors of service providers. Then, it is hard to directly analyze time series data. It is appropriate to find changing points and patterns of behaviors. In this paper, we propose a method for behavioral analysis using a switched linear regression model. First, the ICT-based system for nursing and caregiving services, which is developing by the authors, is summarized. Next, in order to analyze actual data obtained from this system, a switched linear regression model is introduced. An identification method of this model using mixed integer programming is proposed. Using this identification method, the changing points of behaviors and the trend of the behavior between changing points can be obtained. Finally, the proposed method is applied to actual data in nursing and caregiving services.
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TuA25 Regular Session, Basketball |
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Mechatronics, Robotics and Components - Robotics 3 |
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Chair: From, Pål Johan | Norwegian Univ. of Life Sciences |
Co-Chair: Tomizuka, Masayoshi | Univ. of California, Berkeley |
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10:00-10:20, Paper TuA25.1 | Add to My Program |
Thorvald II - a Modular and Re-Configurable Agricultural Robot |
Grimstad, Lars | Norwegian Univ. of Life Sciences |
From, Pål Johan | Norwegian Univ. of Life Sciences |
Keywords: field robotics, Mobile robots, Robotics technology
Abstract: This paper presents Thorvald II, a modular, highly re-configurable, all-weather mobile robot intended for applications in the agricultural domain. Researchers working with mobile agricultural robots tend to work in a wide variety of environments such as open fields, greenhouses, and polytunnels. Until now agricultural robots have been designed to operate in only one type of environment, with no or limited possibilities for customization. Thorvald II is a new module-based robot design that allows for vastly different robots to be built using the same basic modules, and rebuilt using only basic hand tools. The modules are designed to enable high quality robots that can quickly be customized for a given application in a given environment.
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10:20-10:40, Paper TuA25.2 | Add to My Program |
Visual Servo for Precise Glass Handling by Industrial Robot with Large Sensor Latency and Low Sampling Rate |
Yu, Xiaowen | UC Berkeley |
Baker, Thomas Richard | Tech. Univ. Muenchen |
Zhao, Yu | UC Berkeley |
Tomizuka, Masayoshi | Univ. of California, Berkeley |
Keywords: Robots manipulators, Guidance navigation and control, Perception and sensing
Abstract: In the protective glass manufacturing industry for cell phones, the raw glass pieces need to be ground to the desired thickness with a grinder, which requires precise glass handling by human workers leading to a bottleneck in the production line. A low cost glass loading system with an industrial robot and web cameras is proposed to support human workers. Due to the hardware limitations, the precision and speed cannot be guaranteed. A two step approach is implemented to overcome these limitations. The glass is detected with non-linear geometry regression in data acquired by a web camera. After being picked up, the glass is placed accurately into the desired equally sized slot with an image-based visual servo and a dual-rate Unscented Kalman Filter.
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10:40-11:00, Paper TuA25.3 | Add to My Program |
A Low-Cost and Flexible Solution for One-Shot Cooperative Robotic Drilling of Aeronautic Stack Materials |
Cirillo, Pasquale | Second Univ. of Naples |
Marino, Alessandro | Univ. Degli Studi Di Salerno |
Natale, Ciro | Univ. Degli Studi Della Campania "Luigi Vanvitelli" |
Di Marino, Emiliano | Univ. Degli Studi Di Salerno |
Chiacchio, Pasquale | Univ. Di Salerno |
De Maria, Giuseppe | Seconda Univ. Degli Studi Di Napoli |
Keywords: Robotics technology, Robots manipulators
Abstract: In this paper, a general architecture for robotized cooperative drilling of hybrid metal/Carbon Fibre Reinforced Polymer (CFRP) aeronautic stacks is presented. The main objectives are to reduce non-added value operations as dismantling, deburring, cleaning and to improve hole quality by reducing the occurrence of delamination and inter-laminar cracking. The approach to achieve such targets is the adoption of a one-shot drilling automatized system based on low cost cooperative robots. The proposed technology consists in a general robot architecture and a cooperative drilling process using only standard low-cost robots and off-the shelf components. A first robot is in charge of drilling the hybrid stack, while a second manipulator ensures the right clamping force between the parts of the stack. Both robots are equipped with force control capabilities to control the generalized forces raising during the interaction with the stack. In this perspective, thanks to the adoption of a fuzzy inference system, the tuning of the force controllers might be carried out by operators that have knowledge of the drilling process but not of control system technology. Such feature makes the solution appealing for industrial production environments. The approach is experimentally validated on a cell with two Comau SmartSix robots drilling an aluminium-carbon fibre stack.
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11:00-11:20, Paper TuA25.4 | Add to My Program |
Systems of Tethered Multicopters: Modeling and Control Design |
Fagiano, Lorenzo | Pol. Di Milano |
Keywords: Flying robots, Mobile robots
Abstract: A class of tethered unmanned aerial vehicles is considered, featuring a chain of multicopter drones tethered one to the other. Differently from previous contributions in the literature, here the tethers are assumed to be elastic and to transfer traction loads only. Moreover, their length can be adjusted through controlled winches installed in the ground station and on each drone. Named systems of tethered multicopters, these devices can be used for a range of applications where both long runtime and good flexibility are required. The paper describes a model of the system, and presents a hierarchical control approach for this class of drones. The proposed control approach is tested through numerical simulations.
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11:20-11:40, Paper TuA25.5 | Add to My Program |
Robotic Contour Tracing with High-Speed Vision and Force-Torque Sensing Based on Dynamic Compensation Scheme |
Huang, Shouren | Univ. of Tokyo |
Bergström, Niklas | KTH |
Yamakawa, Yuji | Univ. of Tokyo |
Senoo, Taku | Univ. of Tokyo |
Ishikawa, Masatoshi | Univ. of Tokyo |
Keywords: Robotics technology, Intelligent robotics, Mechatronic systems
Abstract: This research aims to realize robotic planar-contour tracing of unknown object with high-speed and high accuracy. The challenge lies in the existence of uncertainties, which can be attributed to a robot itself (such as modeling errors, mechanical defects like backlash) or due to environmental issues (like calibration errors, pose fluctuation of a work piece). We propose to realize the tracing task by a non-model-based dynamic compensation approach based on the coarse-to-fine philosophy, which enables the manipulation with high speed and good accuracy simultaneously. This is achieved by adopting a methodology where a main robot is performing fast but coarse motion, while an add-on module is conducting accurate compensation of the overall uncertainties using high-speed visual feedback as well as force-torque feedback. Experiments for verifying the proposed method are conducted.
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TuA26 Open Invited Session, Rugby |
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Industrial Engineering for Hospital and Home Healthcare |
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Chair: Di Mascolo, Maria | CNRS, Inst. National Pol. De Grenoble |
Co-Chair: Monteiro, Thibaud | INSA Lyon, Univ. De Lyon, Département Génie Industriel |
Organizer: Di Mascolo, Maria | CNRS, Inst. National Pol. De Grenoble |
Organizer: Monteiro, Thibaud | INSA Lyon, Univ. De Lyon, Département Génie Industriel |
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10:00-10:20, Paper TuA26.1 | Add to My Program |
Home Health Care Vulnerability Assessment Using Graph Theory and Matrix Methods (I) |
Barkaoui, Houssem | INSA Lyon |
Guinet, Alain | INSA Lyon |
Wang, Tao | Univ. of Saint Etienne |
Keywords: Integrated monitoring, control and security for critical infrastructure systems, Production activity control, Process supervision
Abstract: The accumulation of factors like climate variability, epidemics and the increasing mobility of people around the world have increased the devastator impact of disasters. Furthermore, people have become more aware and exigent especially in terms of healthcare. Hence, a lot of pressure has been exercised on the healthcare system. Home Health Care (HHC), as a vital component of the healthcare system is facing manifolds crisis that can undermine its activities. This paper addresses the question of HHC vulnerability assessment. We use digraph presentation and matrix operations in order to synthetize indexes that infer the severity of crisis situations that a HHC facility could face, based on the predefined criteria. We introduce dynamic vulnerability assessment that takes into account cascading events over time. Vulnerability Priority Index (VPI) has been proposed to support decision-making related to the design of countermeasures and mitigation policies.
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10:20-10:40, Paper TuA26.2 | Add to My Program |
A Mitigation Tool to Protect a Home Health Care Structure Facing a Hydrological Disaster (I) |
Guinet, Alain | INSA Lyon |
Barkaoui, Houssem | INSA Lyon |
Wang, Tao | Univ. of Saint Etienne |
Dubost, Eric | Centre Hospitalier Soins Et Sante |
Keywords: Logistics in manufacturing, Integrated monitoring, control and security for critical infrastructure systems
Abstract: This paper deals with the problem to face hydrological disasters such as a flood, in a home health care structure. In France, these hospitals deliver mainly home health care by employing liberal nurses and liberal physicians (patients’ referring physicians), but they employ also salaried nurses and salaried physicians to control the quality of cares and to ensure the care continuity, respectively. The cares and the physicians' consultations are organized through home tour schedules. In the event of a flood, home tours can be compromised depending on home accessibility. A patient home can be easily or hardly accessible and the home care tour can be or not prolonged depending on the time required to reach each patient home. In the case where the patient home is invaded by the water, the patient must be evacuated to a regular hospital or to a field hospital which has been set up temporarily to receive the evacuated patients. In this paper, a decision-making tool is proposed to face the hydrological disaster i.e. to decide: which patients must be evacuated, which resources must be used to keep patients at home, and how many beds are required to host the evacuated patients. With such a tool, home health care structures can initiate the required collaborations in order to be ready to respond to such emergency crisis and plan patient evacuations during the flood.
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10:40-11:00, Paper TuA26.3 | Add to My Program |
Patient Admission Control in a Hierarchical Healthcare System (I) |
Xin, Pan | Peking Univ |
Jie, Song | Peking Univ |
Bo, Zhang | IBM |
Keywords: Hierarchical multilevel and multilayer control, Modelling and control of hybrid and discrete event systems
Abstract: Motivated by unbalanced demand for healthcare services at the General Hospitals (GH) and the Community Healthcare Centers (CHC) in a hierarchical healthcare system, we study a problem of optimally allocating specialist healthcare resources in the GH for two classes of patients. Adopting a finite-horizon dynamic programming approach, we derive the optimal booking limits policy to inform the resource allocation strategy between early low priority patients and potential future higher priority patients. Through numerical analysis and a case study, we show that the booking limits policy outperforms two widely used allocation policies, especially when the system is subject to high demand.
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11:00-11:20, Paper TuA26.4 | Add to My Program |
Maturity Model-Driven Assessment of Field Hospitals (I) |
Mallek, Sihem | LGI2P - Ec. Des Mines D'ales |
Daclin, Nicolas | Ec. Des Mines D'alès |
Dusserre, Gilles | Ec. Des Mines D'alès |
Lhéritier, Bruno | Service Départemental D’incendie Et De Secours 30 |
Blanchard, Jean | Service Départemental D’incendie Et De Secours 30 |
Arnaud, Isabelle | Service Départemental D’incendie Et De Secours 30 |
Keywords: Model-driven systems engineering, Enterprise Reference Models and Their Verification, Validation, and Accreditation, Enterprise modelling and BPM
Abstract: Mobile field hospitals are set up urgently to respond to all types of emergencies and to meet the health needs of people. In this case, field hospital must be efficient and respond accurately to the emergency for which it is deployed. However, this efficiency can be observed only when the field hospital is deployed during the emergency. Therefore, any deficiencies can not be corrected “on the fly” to fully respond to the emergency. As a consequence, it is interesting to assess the field hospitals before their deployment to ensure it is able to respond efficiently to the emergency. This paper focuses and illustrates the first development to assess a field hospital and based on maturity model. This work takes place within the collaborative research project “HOPICAMP”, funded by the French Unique Interministerial Fund for a new generation of field hospitals.
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11:20-11:40, Paper TuA26.5 | Add to My Program |
Risk Management in Hospital Wards: The Case of Blood Procurement and Handling (I) |
Cagliano, Anna Corinna | Pol. Di Torino |
Grimaldi, Sabrina | Pol. Di Torino |
Mangano, Giulio | Pol. Di Torino - Department of Management and Production |
Rafele, Carlo | Pol. Di Torino |
Keywords: Modelling and decision making in complex systems, Complex logistic systems
Abstract: Blood transfusion is among the most complex healthcare processes including a variety of interrelated sub-processes of different nature. Therefore, it is highly exposed to risks and such a fact is witnessed by the several errors and adverse events occurring every year. Although there is quite a significant body of literature about risk management in transfusion, risks connected with blood product procurement and handling have been scarcely investigated. The present work integrates three risk management tools developed in the project management and manufacturing areas to put forward a structured approach to identify and analyze causes of risks, their manifestations and effects. Its first application to a hospital ward revealed its potential to generate knowledge about blood transfusion uncertainty and the associated criticalities, thus increasing the level of maturity towards risks of healthcare organizations. Future research will refine and extend the approach by applying it to various healthcare settings.
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11:40-12:00, Paper TuA26.6 | Add to My Program |
Planning in Home Health Care Structures: A Literature Review (I) |
Di Mascolo, Maria | CNRS, Inst. National Pol. De Grenoble |
Espinouse, Marie-Laure | G-SCOP |
El Hajri, Zied | DISP - INSA Lyon |
Keywords: Production planning and control, Modelling and decision making in complex systems, Modeling of manufacturing operations
Abstract: The good running of a Home Health Care Structure implies the resolution of several complex problems. In this literature review, we give an overview of current work dealing with planning activities in Home Health Care Structures, and more particularly routing and scheduling of caregivers. Since the patient is the heart of the decision-making system, the reviewed works often consider non-standard criteria and constraints, compared with other routing problems. We focus more particularly on these non-standard and practical aspects of the considered problems.
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TuA27 Open Invited Session, Football |
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Advances in Real-Time Optimization of Uncertain Process Systems I |
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Chair: Bonvin, Dominique | EPFL |
Co-Chair: Chachuat, Benoit | Imperial Coll. London |
Organizer: Faulwasser, Timm | KIT |
Organizer: Marchetti, Alejandro Gabriel | EPFL |
Organizer: Francois, Gregory | Ec. Pol. Federale De Lausanne |
Organizer: Bonvin, Dominique | EPFL |
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10:00-10:20, Paper TuA27.1 | Add to My Program |
Robust Multi-Parametric Control of Continuous-Time Linear Dynamic Systems (I) |
Sun, Muxin | Imperial Coll. London |
Villanueva, Mario E. | Texas A&M |
Pistikopoulos, Efstratios N. | Texas A&M Univ |
Chachuat, Benoit | Imperial Coll. London |
Keywords: Model predictive and optimization-based control, Real time optimization and control
Abstract: We extend a recent methodology called multi-parametric NCO-tracking for the design of parametric controllers for continuous-time linear dynamic systems in the presence of uncertainty. The approach involves backing-off the path and terminal state constraints based on a worst-case uncertainty propagation determined using either interval analysis or ellipsoidal calculus. We address the case of additive uncertainty, and we discuss approaches to handling multiplicative uncertainty that retain tractability of the mp-NCO-tracking design problem, subject to extra conservatism. These developments are illustrated with the case study of a fluidized catalytic cracking (FCC) unit operated in partial combustion mode.
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10:20-10:40, Paper TuA27.2 | Add to My Program |
Real-Time Optimization Via Modifier Adaptation Using Partial Plant Models (I) |
Papasavvas, Aris | Ec. Pol. Fédérale De Lausanne (EPFL) |
de Avila Ferreira, Tafarel | EPFL |
Marchetti, Alejandro Gabriel | EPFL |
Bonvin, Dominique | EPFL |
Keywords: Real time optimization and control, Model predictive and optimization-based control, Advanced control technology
Abstract: Modifier adaptation is a real-time optimization method that has the ability to reach the plant optimum upon convergence despite the presence of uncertainty in the form of plant-model mismatch and disturbances. The approach is based on modifying the cost and constraint functions predicted by the model by means of appropriate first-order correction terms. The main difficulty lies in the fact that these correction terms require the plant cost and constraint gradients to be estimated from experimental data at each iteration. Although the model used can support a significant level of approximation, it must satisfy the following two requirements: (i) a model adequacy condition related to the second-order optimality conditions must be valid at the plant optimum, and (ii) the model must have the same input variables as the plant. In this paper, we consider the case where (ii) is not verified because only a partial or incomplete model is available. We propose to approximate the unmodeled part of the system by a linear model that is identified using the same excitation that is used in modifier adaptation for gradient estimation. The approach is illustrated through the simulated example of a reaction-separation system with recycle.
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10:40-11:00, Paper TuA27.3 | Add to My Program |
Global Self-Optimizing Control for Uncertain Constrained Process Systems (I) |
Ye, Lingjian | Ningbo Inst. of Tech. Zhejiang Univ |
Cao, Yi | Cranfield Univ |
Skogestad, Sigurd | Norwegian Univ. of Science & Tech |
Keywords: Real time optimization and control, Advanced control technology, Control of large-scale systems
Abstract: Self-optimizing control is a promising control strategy to achieve real-time optimization (RTO) for uncertain process systems. Recently, a global self-optimizing control (gSOC) approach has been developed to extend the economic performance to be globally acceptable in the entire uncertain space spanned by disturbances and measurement noise. Nevertheless, the gSOC approach was derived based on the assumption of no change in active constraints, which limits the applicability of the approach. To address this deficiency, this paper proposes a new CV selection approach to handle active constraint changes. It ensures that all constraints are within their feasible regions when the selected CVs are maintained at constant setpoints for all expected uncertainties. In particular, constraints of interest are linearized at multiple operating conditions to get better estimates of their values and then incorporated into the optimization formulation when solving the globally self-optimizing CVs. The new CV selection approach is able to ensure an improved operational economic performance without potential constraint violations, as illustrated in an evaporator case study.
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11:00-11:20, Paper TuA27.4 | Add to My Program |
Run-To-Run Optimization of Batch Processes Using Set-Based Constraints (I) |
Hille, Rubin | Univ. of Waterloo |
Budman, Hector M. | Univ. of Waterloo |
Keywords: Model predictive and optimization-based control, Real time optimization and control, Batch and semi-batch process control
Abstract: Discrepancies between model and process responses typically result from modelling simplifications and assumptions. In the presence of structural model-plant mismatch, a run-to-run optimization procedure that follows a standard repetitive “two-step” approach, involving identification followed by optimization, may not converge to the process optimum. Parameter adaptation is a methodology that can be used to correct for model error at each batch run to drive the process to an optimum. Model parameters are updated during each iteration (batch) to account for changes in operating points as well as to correct for errors in the predicted gradients of the cost function and constraints. However, parameter values which results in a good model fit in terms of fitting the predicted outputs to data do not necessarily give an accurate prediction of the gradients of the cost function, which are necessary for reaching the optimum. We propose a parameter estimation objective which not only minimizes the differences between measurements and predictions but also maximizes the sensitivities of the cost function and constraint gradients with respect to the parameters. Towards these goals, we make use of set-based constraints which enforce uncertainty bounds over the model predictions. The resulting improvements in convergence to the optimum as compared to earlier studies are illustrated using a simulated case study of a penicillin fed-batch process.
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11:20-11:40, Paper TuA27.5 | Add to My Program |
Accelerated and Adaptive Modifier-Adaptation Schemes for Unconstrained Uncertain Systems (I) |
Schneider, René | Ec. Pol. Fédérale De Lausanne (EPFL) |
Milosavljevic, Predrag | École Pol. Fédérale De Lausanne |
Bonvin, Dominique | EPFL |
Keywords: Real time optimization and control
Abstract: The steady-state performance of a parametrically or structurally uncertain system can be optimized using iterative real-time optimization methods such as modifier adaptation (MA). Here, we extend a recently proposed MA scheme in two important and novel directions. First, we accelerate its convergence, i.e., we reduce the number of potentially time-consuming and suboptimal transitions to intermediate steady states by appropriate filtering. Second, we propose an adaptation strategy to reduce conservatism related to the unknown curvature of the system’s steady-state performance curve. Moreover, we combine these two innovations and demonstrate their benefits on two numerical examples.
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11:40-12:00, Paper TuA27.6 | Add to My Program |
Time-Optimal Operation of Membrane Processes in the Presence of Fouling with Set-Membership Parameter Estimation (I) |
Jelemensky, Martin | Slovak Univ. of Tech. in Bratislava |
Fikar, Miroslav | Slovak Univ. of Tech. in Bratislava |
Paulen, Radoslav | Tech. Univ. Dortmund |
Keywords: Real time optimization and control, Process observation and parameter estimation, Batch and semi-batch process control
Abstract: In this paper we study a model-based time-optimal operation of a batch diafiltration process in the presence of fouling where the fouling model is adapted on-line using the set-membership (guaranteed) parameter estimation. The membrane fouling poses one of the major problems in the field of membrane separation processes. The studied objective in this paper is to determine a set of all possible combinations of the fouling parameters based on the measured outputs. For this reason guaranteed parameters estimation method is applied with two procedures to determine the best combination of the fouling parameters on-line during the separation. Model-based optimal non-linear control strategy is coupled with parameter estimation method in a simulation case study to show the benefits of the proposed approach.
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TuA28 Invited Session, Hockey |
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Fault Detection and Diagnosis, Failure Prognosis, and Fault Mitigation
Methods in Industrial Applications |
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Chair: Gryllias, Konstantinos | KU Leuven |
Co-Chair: Zimroz, Radoslaw | Wroclaw Univ. of Science and Tech. Pol |
Organizer: Nikolakopoulos, George | Luleå Univ. of Tech |
Organizer: Georgoulas, George | Tech. Educational Inst. of Epirus, |
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10:00-10:20, Paper TuA28.1 | Add to My Program |
Alpha-Stable Distribution Based Methods in the Analysis of the Crusher Vibration Signals for Fault Detection (I) |
Żak, Grzegorz | Wrocł Aw Univ. of Science and Tech |
Wyłomańska, Agnieszka | Wrocł Aw Univ. of Science and Tech |
Zimroz, Radoslaw | Wroclaw Univ. of Science and Tech. Pol |
Keywords: Statistical methods/signal analysis for FDI, Signal processing for FDI, Parameter estimation based methods for FDI
Abstract: In the field of the industrial signal processing it is important to provide appropriate models of analyzed data. Signals acquired on the faulty components often possess impulsive behavior resulting in nonexistence of moments, heavy tails and as such they cannot be analyzed with application of the standard methods related to Gaussian models. In past years varying methods allowing for the analysis of the impulsive data have evolved. We recall few of them such as alpha-stable distribution modeling, dependency measures connected with this distribution, namely codifference, covariation, fractional lower order covariance (FLOC). These measures when applied can detect frequency bands in which the information about the fault is present (informative frequency band) and also identify/localize the fault. Application of such measures, especially FLOC towards spectrogram will result in creation of the lag-frequency dependency map from which one can extract mentioned information. Authors provide in this paper a novel procedure for local damage detection combining local maxima enhancement with dependency analysis in the frequency bands using FLOC.
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10:20-10:40, Paper TuA28.2 | Add to My Program |
On-Line Updating of Cyclostationary Tools for Fault Detection in Rotating Machines - the Filter Bank Approach (I) |
Kruczek, Piotr | KGHM CUPRUM Ltd CBR Sikorskiego 2-8 , 53-659 Wroclaw |
Obuchowski, Jakub | Kghm Cuprum R&d |
Wyłomańska, Agnieszka | Wrocł Aw Univ. of Science and Tech |
Zimroz, Radoslaw | Wroclaw Univ. of Science and Tech. Pol |
Keywords: Computational methods for FDI, Statistical methods/signal analysis for FDI, Signal and identification-based methods
Abstract: The theory of cyclostationarity provides many valuable tools for fault detection in rotating machines. Cyclostationarity indicators and bi-frequency maps help to quantify fault-related modulations of vibration signals. High quality and robustness of these tools are achieved at a relatively high computational cost. Thus, industrial application of cyclostationarity is limited to off-line analysis in the post-processing stage. In this paper an on-line updating of cyclostationary tools is investigated alternatively to the moving block approach. As an exemplary cyclostationary tool the cyclic modulation spectrum is involved. The filter bank approach is proposed in order to carry out the sample-by-sample updating. We compare properties of the newly proposed method with the one based on sliding discrete Fourier transform.
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10:40-11:00, Paper TuA28.3 | Add to My Program |
Condition Monitoring of Rotating Machinery under Varying Operating Conditions Based on Cyclo-Non-Stationary Indicators and a Multi-Order Probabilistic Approach for Instantaneous Angular Speed Tracking (I) |
Gryllias, Konstantinos | KU Leuven |
Andre, Hugo | Univ. Lyon, IUT De Roanne, LASPI EA3059, F-42334, Roanne |
Leclere, Quentin | Univ. Lyon, INSA-Lyon, LVA EA677, F-69621, Villeurbanne |
Antoni, Jérôme | INSA De Lyon |
Keywords: Fault detection and diagnosis, Vibration and modal analysis, Mechanical and aerospace estimation
Abstract: During the last decades, an emerging interest has been reported on modelling rotating machinery signals as cyclostationary. Several tools, such as the Spectral Correlation Density (SCD) and the Cyclic Modulation Spectrum (CMS) have been proposed, assuming constant or almost constant rotating speed. To overcome this limitation, generalizations of SCD and CMS have been proposed that display cyclic Order versus Frequency. On the other hand the estimation of the instantaneous angular speed of the rotating machine is a crucial issue that has to be tackled before any analysis or diagnosis of the machine operating under non-stationary conditions. This operation is generally carried out thanks to a tachometer, or an angle encoder, but in some cases this information can be missing for different reasons. The goal of this paper is to combine a novel approach for the analysis of ”cyclo-non-stationary” signals based on the generalization of the indicators of cyclostationarity in order to cover the speed varying conditions, introducing a new speed-dependent angle averaging operator, with a new speed estimation method, that extracts from a vibration signal the most probable instantaneous rotation frequency without focusing on one specific order based on the a priori knowledge of the kinematics of the machine. The effectiveness of the global method is investigated on a synthesized CNS signal and on acceleration signals captured under speed varying conditions.
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11:00-11:20, Paper TuA28.4 | Add to My Program |
Nonnegative Spectrogram Factorization for Local Damage Detection of Belt Conveyor Gearboxes (I) |
Wodecki, Jacek | Machinery Systems Div. Na Grobli 15, Wroclaw Univ. Of |
Zdunek, Rafał | Faculty of Electronics, Wroclaw Univ. of Science and Tech |
Wyłomańska, Agnieszka | Wrocł Aw Univ. of Science and Tech |
Zimroz, Radoslaw | Wroclaw Univ. of Science and Tech. Pol |
Keywords: Fault diagnosis and fault tolerant control, Data mining and multivariate statistics
Abstract: The problem of local damage detection for rotating machines is widely studied in the literature. In order to extract information of the damage, the approach based on the vibration signal analysis is applied very often. However, in many cases the analysis of the signal in the time domain is not sufficient. A good choice is the analysis of the signal into the time-frequency domain and extraction of the information on damage from this representation. In this paper, we propose to separate the time-frequency map (spectrogram) of the vibration signal into new partial spectrograms. We assume that one of the new time-frequency representation carries information about the damage, i.e. cyclic impulsive behavior. To perform the separation we apply the idea that is based on a very important topic in numerical algebra, which is matrix factorization. In the presented approach, Convex Non-negative Matrix Factorization (Convex NMF) is used. In the experiments, we analyze a real vibration signal from the heavy duty gearbox used in mining industry. The results obtained for real signal are compared with those obtained using the Spectral Kurtosis approach, one of the classical method used in the problem of local damage detection.
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11:20-11:40, Paper TuA28.5 | Add to My Program |
Prognostic Algorithms Design Based on Predictive Bayesian Cramér-Rao Lower Bounds (I) |
Acuña, David | Faculty of Physical and Mathematical Sciences, Univ. of Chi |
Orchard, Marcos | Faculty of Physical and Mathematical Sciences, Univ. De Ch |
Keywords: Condition Monitoring, Analysis of reliability and safety, Process performance monitoring/statistical process control
Abstract: In the area of failure prognosis, system states are typically related to critical variables whose future evolution in time might significantly affect the health condition of the process, thus yielding into a critical failure at a particular time instant -typically referred to as the Time-of-Failure (ToF). Prognostic frameworks based on Bayesian processors, such as particle filtering, have already demonstrated their efficiency when trying to estimate the probability of failure in nonlinear, non-Gaussian, systems with stochastic operating profiles. However, even in those cases, it is still unclear how to measure the efficacy of the obtained results. For this purpose, it is first necessary to establish adequate performance metrics, and the Prognostics and Health Management (PHM) community has not found a convincing theory that could help to provide adequate performance indicators yet. This article represents a first step towards the solution of this problem by focusing on a rigorous mathematical definition of the prognostic problem, and defining novel performance metrics based on Bayesian Cramér-Rao Lower Bounds for the predicted state mean square error (MSE) conditional to measurement data and model dynamics. Furthermore, we also use these performance metrics to design a step-by-step methodology aimed at tuning the parameters of prognostic algorithms; guaranteeing that the precision of obtained results does not violate these fundamental bounds. This new metric is applied on the design of prognostic algorithms for the problem of State-of-Health monitoring on lithium-ion batteries.
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11:40-12:00, Paper TuA28.6 | Add to My Program |
Remaining Useful Battery Life Prediction for UAVs Based on Machine Learning (I) |
Sharif Mansouri, Sina | Lulea Univ |
Karvelis, Petros | Tech. Educational Inst. of Epirus |
Georgoulas, George | Tech. Educational Inst. of Epirus, |
Nikolakopoulos, George | Luleå Univ. of Tech |
Keywords: Condition Monitoring
Abstract: Unmanned Aerial Vehicles are becoming part of many industrial applications. The advancements in battery technologies played a crucial part for this trend. However, no matter what the advancements are, all batteries have a fixed capacity and after some time drain out. In order to extend the flying time windows, the prediction of the time that the battery will no longer be able to support a flying condition is crucial. This in fact can be considered as a standard Remaining Useful Life prognostic problem, similarly encountered in many fields. In this article, the problem of remaining useful life estimation of a battery under flight conditions, is tackled using four effective machine-learning techniques: a linear sparse model, a variant of support vector regression, a multilayer perceptron and a tree based algorithm. The efficiency of the overall proposed machine learning techniques, in the field of batteries prognostics, is evaluated based on multiple, experimental data from different flight conditions.
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TuM01 Interactive Session, Caravelle 1.2 |
Add to My Program |
GDR MACS - Control Systems and Interactions |
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Chair: Prieur, Christophe | CNRS |
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13:30-15:30, Paper TuM01.1 | Add to My Program |
Congestion Control for Transportation Network under Constraints (I) |
Sleiman, Mohamad | Univ. De Tech. De Belfort-Montbéliard |
Bouyekhf, Rachid | Lab. Des Systèmes Et Transports (SeT), UTBM |
El Moudni, Abdellah | UTBM |
Keywords: Urban Mobility, Complexity modelling
Abstract: This paper focuses on the traffic signal control strategy which can prevent the traffic congestion by forcing the number of vehicles to not exceed the capacity of the network. Firstly, the store-and-forward approach is applied to model the transportation network into a linear discrete-time state space model. Then, by using the concept of positive invariance, we construct a state feedback traffic light control law that achieves our objective and at the same time respecting the constraints on both state and control variables. Finally, an example with eight intersections is worked out in order to illustrate the results.
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13:30-15:30, Paper TuM01.2 | Add to My Program |
Towards a Generic Synthesis Framework for ADAS Control Laws (I) |
Mustaki, Simon | Ec. Des Mines De Nantes / Renault |
Chevrel, Philippe | IRCCyN / Ec. Des Mines De Nantes |
Yagoubi, Mohamed | Ec. Des Mines De Nantes (IRCCyN) |
Fauvel, François | Renault |
Keywords: Intelligent Transportation, Connected Vehicles
Abstract: The craze for the Advanced Driving Assist Systems (ADAS) became major these last years. It leads the car manufacturers to constantly improve their functionalities and to distribute them to a large segment of consumers. Hence, the ADAS has to be adaptable to all vehicle models and above all approved by the drivers. Moreover, since safety of the passengers is at stake, performance and robustness need to be guaranteed. Designing these new systems is more and more time-consuming even though costs have to remain low. To cope with this contradiction, the main objective of my Ph. D. thesis is to construct a generic tuning tool for the ADAS’s control laws, including an environment model, and based on multi-objective optimization as well as sensitivity and robustness control quality criteria. This tool have to be flexible and systematic, adapting easily to the many performance and reliability constraints and to different cars. The approach envisaged is to consider a cost function and constraints having strong physical sense although mathematically formalized to be tractable by the optimization process. Beside, we aim to propose an economic and intuitive parametrization to the ADAS functionality considered, facilitating thus the comprehension of the result. This extended abstract investigates the recent developments on longitudinal and lateral control of a car and is considered as the basis of a forthcoming work on pre-calibration of the ADAS’s control laws in an industrial context.
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13:30-15:30, Paper TuM01.3 | Add to My Program |
Non-Quadratic Stabilization of Switched Affine Systems (I) |
Kader, Zohra | Univ. Lille 1, Sciences Et Tech |
Fiter, Christophe | Univ. Lille1 - Sciences Et Tech |
Hetel, Laurentiu | CNRS |
Belkoura, Lotfi | Univ. De Lille 1 |
Keywords: Systems Theory, Control and Automation Systems failure
Abstract: In this paper we consider the problem of non-quadratic stabilization of switched affine systems. Using a switching Lyaponuv function, LMI conditions based constructive method are proposed in order to design nonlinear switching surfaces and provide an estimation of the domain of attraction. An illustrative example is given in order to show the efficiency of the proposed method.
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13:30-15:30, Paper TuM01.4 | Add to My Program |
On Motivations for Designing Analog Filters under LFT Framework (I) |
Perodou, Arthur | Ec. Centrale De Lyon, Lab. Ampère |
Korniienko, Anton | Ec. Centrale De Lyon, Lab. Ampère |
Scorletti, Gerard | Ec. Centrale De Lyon |
Keywords: University-industry cooperation for training control engineers
Abstract: The objective of this paper is to motivate the design of Radio Frequency (RF) analog filters under the LFT framework. Current increase in filter complexity makes traditional design methods outdated. New methods need then to be developed to tackle this issue. The Linear Fractional Transformation (LFT) is a general tool enabling to represent, analyse and synthesize interconnected systems. Coupling with the so-called KYP lemma, and its extensions, it allows to transpose complex analytical optimization problem into a finite dimensional convex problem under Linear Matrix Inequality (LMI) constraints. That is to say a problem which is optimally and efficiently solvable. All through this paper, illustrations are provided on how using the LFT framework for LC filter design. Finally, potential benefits of such an approach are enumerated, which are mainly based on the generic property of the LFT.
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13:30-15:30, Paper TuM01.5 | Add to My Program |
Multi-Layer Optimization-Based Control Design for Quadcopter Trajectory Tracking (I) |
Nguyen, Ngoc Thinh | LCIS (Lab. of Conception and Integration of Systems) |
Prodan, Ionela | INP Grenoble |
Lefevre, Laurent | Univ. Grenoble Alpes |
Keywords: Systems Theory
Abstract: This paper deals with the trajectory tracking problem of a quadcopter system through a two-layer optimization-based control strategy. The top layer controller employs the MPC (Model Predictive Control) method making use of the linearized translation dynamics in order to achieve the thrust and the sets of the reference angles. The lower control layer considers a combination of feedback linearization and optimization-based control. Designing a CTC (Computed Torque Control) law, the nonlinearities of the rotational dynamics are discarded, leading to a controllable linear model which is further used in a MPC framework for angle tracking. Simulations results for quadcopter trajectory tracking prove the benefits of the proposed multi-layer optimization-based control approach.
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13:30-15:30, Paper TuM01.6 | Add to My Program |
Control-Based Observer Design for Surface Reconstruction Using a Scanning-Tunneling-Microscopy Device (I) |
Popescu, Andrei | Grenoble INP |
Besancon, Gildas | Ense3, Grenoble INP |
Voda, Alina | Univ. Joseph Fourier Grenoble 1 |
Keywords: Systems Theory
Abstract: This paper presents an observer approach for surface reconstruction using a Scanning Tunneling Microscopy device. The observer is designed on the basis of a control-based strategy recently proposed. It is here shown that even with the choice of a simple structure for this control-based observer, the surface reconstruction performances can be improved as compared with a more classical approach. Both simulation and real-time application results are given.
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13:30-15:30, Paper TuM01.7 | Add to My Program |
Operating Space Sectoring for Linearised Gain Scheduling (I) |
Fleischmann, Sebastian | French-German Res. Inst. of Saint-Louis |
Theodoulis, Spilios | ISL |
Laroche, Edouard | Strasbourg Univ |
Wallner, Elmar | MBDA Deutschland GmbH |
Harcaut, Jean-Philippe | MBDA France |
Keywords: Systems Theory
Abstract: An alternative method is presented for the selection of controller design points in a linearised gain scheduling control scheme. A set of linear systems obtained over the whole operating space is sectored using the pointwise gap metric. For each sector a linear system is selected that represents the sector best. It can be guaranteed that a linear controller designed with this system exists that stabilizes all linear systems inside the respective sector. Additional steps are proposed to refine these results after a first set of controllers has been tuned.
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13:30-15:30, Paper TuM01.8 | Add to My Program |
Non-Asymptotic Pseudo-State Estimation for a Class of Fractional Order Linear Systems (I) |
Wei, Xing | INSA Centre Val De Loire |
Wei, Yanqiao | INSA Centre Val De Loire |
Liu, Da-Yan | INSA Centre Val De Loire, Campus De Bourges |
Boutat, Driss | Insa Cvl |
Keywords: Teaching curricula developments for control and other engineers
Abstract: This paper aims at presenting my PhD work. In the present paper, by applying the modulating functions method, the fractional derivatives of the output are exactly given by algebraic integral formulae using a recursive way, which are used to non-asymptotically estimate the pseudo-state of the system in noisy environment. Finally, numerical examples illustrate the efficiency of the proposed pseudo-state estimator.
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13:30-15:30, Paper TuM01.9 | Add to My Program |
Comparison between Two State Estimation Techniques for Linear Systems (I) |
Merhy, Dory | CentraleSupelec/L2S |
Stoica Maniu, Cristina Nicoleta | Supelec |
Alamo, Teodoro | Univ. De Sevilla |
Camacho, Eduardo F. | Univ. of Seville |
Ben Chabane, Sofiane | Supélec |
Keywords: Teaching curricula developments for control and other engineers, Continuing control education in industry
Abstract: This paper presents a comparison in terms of accuracy and complexity between two approaches used for state estimation of linear systems: a classic Kalman filter and a guaranteed set-membership state estimation technique. The main goal of this paper is to analyze the advantages of these techniques and to combine them in the future in a new accurate and simple extension that handles system uncertainties and chance constraints. Two academic examples illustrate the main differences between the compared techniques.
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13:30-15:30, Paper TuM01.10 | Add to My Program |
Switched Interval Observer for Uncertain Continuous-Time Systems (I) |
Ifqir, Sara | IBISC Lab. Evry Val D'essonne Univ |
Ait oufroukh, Naima | IBISC |
Ichalal, Dalil | IBISC-Lab, Evry Val D'essonne Univ |
Mammar, Saïd | CNRS |
Keywords: Robust estimation, Positive systems, Switching stability and control
Abstract: This paper addresses the problem of robust state estimation of switched uncertain systems subject to unknown disturbances. The proposed approach is based on switched interval observers which provide guaranteed lower and upper bounds allowing to evaluate the set of admissible values of the real state vector. The stability and cooperativity conditions of the proposed switched observer are expressed in terms of linear matrix inequalities (LMIs), witch have been established using a common quadratic Lyapunov function (CQLF). Estimation accuracy and robustness with respect to unknown disturbances is analyzed using mathcal{H}_infty objective with pole placement constraints. The proposed approach is illustrated by a numerical example.
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13:30-15:30, Paper TuM01.11 | Add to My Program |
Design and Parameter Tuning of a Robust Model Predictive Controller for UAVs (I) |
Michel, Nathan | ONERA, L2S, CentraleSupélec |
Bertrand, Sylvain | ONERA |
Olaru, Sorin | CentraleSupelec |
Valmorbida, Giorgio | L2S, CentraleSupelec |
Dumur, Didier | CentraleSupelec |
Keywords: Dynamic games
Abstract: Two formulations of robust model predictive control (MPC) that have robustness properties with respect to bounded additive disturbance over conventional MPC are applied to Unmanned Aerial Vehicle (UAV) translational dynamics. These controllers use results from invariant sets theory. The tuning of the proposed MPC laws is studied, and their performances are compared in simulations.
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13:30-15:30, Paper TuM01.12 | Add to My Program |
Boundary Control of a Wave Equation with an Anti-Damped Boundary Dynamics in Presence of an In-Domain Velocity Source Term (I) |
Roman, Christophe | GIPSA-Lab, Univ. Grenoble-Alpes |
Bresch-Pietri, Delphine | MINES ParisTech |
Prieur, Christophe | CNRS |
Sename, Olivier | Grenoble Inst. of Tech. / GIPSA-Lab |
Keywords: Econometric methods
Abstract: This extended abstract presents some backstepping control designs for a one-dimensional wave equation with an anti-damped boundary dynamics in presence of in-domain velocity source term. It discuses the merits and limitations of already carried out solutions and sketches directions of ongoing works. This paper is with the open invited track for the GdR MACS Young PhD researches.
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13:30-15:30, Paper TuM01.13 | Add to My Program |
Design and Control of a Nano-Control Moment Gyro Cluster for Experiments in a Parabolic Flight Campaign (I) |
Evain, Hélène | ONERA |
Solatges, Thomas | Sitia - Onera |
Brunet, Antoine | ONERA |
Dias Ribeiro, Adrien | ONERA |
Sipile, Lylia | ONERA |
Rognant, Mathieu | ONERA |
Alazard, Daniel | Univ. De Toulouse - ISAE |
Mignot, Jean | CNES |
Keywords: Control education using laboratory equipment, Innovation (in development contexts)
Abstract: In this paper, a new system dedicated to the control of the attitude (orientation) of nanosatellites for future space missions is described. It is composed of a cluster of six Control Moment Gyros (CMGs) that presents advantages over current CMG clusters, and controlled by a new steering law. This law should be able to handle failures of Control Moment Gyros in the cluster, singularities and should be simple enough to be computed in real-time onboard satellites. In addition, the size of the cluster will remain small to be compatible with nanosatellite size constraints. This project was proposed by the Flying Squirrels team and selected for the 2017 Fly Your Thesis! programme by the ESA Education Office. Therefore, an in-house cluster of six Control Moment Gyros along with an innovative control law will be tested in a parabolic flight campaign in 2017. This paper outlines the main aspects of this project, from the scientific expected outcomes to the design of the experiment.
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13:30-15:30, Paper TuM01.14 | Add to My Program |
Trajectory Generation under Communication Constraints for an Environment Monitoring Autonomous Surface Vehicle (I) |
Hervagault, Yoann | Grenoble INP |
Prodan, Ionela | INP Grenoble |
Lefevre, Laurent | Univ. Grenoble Alpes |
Keywords: Systems Theory
Abstract: This paper addresses the classical, yet challenging, trajectory generation problem for a particular USV (Unmanned Surface Vehicle) used in environmental monitoring applications. A deployment strategy for a particular scenario has been developed. It involves reaching a sample area while maintaining the communication of the network. We first consider that the antenna are isotropic and each agent has an identical communication range. Then we express communication constraints with directive antennas. A combination between differential flatness and communication constraints will provide the necessary tools for designing a feasible trajectory for the autonomous vehicle. Finally, simulations results validate this approach and prove that its extension for multiple vehicles is worthwhile.
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TuM02 Interactive Session, Caravelle 1.3 |
Add to My Program |
Advances in Vehicle Propulsion Control |
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Chair: Alleyne, Andrew G. | Univ. of Illinois at Urbana-Champaign |
Co-Chair: Arsie, Ivan | Univ. of Salerno |
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13:30-15:30, Paper TuM02.1 | Add to My Program |
Topology Comparison for 48V Battery-Supercapacitor Hybrid Energy Storage System |
Sreedhar, Sunil | Univ. of Michigan |
Siegel, Jason | Univ. of Michigan |
Choi, Saemin | Inmatech Inc |
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13:30-15:30, Paper TuM02.2 | Add to My Program |
Estimation of Best Linear Approximation from Varying Operating Conditions for the Identification of a Li-Ion Battery Model (I) |
Relan, Rishi | Vrije Univ. Brussel (VUB) |
Tiels, Koen | Vrije Univ. Brussel |
Timmermans, Jean-Marc | Vrije Univ. Brussel |
Schoukens, Johan | Vrije Univ. Brussel |
Keywords: Automotive system identification and modelling, Modeling, supervision, control and diagnosis of automotive systems, Hybrid and alternative drive vehicles
Abstract: The short term dynamic response of the battery varies with varying operating conditions. Hence, even before proceeding towards the modelling step, it is important to fully characterise and understand the dynamic behaviour of the battery at varying operating conditions. In this paper, a data-driven methodology for characterising the battery's short term electrical response at varying operating conditions e.g. at different levels of SoC and different temperature levels is discussed. Furthermore, a novel way to estimate the best linear approximation from the data acquired at these operating conditions with varying levels of noise and nonlinear distortions is proposed.
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13:30-15:30, Paper TuM02.3 | Add to My Program |
Hybrid Fuel Cell/Battery Source Sizing and Energy Management for Automotive Applications |
Bendjedia, Bachir | Estaca |
Rizoug, Nassim | Estaca School |
Boukhnifer, Moussa | Estaca |
Bouchafaa, Farid | USTHB |
Keywords: Fuel cells for Automotive Applications, Hybrid and alternative drive vehicles, Modeling, supervision, control and diagnosis of automotive systems
Abstract: This paper deals with a sizing and Energy Management Strategy (EMS) of a hybrid source composed by a Fuel Cell as a main source and battery pack as a secondary one for automotive application. The fuel cell is connected via a DC/DC boost converter to DC link and a bidirectional DC/DC converter is used to connect the batteries to the DC link. A sizing algorithm is used to determine the hybrid source sizes. The simulations results confirm the benefits of hybridization in term of weight, volume, cost and hydrogen consumption. Furthermore, an Energy Management strategy based on frequency splitting is used to split the power between the Fuel Cell and the battery pack by determining the power profile of each one. The proposed strategy shows good performances through the simulation results Moreover, it is validated experimentally via a test bench of 750 W using tow cycles. Experimental results confirm the efficiency, robustness and stability of the proposed approach regrading dynamic performances during power demand, and regenerative braking.
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13:30-15:30, Paper TuM02.4 | Add to My Program |
Modeling and Control of Cathode Air Humidity for PEM Fuel Cell Systems |
Liu, Zhiyang | Coll. of Control Science and Engineering, Zhejiang Univ |
Chen, Jian | Zhejiang Univ |
Chen, Shaoru | Zhejiang Univ |
Huang, Lianghui | Zhejiang Univ |
Shao, Zhigang | Dalian Inst. of Chemical Physics, Chinese Acad. of Science |
Keywords: Fuel cells for Automotive Applications, Modeling, supervision, control and diagnosis of automotive systems
Abstract: This paper deals with modeling and control for the humidification process in the cathode of the PEM fuel cell system at high current demand. An improved control oriented model of the humidification process is developed in this paper. We add a pressure factor into the equation of mass transfer to improve the accuracy of the model in the domain of our study. Under an exhaust gas recirculated structure, we combine the model of air supply system with the humidification process model. The effectiveness of this model is validated by simulation results. Based on the model, we analyze the control objectives and divide them into a fast one and a slow one. Finally, a feedforward controller is designed to regulate the humidification process based on the analysis of the control objectives. Simulation results show that while satisfying the current demand, the strategy can improve the performance of the humidifier dramatically without affecting the regulation of the oxygen excess ratio.
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13:30-15:30, Paper TuM02.5 | Add to My Program |
Prognostics of Proton Exchange Membrane Fuel Cells Using a Model-Based Method |
Liu, Hao | Zhejiang Univ |
Chen, Jian | Zhejiang Univ |
Zhu, Chuyan | Zhejiang Univ |
Su, Hongye | Zhejiang Univ |
Hou, Ming | Dalian Inst. of Chemical Physics, Chinese Acad. of Science |
Keywords: Fuel cells for Automotive Applications, Kalman filtering techniques in automotive control, Modeling, supervision, control and diagnosis of automotive systems
Abstract: Proton exchange membrane fuel cells (PEMFCs) are becoming one of the most popular future power technologies with the advantages including low operating temperature, high power conversion efficiency, and zero pollution. However, there are still many shortcomings restricting the large scale commercialization of PEMFCs, such as the short lifetime and high cost. Accurate prognostics of PEMFCs are very significant for its life and cost management. This paper presents an efficient semi-empirical model-based prognostics method estimating the health state and the remaining useful life of PEMFCs based on the adaptive unscented Kalman filter (AUKF) algorithm. AUKF algorithm can automatically adjust the system process covariance and observation covariance according to the estimation residuals, and it also solves the initial parameters setting problem of conventional UKF algorithm. Finally, simulation results demonstrate that the proposed model-based prognostics method using the AUKF algorithm has better prognostics performance than using the UKF algorithm.
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13:30-15:30, Paper TuM02.6 | Add to My Program |
On-Line Identification of a Torque Converter Model |
Mishra, Kirti | The Ohio State Univ |
Srinivasan, Krishnaswamy | The Ohio State Univ |
Keywords: Automotive system identification and modelling, Adaptive and robust control of automotive systems
Abstract: Most passenger cars on the road today employ planetary automatic transmissions, which use torque converters for vibration isolation and torque amplification at vehicle launch. Torque converter models have been used primarily for analysis and design, but have seen some use for on-line estimation and control. Since model parameters vary with operating conditions such as temperature as well as the condition of the transmission fluid, there is a need for on-line identification of these parameters for validity of the model across a wide range of operating conditions. In the current study, a novel method to update torque converter model parameters on-line is presented. Importantly, exponential convergence of the model parameter estimates to their respective true values is demonstrated. The proposed method is numerically validated for a vehicle under realistic driving conditions. The simulation results indicate that the proposed method is capable of on-line torque converter model identification under slowly varying operating conditions.
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13:30-15:30, Paper TuM02.7 | Add to My Program |
Modeling of a Permanent Magnet Synchronous Motor of an E-Scooter for Simulation with Battery Aging Model |
Rechkemmer, Sabrina Kathrin | Univ. of Stuttgart |
Zhang, Weimin | Tongji Univ |
Sawodny, Oliver | Univ. of Stuttgart |
Keywords: Automotive system identification and modelling, Electric and solar vehicles, Engine modelling and control
Abstract: For the growing market of electric two-wheelers (e-scooters) especially in China, the paper presents an implementation of a time efficient powertrain model. The model consists of an electric motor, power electronics and a Li-ion battery with aging prediction. Depending on the intended use of the models, two different accuracy levels requiring different computational power and computation time are introduced. As motor model a Permanent Magnet Synchronous Motor design is used. An empirical aging model for a Lithium Manganese Oxide cell is presented, which is based on aging measurements. Together, the models provide a possibility to evaluate the long-term cell aging behavior under realistic drive cycles taking motor effects into account.
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13:30-15:30, Paper TuM02.8 | Add to My Program |
Energy-Efficient Constrained Control of a Hydrostatic Power Split Drive |
Zeman, Paul | Vienna Univ. of Tech |
Kemmetmueller, Wolfgang | TU Wien |
Kugi, Andreas | Vienna Univ. of Tech |
Keywords: Nonlinear and optimal automotive control, Hybrid and alternative drive vehicles
Abstract: Although hydrostatic transmissions achieve lower efficiencies compared to mechanical gears with a fixed transmission ratio, the efficiency of the overall drive train can be increased by operating the internal combustion engine (ICE) in an energetically optimal set point. The overall efficiency can be further increased by using power split drives, where the power is transmitted across a hydraulic and a mechanical path. In this paper, a torque control strategy for an output-coupled power split drive of a hybrid hydraulic vehicle (HHV) is developed. A steady-state minimization of the power loss yields the basis for a multi-input multi-output (MIMO) closed-loop control concept of the ICE speed and the hydraulic pressure. A tailored feedforward controller systematically accounts for the input constraints of the system. A feedback controller compensates for parameter uncertainties and unmodeled disturbances. Simulation studies of a nonlinear model of the drive train prove the feasibility and the robustness of the proposed control approach.
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13:30-15:30, Paper TuM02.9 | Add to My Program |
Handling State Constraints in Fast-Computing Optimal Control for Hybrid Powertrains |
Han, Jihun | IFP Energies Nouvelles |
Sciarretta, Antonio | IFP |
Petit, Nicolas | MINES ParisTech |
Keywords: Hybrid and alternative drive vehicles, Nonlinear and optimal automotive control, Control architectures in automotive control
Abstract: To optimally design hybrid powertrains, optimal energy management strategies must be automatically and rapidly generated. Pontryagin’s minimum principle-derived optimization tool called Hybrid Optimization Tool (HOT) can guarantee the fast computing of minimal fuel consumption using an array operation as well as Picard’s method. However, in presence of state constraints (e.g., the battery state of charge limitations), the near-optimality of HOT no longer holds. Herein, we use the interior- and exterior-penalty method to impose the state constraints in HOT and highlight numerical difficulties encountered in their implementation. Then, a factor that causes the numerical difficulties is optimized by quantifying trade-off between the state constraints violation and computational demanding. Finally, through a case study of a parallel hybrid electric vehicle, the results show that despite of a complex problem with rapidly changing dynamics, the penalty methods are able to generate results comparable with dynamic programming ones while guaranteeing the low computational burden.
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13:30-15:30, Paper TuM02.10 | Add to My Program |
Control of an Electromechanical Clutch Actuator by a Parallel Adaptive Feedforward and Bang-Bang Controller: Simulation and Experimental Results |
Temporelli, Robin | Univ. of Sherbrooke |
Micheau, Philippe | Univ. of Sherbrooke |
Boisvert, Maxime | Univ. De Sherbrooke |
Keywords: Adaptive and robust control of automotive systems, Automotive sensors and actuators
Abstract: Vehicle’s powertrain performance and comfort are largely depending on the clutch control strategy for an Automated Manual Transmission (AMT). The aim of the clutch control strategy is to ensure the smooth running of clutch operational cases: a comfortable clutch launch (vehicle takes off smoothly without jerk), a fast upshift/downshift (gear ratio changes) and a fast clutch opening. In most industrial cases, regardless of clutch actuation technology, clutch control is managed by clutch pressure control. However, the clutch pressure control is a challenge regarding clutch non-linearities and time-varying parameters. In this paper, a parallel adaptive feedforward and bang-bang controller is proposed in order to control the clutch pressure with an electromechanical clutch actuator. In this system, a control issue comes from potential time-varying parameters but the main challenge comes from the hysteretic behavior of the system due to dry friction in the actuator assembly. An analytic model of the clutch and its electromechanical actuator including dry friction has been constructed and a prototype has been designed and integrated on a test bench. The parallel adaptive feedforward and bang-bang controller architecture and algorithms are developed. For three critical clutch operational cases, simulations and experiments have been run. Finally, in spite of time-varying parameters and a high hysteretic system behavior, simulation and experimental control results highlight that the controller allows a precise tracking of the pressure reference and a fast time response.
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13:30-15:30, Paper TuM02.11 | Add to My Program |
Simplified Energy-Efficient Adaptive Cruise Control Based on Model Predictive Control |
Lin, Xiaohai | Univ. of Kaiserslautern |
Görges, Daniel | Univ. of Kaiserslautern |
Weißmann, Andreas | Univ. of Kaiserslautern |
Keywords: Control architectures in automotive control, Modeling, supervision, control and diagnosis of automotive systems, Intelligent driver aids
Abstract: This paper presents a simplified approach for energy-efficient adaptive cruise control based on model predictive control (MPC). The goal of the approach is to reduce the energy consumption of a controlled vehicle by using MPC to smoothen the velocity profile such that the acceleration and deceleration are minimized considering available environment information. In the vehicle following scenario, the controlled vehicle is allowed to move in an inter-vehicle distance corridor bounded by a safe minimal distance and a maximal distance. Thereby aspects of road safety and traffic efficiency are addressed. Nonlinear system limitations are approximated with linear constraints. As a result, a quadratic programming problem with linear constraints is formulated, which can be solved using standard methods. A simulation study using velocity profiles for the leading vehicle from real trips and therefore capturing realistic traffic situations is presented. The energy consumption of the controlled and the leading vehicle is evaluated using an electric vehicle model from the literature. Comparisons between the controlled vehicle and the leading vehicle indicate fair energy savings. Furthermore, the computational complexity of the optimization strategy is investigated. A reasonable compromise between real-time capability and energy consumption reduction is obtained.
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13:30-15:30, Paper TuM02.12 | Add to My Program |
Optimal Gear Shift Strategy for Dual Clutch Transmissions |
Golkani, Mohammad Ali | Graz Univ. of Tech |
Steinberger, Martin | Graz Univ. of Tech |
Bachinger, Markus | Virtual Vehicle Res. Center |
Rumetshofer, Johannes | Virtual Vehicle Res. Center |
Stolz, Michael | Virtual Vehicle Res. Center |
Horn, Martin | Graz Univ. of Tech |
Keywords: Nonlinear and optimal automotive control
Abstract: In this paper, the operation of two clutches during a gear shift process in dual clutch transmissions is considered. An optimization problem is formulated in a compact form such that the energy losses in the clutches as well as the jerk are minimized. Nonlinear constraints arising from clutch friction are avoided by imposing constraints in a linear form and dividing the time interval into two phases. Simulation results of selected load downshift and upshift scenarios illustrate that the current state of the art transmission control approach can be interpreted as an optimal solution.
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TuM03 Interactive Session, Caravelle 2.1 |
Add to My Program |
Identification and Control in Mechatronics |
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Chair: Schlacher, Kurt | Johannes Kepler Univ. Linz |
Co-Chair: Karimi, Hamid Reza | Pol. Di Milano |
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13:30-15:30, Paper TuM03.1 | Add to My Program |
Path Following Control for Elastic Joint Robots |
Bischof, Bernhard | TU Wien, Automation and Control Inst |
Glück, Tobias | Austrian Inst. of Tech |
Böck, Martin | TU Wien |
Kugi, Andreas | Vienna Univ. of Tech |
Keywords: Identification and control methods, Intelligent controllers, Motion Control Systems
Abstract: This paper presents a path following control concept for elastic joint robots. A controller is designed using transverse feedback linearization and a parallel transport frame that is suitable for regular paths with parametrized fivefold continuously differentiable representation. Systematic application of the singular perturbation theory makes this concept also applicable to elastic joint robots with a larger number of degrees of freedom. A simulation example for a six-axis industrial robot shows the feasibility of the proposed approach and the advantages compared to classical trajectory tracking control.
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13:30-15:30, Paper TuM03.2 | Add to My Program |
Towards Discrete Mechanics and Optimal Control for Complex Models |
Manns, Paul | Tech. Univ. Braunschweig |
Mombaur, Katja | IWR Heidelberg Univ |
Keywords: Identification and control methods, Modeling
Abstract: Methods for trajectory optimization originate from the need to solve spaceflight mechanics problems beginning in the 1950s and 1960s. The rise of digital compute power popularized so-called direct methods from the 1980s onwards. Since the 1990s, these methods have been used extensively in various fields like robotics and chemical reaction kinetics. Discrete Mechanics and Optimal Control (DMOC) is a relatively new but not very widespread method that offers nice mathematical properties. It has mostly been applied to small mechanical problems so far. We show that the method can offer competitive performance when being used on more complex models like a 2D human model. Furthermore, we point out that the method can take advantage of parallel compute architectures nicely. It relies on a variational principle and temporal discretization that lead to a sparse constraint Jacobian that scales well.
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13:30-15:30, Paper TuM03.3 | Add to My Program |
A New Robust Controller Formulation for the Full-State Feedback Position Tracking of a Small-Scaled Unmanned Model Helicopter |
Bidikli, Baris | Izmir Katip Celebi Univ |
Tatlicioglu, Enver | Izmir Inst. of Tech |
Zergeroglu, Erkan | Gebze Inst. of Tech |
Keywords: Identification and control methods, Guidance navigation and control, Motion Control Systems
Abstract: This work focuses on the robust attitude tracking control problem for a small-scaled unmanned helicopter where the actual system inputs, namely the elevator servo input, the aileron servo input and the rudder servo input, are used in the controller formulation. The design process is divided into two parts. Initially the problem is transformed into a second order system with an uncertain non-symmetric input gain matrix by utilizing some reasonable simplifications for the rotor model under the hovering flight conditions. Then a novel robust control methodology is utilized via a matrix decomposition method. The stability of the overall system is ensured by Lyapunov type analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed method.
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13:30-15:30, Paper TuM03.4 | Add to My Program |
Data-Driven Progressive and Iterative Learning Control (I) |
Chen, Cheng-Wei | UCLA |
Tsao, Tsu-Chin | Univ. of California Los Angeles |
Keywords: Motion Control Systems, Identification and control methods, Intelligent controllers
Abstract: This paper addresses the error convergence rate of data-driven iterative learning control (ILC) for single-input-single-output (SISO) systems. Since the error convergence rate depends on the learning filter, which ideally should invert the plant dynamics, the challenge lies in creating the ILC learning filters that approximate the plant inverse without having the plant model. Zero-phase or time-reversal filtering ILC is applied to track smoothened impulse, where the learning filter is progressively updated while trajectory learning proceeds. The approach drastically accelerates the error convergence rate of the time-reversal based ILC. The progression of the ILC learning filter brings an additional degree of freedom for the learning filter design with proven stability properties. Simulation results for tracking a chirp reference on a linear motor positioning system demonstrate the effectiveness of the approach.
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13:30-15:30, Paper TuM03.5 | Add to My Program |
On Prescribed Contact Establishment |
Kanakis, George | Aristotle Univ. of Thessaloniki |
Rovithakis, George | Aristotle Univ. of Thessaloniki |
Doulgeri, Zoe | Aristotle Univ. of Thessaloniki |
Keywords: Identification and control methods, Guidance navigation and control
Abstract: In this paper, the problem of establishing contact of robots with a planar surface having unknown stiffness and position is considered. Given a free-space controller that achieves tracking of a position and orientation reference trajectory, a novel,continuous on time controller is designed, capable of establishing and maintaining contact. Additionally, the proposed control scheme guarantees the satisfaction of certain pre-defined bounds regarding the maximum overshoot, the minimum convergence rate and the maximum steady-state error for the contact force, the position, and the orientation tracking errors. Moreover, all remaining closed-loop signals are kept bounded. Simulation studies on a 6-DOF robot, clarify and verify the theoretical findings.
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13:30-15:30, Paper TuM03.6 | Add to My Program |
Pseudo-Magnetic Centre Identification of an Active Magnetic Bearing for Sensorless Drive Control Start-Up |
Kruger, Gert Lodewikus | North-West Univ |
van Schoor, George | North-West Univ |
van Vuuren, Pieter Andries | North West Univ |
Keywords: Identification and control methods, Vibration control, Mechatronic systems
Abstract: A method of identifying runout of an active magnetic bearing at standstill and low speed is presented. The on-line current bias injection method is improved, but is found to converge too slow for sinusoidal tracking. A new method which approximates the magnetic centre using a force observer is presented and tested on an experimental y-wheel AMB system. The estimated angle of the rotating vector could be used for sensorless vector control start-up.
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13:30-15:30, Paper TuM03.7 | Add to My Program |
Continuation for Stability Domain Determination with Application to a Cable-Driven Parallel Robot |
Peyron, Quentin | INSA of Strasbourg |
Isabelle, Charpentier | ICube, CNRS |
Laroche, Edouard | Strasbourg Univ |
Keywords: Modeling, Identification and control methods
Abstract: Determining a stability domain, i.e. a set of equilibria for which a dynamical system remains stable, is a core problem in control. When dealing with controlled systems, the problem is generally transformed into a robustness analysis problem: considering a set of uncertain parameters (generally chosen as polytopic), one seeks for guaranties that the system remains stable for this given set or some dilatation or contraction of this set. Thanks to the development of formal methods based on continuation, another approach is proposed in this paper to determine the border of the stability domain. The proposed developments were made with MatCont, a package to be used with Matlab, and the considered system is a 3-cable robot with linear PD and PID controllers.
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13:30-15:30, Paper TuM03.8 | Add to My Program |
Robust Control of Twin Rotor MIMO System with Quantized Output |
Margun, Alexey | ITMO Univ |
Furtat, Igor | Inst. of Problems of Mechanical Engineering Russian Acad |
Kremlev, Artem | ITMO Univ |
Keywords: Identification and control methods
Abstract: The paper is devoted to the design and experimental application of robust controller for MIMO plants under parametric uncertainties, external disturbances and quantized output measurement. Only quantized output is assumed to be measured. Controller synthesis is based on consecutive compensator approach. Experimental research is performed with use of helicopterlike twin rotor MIMO laboratory bench. Experiments show efficiency of the proposed control method in comparison with PID controller.
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13:30-15:30, Paper TuM03.9 | Add to My Program |
A Thermodynamically Consistent Port-Hamiltonian Model for Dielectric Elastomer Membrane Actuators and Generators |
Rizzello, Gianluca | Saarland Univ |
Naso, David | Pol. Di Bari |
Seelecke, Stefan | North Carolina State Univ |
Keywords: Modeling, Mechatronic systems, Smart Sensors and Actuators
Abstract: This paper presents a port-Hamiltonian modeling formulation for a Dielectric Elastomer membrane. The model relates electrical and mechanical inputs to corresponding conjugate outputs, allowing to simulate the membrane transducer in actuation and energy harvesting application. Starting from a nonlinear, physics-based model developed in the authors’ previous works, a suitable function is initially proposed to quantify the overall electro-mechanical energy in the system. Subsequently, a complete description in terms of Hamiltonian, dissipation function, and system matrices is provided. The port-Hamiltonian formalism permits to assess the thermodynamic consistency of the model, making it a reliable tool for the prediction of energetic performance in dynamic applications. Furthermore, it opens up the possibility of applying powerful nonlinear analysis and design tools.
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13:30-15:30, Paper TuM03.10 | Add to My Program |
Performance Improvement of a Class of Continuum Manipulators Via Adaptive Algorithms |
Melingui, Achille | Univ. of LIlle1 |
Mvogo Ahanda, Joseph Jean-Baptiste | Department of Physics, Faculty of Science, Univ. of Yaounde |
Lakhal, Othman | Univ. Lille 1, CRIStAL, CNRS-UMR 9189, |
Mbede, Jean Bosco | Univ. of Yaoundé 1 |
Merzouki, Rochdi | Pol |
Keywords: Mechatronic systems, Identification and control methods, Robots manipulators
Abstract: Continuum manipulators represent a class of robots reproducing some bio-inspired behaviors such as elephant trunks, octopus, or tentacles. Their performances in terms of speed limitation and position accuracy are often mediocre compared to rigid body-based robots. The presence of nonlinearities effects and the hyper-redundancies in continuum manipulator structure makes it difficult to establish analytical accurate kinematic models that can be integrated into a real-time control scheme. Unlike in rigid body-based manipulators where accurate kinematic models generally lead to good performance in closed loop, in the case of continuum manipulators, accurate kinematic models do not always give satisfactory results. The structure of some continuum manipulators would be the main cause of this poor performance. Here, continuum manipulator performance is measured in terms of positioning accuracy. The paper attempts to demonstrate that even using global optimization learning methods which guarantee global solutions, it remains a challenging task to achieve good performance with non-adaptive control laws. This is demonstrated by implementing adaptive and non-adaptive algorithms on a class of continuum manipulators namely the compact bionic handling arm (CBHA).
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13:30-15:30, Paper TuM03.11 | Add to My Program |
Mixed H2/Hinf Tracking Control with Constraints for Single Quadcopter Carrying a Cable-Suspended Payload |
Guo, Minhuan | Nanjing Univ. of Science and Tech |
Su, Yan | Univ. of Science and Tech |
Gu, Dongbing | Univ. of Essex |
Keywords: Identification and control methods, Flying robots, Autonomous robotic systems
Abstract: In order to control a single quadcopter with a cable-suspended payload to follow the desired trajectory, a mixed H2/Hinf controller with constraints is developed. Firstly, the Euler-Lagrange dynamic model is built and linearized. Then the extended model for path tracking problem is designed. Based on linear matrix inequality (LMI), state feedback controller H2 and Hinf with constraints is illustrated. Aiming to maintain a good balance in transient behaviors and frequency-domain performance, the mixed controller is presented. Finally, the control strategies are utilized in a simulation test and the result validates the proposed method.
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TuM04 Interactive Session, Caravelle 2.2 |
Add to My Program |
Optimal Control I |
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Chair: Filippova, Tatiana | Inst. of Mathematics and Mechanics of the Ural Branch of the Russian Acad. of Sciences |
Co-Chair: Azhmyakov, Vadim | Univ. De Medellin |
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13:30-15:30, Paper TuM04.1 | Add to My Program |
Structural Changes in Economic Growth Models |
Usova, Anastasiia | Univ. of Western Ontario |
Tarasyev, Alexander | Krasovskii Inst. of Mathematics and Mechanics of Ural Branch |
Turygina, Victoria | Ural Federal Univ |
Keywords: Optimal control theory, Hamiltonian trajectories in optimal control, Non-smooth and discontinuous optimal control problems
Abstract: The paper is devoted to analysis of one-sector growth models and corresponding control problems on optimal distribution of investments. The paper considers a model with a linear production function, which takes into account the feasibility of structural changes in an economy. By introducing dummy variables one can statistically indicate a period when the model undergoes changes. This provides the possibility to switch the model in different modes for providing more accurate forecasts of economic development. For the optimal control problems, the qualitative analysis of the Hamiltonian systems is implemented and solutions are constructed for each model mode. Continuous gluing of the obtained trajectories is obtained as a solution of the optimal control problem with different model modes on the infinite time interval. Comparison of the resulting model trajectory with statistical data reveals that the simulated trends provide sufficiently accurate matching with the real data. Adaptation of model parameters to a new economic mode can be considered as a learning process for the entire optimal control model. It makes the model more flexible with respect to the qualitative changes influencing forecasts of economic development.
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13:30-15:30, Paper TuM04.2 | Add to My Program |
Optimization of Fractional and Integer Order PID Parameters Using Big Bang Big Crunch and Genetic Algorithms for a MAGLEV System |
Altintas, Gokhan | Istanbul Tech. Univ |
Aydin, Yucel | ITU Istanbul Tech. Univ |
Keywords: Evolutionary algorithms, Modeling for control optimization, Optimal control theory
Abstract: This paper presents a study on optimized control for a magnetically levitated (MAGLEV) suspension system. Unstable magnetically levitated system is modelled and integer order PID (IOPID) and fractional order PID (FOPID) controller parameters are evaluated by using both Genetic Algorithm (GA) and Big Bang Big Crunch (BBBC) algorithm. Comparison between BBBC and GA based controllers are done. Responses for variable reference inputs are obtained. Results show that the performance of the BBBC based FOPID controller is better than GA optimized FOPID controller.
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13:30-15:30, Paper TuM04.3 | Add to My Program |
Sporadic Model Predictive Control |
Leva, Alberto | Pol. Di Milano |
Benzi, Federico Mattia | Pol. Di Milano |
Magagnotti, Virna | Pol. Di Milano - Former Student |
Vismara, Giulia | Pol. Di Milano - Former Student |
Keywords: Industrial applications of optimal control
Abstract: We present a control scheme combining a Model Predictive Control (MPC) layer and a hierarchically inferior one, in general not of the MPC type. The purpose is to avoid solving the MPC optimisation problem at each control step, thereby lightening the computational burden. The MPC controller can be designed within the classical receding horizon framework, and independently of the lower layer. This makes it easy to apply the scheme to existing systems, where the lower layer may just be the pre-existing control, in a view to enhancing industrial applicability. We name the approach grounding the scheme "sporadic" MPC, owing to the characteristic just evidenced, and in particular to the particular interplay with the existing control layer. We show some simulation examples to demonstrate the achievable advantages.
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13:30-15:30, Paper TuM04.4 | Add to My Program |
Optimal Thermal Regulation of a Real Data Centre |
Tsachouridis, Vassilios, A. | United Tech. Res. Centre |
Sobonski, Piotr | UTRCI |
Wiese, Hubertus | United Tech. Res. Centre |
Mehta, Deepak | Insight Centre for Data Analytics |
Kouramas, Konstantinos | United Tech. Res. Center |
Cychowski, Marcin | United Tech. Res. Centre Ireland Ltd |
Keywords: Industrial applications of optimal control, Adaptive control, Time-varying systems
Abstract: This paper presents a pilot method for optimal temperature regulation of real data centre rooms. The development is a part of a wider research activity conducted for EU FP7 project GENiC (Globally optimized Energy efficient data Centres). An overall description of the concept and GENiC platform is presented with emphasis on the thermal control system development including its architecture, design, online-algorithms and real system implementation on a real data centre facility. Latest experimental results of the developed control platform are presented, illustrating the capabilities and efficiency of the proposed technical approach towards optimal thermal control of data centres.
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13:30-15:30, Paper TuM04.5 | Add to My Program |
Batch Distillation of Binary Mixtures: Preliminary Analysis of Optimal Control |
Stojkovic, Marija | Lab. De Génie Chimique, INP -ENSIACET Toulouse |
Gerbaud, Vincent | Lab. De Génie Chimique, CNRS |
Shcherbakova, Nataliya | Lab. De Génie Chimique, INP -ENSIACET Toulouse |
Keywords: Industrial applications of optimal control, control of heat and mass transfer systems, Chemical engineering
Abstract: The present work concerns the distillation of a binary non-ideal zeotropic mixture in an N-stage batch column under total condensation and constant vapour flow rate assumptions. The aim is to maximize the final product of desired purity using the reflux as a control parameter. We discuss methodological aspects of the numerical resolution, and apply the direct method based on a full discretization of the optimal control problem. We show that if the number of plates is just sufficient or is big enough to assure the desired purity of the product, the optimal solution is very close to the cyclic-like policy reported by other authors in a different context.
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13:30-15:30, Paper TuM04.6 | Add to My Program |
A Jacobi Decomposition Algorithm for Distributed Convex Optimization in Distributed Model Predictive Control |
Doan, Minh Dang | Univ. of Freiburg |
Diehl, Moritz | Univ. of Freiburg |
Keviczky, Tamas | Delft Univ. of Tech |
De Schutter, Bart | Delft Univ. of Tech |
Keywords: Large scale optimization problems, Nonlinear cooperative control, Convex optimization
Abstract: In this paper we introduce an iterative distributed Jacobi algorithm for solving convex optimization problems, which is motivated by distributed model predictive control (MPC) for linear time-invariant systems. Starting from a given feasible initial guess, the algorithm iteratively improves the value of the cost function with guaranteed feasible solutions at every iteration step, and is thus suitable for MPC applications in which hard constraints are important. The proposed iterative approach involves solving local optimization problems consisting of only few subsystems, depending on the flexible choice of decomposition and the sparsity structure of the couplings. This makes our approach more applicable to situations where the number of subsystems is large, the coupling is sparse, and local communication is available. We also provide a method for checking a posteriori centralized optimality of the converging solution, using comparison between Lagrange multipliers of the local problems. Furthermore, a theoretical result on convergence to optimality for a particular distributed setting is also provided.
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13:30-15:30, Paper TuM04.7 | Add to My Program |
Time-Invariant Control in LQ Optimal Tracking: An Alternative to Output Regulation |
Bernhard, Sebastian | Tech. Univ. Darmstadt |
Keywords: Optimal control theory
Abstract: We propose a new time-invariant control for linear quadratic tracking problems with references and disturbances generated by linear exo-systems. The control consists of a static feedback and a static pre-filter similar as in output regulation theory (ORT). Instead of forcing the tracking error to converge to zero, a tolerated steady-state error is balanced against the necessary input-energy via a quadratic cost. For the first time in this context, we deduce a time-invariant control from algebraic equations such that necessary optimality conditions are satisfied on infinite horizons. Then, we prove strong optimality for bounded exo-system states. Hence, any other steady-state solution will lead to infinite additional cost. On finite horizons and for arbitrary exo-systems, we prove that our control is an agreeable plan as it approximates the computational expensive, time-varying optimal control of any suitably large horizon. Since our control applies for any initial conditions of the plant and the exo-system, it is well suited for a practical resource-efficient implementation. In this regard, a presented algorithm allows for an easy to carry out control design. Finally, an industrial application indicates the unified treatment of square, under- and over-actuated systems by our approach in contrast to ORT.
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13:30-15:30, Paper TuM04.8 | Add to My Program |
Relations between Model Predictive Control and Reinforcement Learning |
Görges, Daniel | Univ. of Kaiserslautern |
Keywords: Optimal control theory, Constrained control, Adaptive control
Abstract: In this paper relations between model predictive control and reinforcement learning are studied for discrete-time linear time-invariant systems with state and input constraints and a quadratic value function. The principles of model predictive control and reinforcement learning are reviewed in a tutorial manner. From model predictive control theory it is inferred that the optimal value function is piecewise quadratic on polyhedra and that the optimal policy is piecewise affine on polyhedra. Various ideas for exploiting the knowledge on the structure and the properties of the optimal value function and the optimal policy in reinforcement learning theory and practice are presented. The ideas can be used for deriving stability and feasibility criteria and for accelerating the learning process which can facilitate reinforcement learning for systems with high order, fast dynamics, and strict safety requirements.
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13:30-15:30, Paper TuM04.9 | Add to My Program |
Near Time-Optimal Path Tracking Method for Waiter Motion Problem |
Csorvási, Gábor | Budapest Univ. of Tech. and Ec |
Nagy, Ákos | Budapest Univ. of Tech. and Ec |
Vajk, Istvan | Budapest Univ. of Tech. and Ec |
Keywords: Optimal control theory, Convex optimization
Abstract: Time-optimal motion planning is one of the most essential problems in robotic theories. The presented direct transcription approach uses convex optimisation method to obtain a minimum-time control for robot manipulators. One subset of motion planning is the waiter motion problem that consists of moving a tablet from one place to another as fast as possible, avoiding the slip of the object that is placed upon it. In this paper the direct transcription method is presented in order to solve the waiter problem. This path tracking problem is also approximated by sequential two dimensional second-order cone programs (SOCP) using nonlinear change of variables. The computational benefit of the sequential method compared to the direct transcription approach is presented. The waiter motion problem is validated by real-life experimental results with a 6-DoF robotic arm.
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13:30-15:30, Paper TuM04.10 | Add to My Program |
Low Error Operation in Open Loop: Nonlinear Systems with Time Delay |
Hammer, Jacob | Univ. of Florida |
Choi, Ho-Lim | Dong-A Univ |
Keywords: Optimal control theory, Delay systems, Robust control
Abstract: Optimal controllers that maintain low operating errors during feedback disruptions are developed for a class of nonlinear systems with time delay. It is shown that such controllers exist and that their performance can be closely approximated by bang-bang controllers that are easy to implement.
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13:30-15:30, Paper TuM04.11 | Add to My Program |
Non-Gaussian Assessment of the Benefits from Improved Control |
Domanski, Pawel Dariusz | Warsaw Univ. of Tech |
Keywords: Monitoring and performance assessment, Process performance monitoring/statistical process control, Statistical methods/signal analysis for FDI
Abstract: Control quality significantly contributes to the process technical and financial performance. Productivity, environmental issues and energy management push systems towards their technological constraints calling for better regulation closer to process limitations. Any control improvement initiative should be predated with the estimation of the potential benefits associated with control rehabilitation project. The assessment is based on the appropriate measures. Classical methods are based on Gaussian approach. However, investigation of industrial data frequently is not compliant with normal assumption on control signals. This paper proposes approach using non-Gaussian probabilistic distributions like Cauchy, Laplace and L'{e}vy. The methodology is illustrated on the exemplary industrial data.
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TuM05 Regular Session, Latécoère |
Add to My Program |
Estimation and Filtering |
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Chair: Bouffanais, Roland | Singapore Univ. of Tech. and Design |
Co-Chair: Petersen, Ian R | The Australian National Univ |
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13:30-13:50, Paper TuM05.1 | Add to My Program |
A New Minimum Variance Observer for Stochastic LPV Systems with Unknown Inputs |
Meyer, Luc | Paris Saclay Univ |
Ichalal, Dalil | IBISC-Lab, Evry Val D'essonne Univ |
Vigneron, Vincent | IBISC-Lab |
Vasiljevic, Claire | IBISC - Univ. D'evry |
Oswald, Jean | CNES |
Keywords: Estimation and filtering, Linear parametrically varying (LPV) methodologies
Abstract: This paper is dedicated to the design of a state estimator for discrete-time Linear Parameter Varying (LPV) systems affected by unknown inputs and random Gaussian noises. Contrary to the existing work, the observer designed in this paper takes measures at several time steps into account in order to improve the performance (in terms of minimizing the variance estimation error). This approach is based on combining the classical Kalman Filter with the design strategies of deterministic observer for LPV systems in deterministic framework. Then, as an extension of this result, the observer is used for estimation of LPV systems without unknown inputs when state noises have a very high variance in comparison to the measurement noises. Simulation results are presented to illustrate the effectiveness of the proposed approach.
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13:50-14:10, Paper TuM05.2 | Add to My Program |
Relationship between Causality of Stochastic Processes and Zero Blocks of Their Joint Innovation Transfer Matrices |
Jozsa, Monika | Ec. Des Mines De Douai |
Petreczky, Mihaly | CNRS |
Camlibel, Kanat | Univ. of Groningen |
Keywords: Realization theory, Estimation and filtering, Time series modelling
Abstract: We consider output processes which are realizable by stochastic linear time-invariant (LTI) systems. Such processes can always be realized by LTI systems in forward innovation form, and we study the transfer matrices of such LTI realizations. We show that such a transfer matrix is consistent with an acyclic directed graph if and only if the edges of this graph represent Granger-causality relations among the components of the output process. By consistency we mean that if there is no edge between two vertices of the graph, then the corresponding block of the transfer matrix is zero. Under this assumption, conditional Granger non-causality between the components of the process is equivalent with a zero block in the transfer matrix.
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14:10-14:30, Paper TuM05.3 | Add to My Program |
An Optimal Execution Problem in Finance with Acquisition and Liquidation Objectives: An MFG Formulation |
Firoozi, Dena | McGill Univ |
Caines, Peter E. | McGill Univ |
Keywords: Stochastic control and game theory, Distributed control and estimation
Abstract: Partially observed major minor LQG mean field game theory is applied to an optimal execution problem in finance; following standard financial models, controlled linear system dynamics are postulated where an institutional investor (interpreted as a major agent) in the market aims to liquidate a specific amount of shares and has partial observations of its own state (which includes its inventory). Furthermore, the market is assumed to have two populations of high frequency traders (interpreted as minor agents) who wish to liquidate or acquire a certain number of shares within a specific time, and each one of them has partial observations of its own state and the major agent's state (which include the corresponding inventories). The objective for each agent is to maximize its own wealth and to avoid the occurrence of large execution prices, large rates of trading and large trading accelerations which are appropriately weighted in the agent's performance function. The existence of epsilon-Nash equilibria together with the individual agents' trading strategies yielding the equilibria, were established. A simulation example is provided.
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14:30-14:50, Paper TuM05.4 | Add to My Program |
A Direct Coupling Coherent Quantum Observer for a Qubit, Including Observer Measurements (I) |
Petersen, Ian R | The Australian National Univ |
Huntington, Elanor | Australian National Univ. Canberra |
Keywords: Estimation and filtering, Filtering and smoothing
Abstract: This paper proposes a direct coupling coherent quantum observer for a quantum plant which consists of a two level quantum system. The quantum observer, which is a quantum harmonic oscillator, includes homodyne detection measurements. It is shown that the observer can be designed so that it does not affect the quantum variable of interest in the quantum plant and that measured output converges in a given sense to the plant variable of interest. Also, the plant variable of interest-observer system can be described by a set of linear quantum stochastic differential equations. A minimum variance unbiased estimator form of the Kalman filter is derived for linear quantum systems and applied to the direct coupled coherent quantum observer.
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14:50-15:10, Paper TuM05.5 | Add to My Program |
Randomized Constraints Consensus for Distributed Robust Linear Programming (I) |
Chamanbaz, Mohammadreza | Arak Univ. of Tech |
Notarstefano, Giuseppe | Univ. Del Salento |
Bouffanais, Roland | Singapore Univ. of Tech. and Design |
Keywords: Randomized methods, Multi-agent systems, Control over networks
Abstract: In this paper we consider a network of processors aiming at cooperatively solving linear programming problems subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a randomized, distributed algorithm working under time-varying, asynchronous and directed communication topology. The algorithm is based on a local computation and communication paradigm. At each communication round, nodes perform two updates: (i) a verification in which they check---in a randomized setup---the robust feasibility (and hence optimality) of the candidate optimal point, and (ii) an optimization step in which they exchange their candidate bases (minimal sets of active constraints) with neighbors and locally solve an optimization problem whose constraint set includes: a sampled constraint violating the candidate optimal point (if it exists), agent's current basis and the collection of neighbor's basis. As main result, we show that if a processor successfully performs the verification step for a sufficient number of communication rounds, it can stop the algorithm since a consensus has been reached. The common solution is---with high confidence---feasible (and hence optimal) for the entire set of uncertainty except a subset having arbitrary small probability measure. We show the effectiveness of the proposed distributed algorithm on a multi-core platform in which the nodes communicate asynchronously.
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15:10-15:30, Paper TuM05.6 | Add to My Program |
Secure State Estimation of Cyber-Physical Systems under Switching Attacks |
Forti, Nicola | Univ. of Florence |
Battistelli, Giorgio | Univ. of Florence |
Chisci, Luigi | Univ. Di Firenze |
Sinopoli, Bruno | Carnegie Mellon Univ |
Keywords: Estimation and filtering, Fault detection and diagnosis, Bayesian methods
Abstract: This paper deals with secure state estimation against switching mode and signal attacks on cyber-physical systems, possibly affected by adversarial extra fake measurement injection. A stochastic Bayesian approach is undertaken by exploiting Bernoulli and Poisson random sets for modeling the attack existence and, respectively, fake measurements, as well as multiple models for handling the various attack modes. A Gaussian mixture implementation of the resulting random set Bayesian filter is presented and a simulation case-study concerning an electrical power network is worked out in order to demonstrate the effectiveness of the proposed approach.
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TuM06 Regular Session, Mermoz |
Add to My Program |
Manufacturing and Logistics Systems - Manufacturing Modeling for Management
and Control 2 |
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Chair: Dolgui, Alexandre | IMT Atlantique |
Co-Chair: Andres, Frederic Henri Nicolas | National Inst. for Informatics |
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13:30-13:50, Paper TuM06.1 | Add to My Program |
On an Optimal Production-Inventory Plan for a Closed Loop Supply Chain |
Silva Filho, Oscar Salviano | Centro De Tecnologia De Informação - Renato Archer |
Andres, Frederic Henri Nicolas | National Inst. for Informatics |
Keywords: Production planning and control, Production & logistics over manufacturing networking, Logistics in manufacturing
Abstract: Middle and long-term inventory-production plans have deserved interest of managers of supply chains since the 80’s. However, from 90’s to now, to plan the reverse channel has been also an important business practice. This paper deals with such an issue. In this way, a chance constraint, stochastic quadratic problem subject to linear discrete-time inventory-production systems is formulated. The objective of this problem is to meet the demand for a single product, which can be manufactured from a forward channel and/or remanufactured from a backward (reverse) channel. The demand fluctuation is a random variable, with mean and standard-deviation known over time. On the other hand, the return rate is assumed deterministic, but with some periods of delay over the planning horizon. The random nature of demand fluctuation affects the variability of serviceable inventory variable in the sense of its variance increases over the periods. In order to mitigate such variability, a feedback gain, which relates remanufacture rate to serviceable inventory level, is considered. This gain is obtained from a minimum variance problem. As a result, an optimal plan is developed from an equivalent Mean Value problem that has constraints regulated by the gain. A simple example shows that this optimal open-loop plan with gain compared with an optimal open-loop plan without considering the gain.
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13:50-14:10, Paper TuM06.2 | Add to My Program |
Optimal Control Representation of the Mathematical Programming Model for Supply Chain Dynamic Reconfiguration (I) |
Ivanov, Dmitry | Berlin School of Ec. and Law |
Dolgui, Alexandre | Ec. Des Mines De Nantes |
Sokolov, Boris | SPIIRAS |
Ivanova, Marina | TU Chemnitz |
Keywords: Modeling of manufacturing operations, Logistics in manufacturing, Production planning and control
Abstract: In this article, we develop an optimal control model of supply chain reconfiguration that has been previously investigated with the help of mathematical programming approach. The developed model can be used to represent the dynamics of a continuous-flow supply chain system with a hybrid discrete-continuous state space. Dynamics of the supply chain reconfiguration can be modelled more detailed using the aggregate optimal parameters determined in the mathematical programming representation. The results of this study allow to distribute parameters and variables between mathematical programming and optimal control models in order to exploit their advantages in a joint manner.
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14:10-14:30, Paper TuM06.3 | Add to My Program |
Lot Size Dependence for Energy Consumption Per Unit of Production Throughput Considering Rush Orders in Manufacturing Lines |
Kobayashi, Takayuki | Tokyo Univ. of Science |
Yamaguchi, Makoto | Akita Univ |
Hibino, Hironori | Tokyo Univ. of Science |
Keywords: Modeling of manufacturing operations, Production planning and control
Abstract: In an effort to further reduce energy consumption per unit, many studies have, in recent years, been conducted to formulate the relation between energy consumption per unit and lot size along the manufacturing line. Yet, little effort has been directed toward production management and management methods that optimize energy consumption per unit while considering frequent rush orders in the manufacturing system. In this study, we theoretically formulate a relation between lot size and energy consumption per unit that considers rush orders in the manufacturing line.
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14:30-14:50, Paper TuM06.4 | Add to My Program |
Client Selection and Combination for Farm Perishable Products |
Brulard, Nicolas | Univ. Grenoble Alpes, CNRS, G-SCOP, 38 000 Grenoble, France |
Cung, Van-Dat | Univ. Grenoble Alpes |
Catusse, Nicolas | Univ. Grenoble Alpes |
Keywords: Procedures for process planning, Job and activity scheduling, Enterprise integration
Abstract: This paper deals with the problem of selecting the most profitable combination of clients to sell a given perishable production of a vegetable farm. A farmer has pre-qualified a pool of potential clients, characterized by specific product mixes, prices, supply contract durations and farm workers requirements to prepare and deliver the order. The farmer is allowed to purchase products from surrounding farms to meet the contracts specifications, if the farm production is not sufficient. We present a Mixed Integer Linear Programming model to maximize the profit of farm sales with production and workforce capacities. We develop submodels to describe the demand characteristics of four targeted clients categories: farmers' market, community supported agriculture, contract demand and wholesalers. Theoretical complexity of the model and preliminary computational results are discussed.
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14:50-15:10, Paper TuM06.5 | Add to My Program |
Cyclic Job Shop Problem with Varying Processing Times |
Hamaz, Idir | Univ. Paul Sabatier (LAAS-CNRS) |
Houssin, Laurent | LAAS-CNRS |
Cafieri, Sonia | ENAC, Univ. De Toulouse |
Keywords: Job and activity scheduling, Procedures for process planning
Abstract: In this paper, we consider a cyclic job shop problem where a subset of tasks have varying processing times. The minimum processing times and maximum processing times of these tasks are known. We propose a branch and bound method that finds the schedule which minimizes the mean cycle time with respect to variations. We show that the evaluation of a schedule can be considered as a volume calculus of some polytopes. Indeed, for each schedule we can associate a set of polytopes whose volumes provide information on the variation effect on the considered schedule.
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15:10-15:30, Paper TuM06.6 | Add to My Program |
Order Picking Problem in a Warehouse Hospital Pharmacy |
Beroule, Benoit | Univ. De Tech. De Belfort-Montbéliard |
Grunder, Olivier | Univ. De Tech. De Belfort-Montbéliard |
Barakat, Oussama | Univ. De Franche Comté |
Aujoulat, Olivier | GHRMSA |
Keywords: Logistics in manufacturing, Complex logistic systems, Modelling and decision making in complex systems
Abstract: This paper presents an optimization method for simultaneously improve routing and items location as part of order picking operation in a warehouse of a hospital pharmacy. In this precise context, the classical order forms are replaced by medical services endowment lists which are not modified over time (or not significantly). This particularity allows new considerations and modifications of the order picking optimization methods. This study focuses on the items location determination in the warehouse and the pickers rooting in a picker-to-part low level policy context. In order to solve the considered problem, the paper details an exact mathematical solving method through a mix integer programing model which is easily able to be extended to a linear version. For real case, this class of model may need prohibitive computation times to be solved. Consequently, a genetic algorithm and a dedicated heuristic are presented in order to implement a hybrid genetic algorithm which is the combination of both methods. Results are provided to highlight the contribution of the hybrid method compared to the others in terms of computation times and solutions quality.
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TuM07 Regular Session, Spot |
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Discrete Event Modeling |
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Chair: Travé-Massuyès, Louise | LAAS-CNRS |
Co-Chair: Jimenez, Fernando | Univ. De Los Andes |
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13:30-13:50, Paper TuM07.1 | Add to My Program |
Solving Diagnosability of Hybrid Systems Via Abstraction and Discrete Event Techniques (I) |
Grastien, Alban | NICTA |
Travé-Massuyès, Louise | LAAS-CNRS |
Puig, Vicenc | Univ. Pol. De Catalunya |
Keywords: Fault detection and diagnosis
Abstract: This paper addresses the problem of determining the diagnosability of hybrid systems by abstracting hybrid models to a discrete-event setting. From the continuous model the abstraction only remembers two pieces of information: indiscernability between modes (when they are guaranteed to generate different observations) and ephemerality (when the system cannot stay forever in a given set of modes). Then, we use standard DES diagnosability algorithms. The second contribution is an iterative approach to diagnosability that starts by generating the most abstract DES model of the hybrid system. This allows to check the diagnosability of this DES model. If it is diagnosable, that means we have found an abstraction of the hybrid model that is diagnosable. If it is not, the counterexample generated by the diagnosability procedure is analysed to refine the DES. If no refinement is found, then it can not be proved that the hybrid system is diagnosable. Otherwise, the refinement is included in the abstract DES model and diagnosability procedure continues.
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13:50-14:10, Paper TuM07.2 | Add to My Program |
DES Based Modeling and Fault Diagnosis in Safety-Critical Semi-Partitioned Real-Time Systems (I) |
Purushothaman Nair, Piyoosh | IIT Guwahati |
Devaraj, Rajesh | IIT Guwahati |
Sen, Argha | IIT Guwahati |
Sarkar, Arnab | IIT Guwahati |
Biswas, Santosh | IIT Kharagpur INDIA |
Keywords: Fault detection and diagnosis, Discrete event modeling and simulation, Diagnosis of discrete event and hybrid systems
Abstract: Real-time safety-critical applications are increasingly being implemented on multi- processor platforms and are generally scheduled using either partitioned or global approaches. Recently, semi-partitioned approaches are gaining importance due to their ability to leverage the merits of both partitioned and global scheduling. Given a multiprocessor system for executing a set of safety-critical applications scheduled using a semi-partitioned scheme, it is necessary to ensure proper functioning of the system even in the presence of processor failures. In order to avoid possible catastrophic consequences, the presence of processor failures must be timely detected and identified to take any necessary corrective action. Formal model based safe design methodologies such as Discrete Event Systems (DESs) are often desirable in the construction of sound and complete fault diagnosis mechanisms. This paper attempts to develop a DES based novel modeling framework for a multiprocessor system scheduled using an optimal semi- partitioned scheduler and provides a formal DES based fault diagnosis scheme to diagnose the presence of processor failures in the system. The proposed framework has been illustrated using a 3-processor system and its diagnosability analysis has been carried-out.
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14:10-14:30, Paper TuM07.3 | Add to My Program |
Diagnosis Using an Estimation Method for Partially Observed Petri Net |
Chouchane, Amira | Istia-Angerrs-France/ Enis-Sfax-Tunisia |
Declerck, Philippe | Univ. of Angers |
Khedher, Atef | Lara Automatic |
Kamoun, Anas | ENIS |
Keywords: Fault detection and diagnosis, Discrete event modeling and simulation, Petri nets
Abstract: In this paper, we design a diagnostic technique for a partially observed labeled Petri net where the faults of the system are modeled by unobservable transitions. The diagnostic method is based on the state estimation principle using the set of observed transitions. The support of the approach is to describe the process under an algebraic form of a polyhedron for each observed firing of an observable transition.
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14:30-14:50, Paper TuM07.4 | Add to My Program |
Enhanced Chronicle Learning for Process Supervision |
Vasquez, John William | Andes Univ. Colombia |
Travé-Massuyès, Louise | LAAS-CNRS |
Subias, Audine | LAAS-CNRS |
Jimenez, Fernando | Univ. De Los Andes |
Keywords: Fault detection and diagnosis, Discrete event modeling and simulation, Supervisory control and automata
Abstract: Process alarm management can be approached as a pattern recognition problem in which temporal patterns are used to characterize different typical situations, particularly at startup and shutdown stages. This paper focuses on learning the temporal patterns, in the form of chronicles, by extending the previously proposed Heuristic Chronicle Discovery Algorithm Modified HCDAM . The proposed extension incorporates knowledge, in particular in the form of so called temporal runs, to focus the learning process and produce less conservative chronicles. The resulting Chronicle Based Alarm Management (CBAM) approach is hence based on a diagnosis process which permits situation recognition and provides the operators with relevant information about the failures inducing alarms flows in the startup and shutdown stages. The event sequences that represent a process situation are generated by simulation; moreover, including temporal runs, the chronicles are extracted using the extended version of HCDAM.
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14:50-15:10, Paper TuM07.5 | Add to My Program |
Observer-Based Sensor Fault Detectability: About Robust Positive Invariance Approach and Residual Sensitivity |
Kodakkadan, Abid Rahman | CentraleSupelec, Univ. of Paris-Saclay, Univ. of Paris |
Pourasghar, Masoud | Pol. Univ. of Catalonia |
Puig, Vicenc | Univ. Pol. De Catalunya |
Olaru, Sorin | CentraleSupelec |
Ocampo-Martinez, Carlos | Tech. Univ. of Catalonia (UPC) |
Reppa, Vasso | Supélec |
Keywords: Fault detection and diagnosis, Sensor networks, Discrete event modeling and simulation
Abstract: This paper considers detectability of deviation of sensors from their nominal behavior for a class of linear time-invariant discrete-time systems in the presence of bounded additive uncertainties. Detectable sensor faults using interval observers are analyzed considering two distinct approaches: invariant-sets and classical fault-sensitivity method. It can be inferred from this analysis that both approaches derive distinct formulations for minimum detectable fault magnitude, though qualitatively similar. The core difference lies in the method of construction of the invariant set offline in the former method and the reachable approximation of the convergence set using forward iterative techniques in the latter. This paper also contributes in giving a formulation for minimum fault magnitudes with invariant sets using an observer-based approach. Finally, an illustrative example is used to compare both approaches.
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15:10-15:30, Paper TuM07.6 | Add to My Program |
Model Based Object Localization and Shape Estimation Using Electric Sense on Underwater Robots |
Bazeille, Stéphane | Ec. Des Mines De Nantes |
Lebastard, Vincent | Ec. Des Mines De Nantes |
Lanneau, Sylvain | Ec. Des Mines De Nantes |
Boyer, Frederic | Ec. Des Mines De Nantes |
Keywords: Nonlinear system identification, Discrete event modeling and simulation, Error quantification
Abstract: Recently, biologists have shown that the weakly electric fish are able to estimate the electric nature, the localization and the 3D geometric properties of an object using active electric sense. Incredibly, the Gnathonemus petersii performs this task in the dark only by moving towards and around the object, its vision is not required. In this paper, we proposed to address this challenging issue of object localization and shape estimation using a real underwater robot equipped with artificial electric sense. For that purpose we adopted the tensor presented in [Ammari2014] dedicated to small objects (<1 cm length), and extended it to bigger ones (typically objects whose size is about the one half of the robot length <10 cm). The principal contribution consists in the development of a multi-scale exhaustive search algorithm based on this tensor that allows to estimate in a same step the localization, orientation and shape of an object from electric currents measured along a given trajectory in the vicinity of the object. Our method shows good results, over 108 experiments we obtained 18% of shape error, around 25 degrees of orientation error and 1 cm of localization error as average within a range of [5,11] cm distance with the robot. This results are promising since the problem solved is known to be complex, localization and shape being intricately linked in the electrical measurements [Rasnow86].
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TuM08 Open Invited Session, Diamant |
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Interval Estimation for Uncertain Systems II |
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Chair: Raïssi, Tarek | Conservatoire National Des Arts Et Métiers |
Co-Chair: Efimov, Denis | Inria |
Organizer: Raïssi, Tarek | Conservatoire National Des Arts Et Métiers |
Organizer: Efimov, Denis | Inria |
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13:30-13:50, Paper TuM08.1 | Add to My Program |
Zonotopic Fault Estimation Filter Design for Discrete-Time Descriptor Systems (I) |
Wang, Ye | Univ. Pol. De Catalonia |
Wang, Zhenhua | Harbin Inst. of Tech |
Puig, Vicenc | Univ. Pol. De Catalunya |
Cembrano, Gabriela | UPC |
Keywords: Fault detection and diagnosis
Abstract: This paper considers actuator-fault estimation for discrete-time descriptor systems with unknown but bounded system disturbance and measurement noise. A zonotopic fault estimation filter is designed based on the analysis of fault detectability indexes. To ensure estimation accuracy, the filter gain in the zonotopic fault estimation filter is optimized through the zonotope minimization. The designed zonotopic filter not only can estimate fault magnitudes, but it also provides fault estimation results in an interval, i.e. the upper and lower bounds of fault magnitudes. Moreover, the proposed fault estimation filter has a non-singular structure and hence is easy to implement. Finally, simulation results are provided to illustrate the effectiveness of the proposed method.
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13:50-14:10, Paper TuM08.2 | Add to My Program |
Actuator Fault Detection and Interval Reconstruction Based on Interval Observers (I) |
Guo, Shenghui | Tongji Univ |
Zhu, Fanglai | Tongji Univ |
Keywords: Fault detection and diagnosis, Bounded error identification
Abstract: This paper presents an actuator fault detection and interval reconstruction scheme based on interval observers for systems with both actuator faults and disturbances. To begin with, two full-order interval observers which are sensitive to actuator faults are designed to achieve the goal of actuator fault detection. Then, two reduced-order interval observers are constructed, and they are robust to the actuator faults in that the interval observer constructions are fulfilled without using the boundary information of the actuator faults. An interval actuator fault reconstruction method is developed based on the reduced-order interval observers. Finally, the validities of the proposed methods are verified by a numerical simulation example.
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14:10-14:30, Paper TuM08.3 | Add to My Program |
Incipient Fault Detection Based on Robust Threshold Generators: A Sliding Mode Interval Estimation Approach (I) |
Zhang, Kangkang | Nanjing Univ. of Aeronautics and Astronautics |
Jiang, Bin | Nanjing Univ. of Aeronautics and Astronautics |
Yan, Xing-Gang | Univ. of Kent |
Shen, Jun | Univ. of Hong Kong |
He, Xiao | Tsinghua Univ |
Keywords: Fault detection and diagnosis, Continuous time system estimation
Abstract: This paper presents an incipient fault detection framework for systems with process disturbances and sensor disturbances based on a novel proposed threshold generator. Firstly, the definition of incipient faults is given using the mathcal {H}_- from the quantitative point of view. Then, from the generated residuals and RMS evaluation function, the threshold generator is proposed based on sliding mode interval estimation module to ensure that the RMS evaluation of residuals is less than the generated threshold. By using recent results of the bounded real lemma for internally positive systems, a set of sufficient conditions to detect incipient faults via linear matrix inequality (LMI) is presented. Case study on an electrical traction device is presented to verify the effectiveness of the proposed method.
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14:30-14:50, Paper TuM08.4 | Add to My Program |
Interval Observer Design for Discrete-Time Switched System (I) |
Guo, Shenghui | Tongji Univ |
Zhu, Fanglai | Tongji Univ |
Keywords: Hybrid and switched systems modeling, Diagnosis of discrete event and hybrid systems, Fault detection and diagnosis
Abstract: In this paper, the problems of interval observer design for discrete-time switched system are investigated. In order to make the residual system stable and non-negative, a timevarying linear transformation and a standard switched system stability analysis are used. Based on these, an interval observer for discrete-time switched system is constructed. A simulation example is given to illustrate the effectiveness and correctness of the proposed method.
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14:50-15:10, Paper TuM08.5 | Add to My Program |
Simple Interval Observers for Linear Impulsive Systems with Applications to Sampled-Data and Switched Systems (I) |
Briat, Corentin | ETH Zürich |
Khammash, Mustafa H. | Swiss Federal Inst. of Tech. (ETH) |
Keywords: Stability and stabilization of hybrid systems
Abstract: Sufficient conditions for the design of a simple class of interval observers for linear impulsive systems subject to certain dwell-time constraints are obtained and formulated in terms of infinite-dimensional linear programs. The proposed approach is fully constructive in the sense that suitable observer gains can be extracted from the solution of the optimization problems and is flexible enough to be extended to include performance constraints and parametric uncertainties. In order to be solvable, the infinite-dimensional linear programs are relaxed using a method based on sum of squares which is known to be asymptotically exact in the present case. Three examples are given for illustration: the first one pertains on the interval observation of an impulsive system under a minimum dwell-time constraint, the second one is about the interval observation of an aperiodic sampled-data system and the last one is about the interval observation of a linear switched system.
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15:10-15:30, Paper TuM08.6 | Add to My Program |
Interval Observer Approach to Output Stabilization of Linear Impulsive Systems (I) |
Degue, Kwassi Holali | Pol. Montreal |
Efimov, Denis | Inria |
Le Ny, Jerome | Ec. Pol. De Montréal |
Keywords: Stability and stabilization of hybrid systems, Fault detection and diagnosis
Abstract: The problem of output stabilization is studied for a class of linear hybrid systems subject to signal uncertainties: linear impulsive systems under dwell-time constraints. Two problems are considered. First, an interval observer estimating the set of admissible values for the state is designed. Next, an output stabilizing feedback design problem is studied where the stability is checked using linear matrix inequalities (LMIs). To the best of our knowledge, the interval observer approach has never been proposed for the stabilization of this class of hybrid systems. Efficiency of the proposed approach is demonstrated by computer experiments for Fault Detection and Isolation (FDI) and Fault-Tolerant Control (FTC) of a power split device with clutch for heavy-duty military vehicles.
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TuM09 Regular Session, Argos |
Add to My Program |
Optimal Control Theory II |
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Chair: Lohmann, Boris | Tech. Univ. München |
Co-Chair: Nishida, Gou | Nihon Univ |
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13:30-13:50, Paper TuM09.1 | Add to My Program |
Optimal Control of a Dubins Car with a Capture Set and the Homicidal Chauffeur Differential Game |
Coates, Sean | United States Air Force |
Pachter, Meir | AFIT/ENG |
Murphey, Robert | Civ Usaf Afmc Afrl/rwg |
Keywords: Optimal control theory, Differential or dynamic games
Abstract: The optimal control of a Dubins car endowed with a circular or a line segment capture set is considered and the connection to their Homicidal Chauffeur differential game (HCDG) analogues is discussed. The capture set endowed Dubins cars are tasked to reach a stationary target point in minimum time. The solutions to the Dubins car optimal control problems (DCOCP) are similar to the solutions of the HCDG where the Evader, which is slower than the pursuing car, has simple motion. The similarities can be attributed to the fact that both the DCOCPs and the HCDG dynamics have two states and the Pursuer in the HCDG is modeled as a Dubins car. Because of these similarities, the solutions to the DCOCPs yield insights into the solutions of the attendant HCDGs where the Pursuer is endowed with a circular, or a line segment, capture set. This paper develops the solution to the optimal control problem of a Dubins car with a line segment capture set, presents the solution when the car is endowed with a circular capture set, and then draws comparisons to the respective HCDGs.
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13:50-14:10, Paper TuM09.2 | Add to My Program |
Distributed Optimal Output Feedback Control of Heterogeneous Multi-Agent Systems under a Directed Graph |
Aalipour, Farzad | Univ. of Central Florida |
Gusrialdi, Azwirman | Univ. of Central Florida |
Qu, Zhihua | Univ. of Central Florida |
Keywords: Optimal control theory, Differential or dynamic games, Networked systems
Abstract: In this paper, we consider distributed optimal feedback control design problem for a network of heterogeneous systems. The agents are coupled through their linear quadratic cost function and their interaction (communication) is given by a strongly connected directed graph. The goal is to design distributed optimal feedback control which minimizes the total cost function and whose structure is similar to the communication topology between the agents. Moreover, the design of the optimal feedback control gain is also performed in a distributed manner by only relying on the neighboring information of each agent. To this end, firstly the necessary conditions equations are derived for the non-inferior solution to the overall performance index. Then, by utilizing the idea of finite-time consensus algorithm, it is shown that the optimal feedback gain can also be computed in a distributed manner by the agents. Finally, we demonstrate the effectiveness of the proposed control law via a simulation on a group of heterogeneous dynamical systems.
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14:10-14:30, Paper TuM09.3 | Add to My Program |
Stable Manifold Method for Infinite Horizon Optimal Control Problem with Discounted Cost |
Nishida, Gou | Nihon Univ |
Sakamoto, Noboru | Nanzan Univ |
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14:30-14:50, Paper TuM09.4 | Add to My Program |
Numerical Computational Improvement of the Stable-Manifold Method for Nonlinear Optimal Control |
Oishi, Yasuaki | Nanzan Univ |
Sakamoto, Noboru | Nanzan Univ |
Keywords: Optimal control theory, Hamiltonian trajectories in optimal control, Application of nonlinear analysis and design
Abstract: Two numerical computational techniques are presented for improvement of the stable-manifold method, which is effective for nonlinear optimal control. The first technique is for generation of points on the stable manifold in a robust way against numerical errors. There, a special numerical method that preserves Hamiltonian is used to solve a differential equation sensitive to numerical errors. The second technique is a sort of shooting method to generate a point corresponding to the desired system state. Again, numerical robustness is an issue there. The two techniques are applied to an example system and shown to be effective.
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14:50-15:10, Paper TuM09.5 | Add to My Program |
Finite-Dimensional Approximations of Neutral-Type Conflict-Controlled Systems |
Gomoyunov, Mikhail | Inst. of Mathematics and Mechanics of the Ural Branch of The |
Plaksin, Anton | Inst. of Mathematics and Mechanics (IMM), Ural Branch of The |
Keywords: Differential or dynamic games, Control problems under conflict and/or uncertainties, Real-time control
Abstract: The paper deals with a dynamical system described by a neutral-type functional differential equation in Hale's form which is controlled under conditions of unknown disturbances. This system is approximated by a controlled system of ordinary differential equations. An aiming procedure between the initial and approximating systems is elaborated. An application of such procedure is given for solving a control problem for linear neutral-type dynamical systems. An illustrative example is considered, simulation results are shown.
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15:10-15:30, Paper TuM09.6 | Add to My Program |
Optimal Feedforward Preview Control by FIR Filters |
Strohm, Johannes N. | Tech. Univ. München |
Lohmann, Boris | Tech. Univ. München |
Keywords: Optimal control theory, Linear systems, Time-invariant systems
Abstract: The paper presents a new method for designing an optimal feedforward preview controller for asymptotically stable single-input single-output (SISO) systems. We conduct an optimization based on an impulse response representation of the system's dynamics for a chosen control horizon. This leads to an optimal deconvolution that proactively exploits the reference or disturbance signal's preview information to calculate the control input for a desired output. In order to extend this deconvolution to arbitrarily long input signals, we show that, under certain circumstances, a finite impulse response (FIR) filter can be build from it. This filter can be seen as the system's optimized inverse, which also applies to non-minimum phase systems. Since optimization is done offline, the resulting filter is computationally inexpensive and easily implemented. Its effectiveness is shown by applying the proposed method to a sample system.
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TuM10 Regular Session, Cassiopée |
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Sliding Mode Control |
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Chair: Spurgeon, Sarah K. | Univ. Coll. London |
Co-Chair: Li, Shihua | Southeast Univ |
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13:30-13:50, Paper TuM10.1 | Add to My Program |
Discrete Time Quasi Sliding Mode Control for Piezo-Actuated Positioning Systems: A Prescribed Performance Control Approach |
Nguyen, Manh Linh | Shibaura Inst. of Tech |
Chen, Xinkai | Shibaura Inst. of Tech |
Keywords: Sliding mode control
Abstract: The piezoelectric actuators (PEAs) with many advantages such as sub-nanometers resolution, low power consumption, quick response, high stiffness, etc., have been widely used in micro/nano positioning systems which play a very important role in many key technologies recently. To achieve high precision in tracking applications based on PEAs, advanced control techniques are needed to cope with the nonlinearity exhibiting between the input voltage and output displacement of the PEAs. This paper proposes a new approach to get high tracking performance by combining discrete-time quasi-sliding mode control (DQSMC) and prescribed performance control (PPC) techniques. The effectiveness of the proposed method is verified by experiments on a piezo-actuated positioning system.
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13:50-14:10, Paper TuM10.2 | Add to My Program |
Nonlinear Sliding Mode Control for Manipulator Systems |
Zhao, Dongya | China Univ. of Petroleum |
Spurgeon, Sarah K. | Univ. Coll. London |
Yan, Xing-Gang | Univ. of Kent |
Keywords: Sliding mode control
Abstract: A nonlinear sliding mode control is developed for manipulator systems. An improved version of the exponential reaching law is presented to ensure the states converge to the sliding surface in finite time. In the presence of system uncertainty and external disturbances, the system states converge to a small region centered at the origin within a finite time and thereafter will asymptotically converge to the equilibrium point. The robustness and convergence properties of the proposed approach are demonstrated from both the theoretical point of view and also using simulation studies.
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14:10-14:30, Paper TuM10.3 | Add to My Program |
Sliding Mode Based Extremum Seeking Control of Two-Phase Flow Micro-Thermal-Fluid Cooling Systems |
Lizarralde, Fernando | Federal Univ. of Rio De Janeiro |
Monteiro, João C. | Univ. Federal Do Rio De Janeiro |
Pereira, Rafael | Petrobras |
Hsu, Liu | COPPE - Federal Univ. of Rio De Janeiro |
Keywords: Sliding mode control, Industrial applications of optimal control, control of heat and mass transfer systems
Abstract: The thermal-fluid control of a microchannel evaporator operating in the two-phase regime is considered. The control objective is to stabilize the fluid flow and maintain a minimal evaporator wall temperature by commanding the inlet flow rate using a pump. The first objective is achieved with a feedback controller using only mass flow rate measurement (via a lead filter). The second objective is more challenging as the achievable wall temperature depends on the heat transfer coefficient which is hard to characterize (heavily depends on the flow rate and heat load). An extremum seeking control based on sliding modes is proposed to minimize wall temperature and adjust the flow rate without considering heat tranfer coefficient knowledge. Thus, considering a thermal-fluid model, the stability of the flow control loop is establish and the convergence to the extremum seeking control is analyzed via singular perturbation analysis and Tikhonov theorem. Simulation results demonstrate the efficacy of the proposed scheme.
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14:30-14:50, Paper TuM10.4 | Add to My Program |
Fixed-Time Converging Terminal Surface with Non-Singular Control Design for Second-Order Systems |
Mishra, Jyoti Prakash | Mr |
Li, Chaojie | RMIT Univ |
Yu, Xinghuo | RMIT Univ |
Jalili, Mahdi | RMIT Univ |
Keywords: Sliding mode control, Lyapunov methods, Stability of nonlinear systems
Abstract: This paper presents a novel method for designing a non-singular control for second order systems. The proposed sliding surface is fixed time convergent. Hence during sliding, the convergence of the states are within fixed time. Moreover, the designed control ensures the reaching is established in fixed time as well. The robustness of the sliding mode control lies in sliding phase and reaching phase is sensitive to noise. The reaching time in this case, doesn’t depend on the system states rather than surface parameters. Therefore the reaching time can be pre-programmed according to the user requirement which is really advantageous. Stability of system is analyzed. Finally, the proposed method is validated in simulations.
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14:50-15:10, Paper TuM10.5 | Add to My Program |
A Remark on Sliding Mode Differentiation and Calculus of Variations |
Mboup, Mamadou | Univ. De Reims Champagne Ardenne, CReSTIC |
Keywords: Sliding mode control, Nonlinear observers and filter design, Lagrangian and Hamiltonian systems
Abstract: These notes are devoted to the following remark: the sliding mode differentiation approach can be recast in the framework of Calculus of variations. It then appears as an optimal control problem. More precisely, the Levant's differentiator is expressed as the stationary point of a functional representing a regularized cost function, with L_2 regularization.
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15:10-15:30, Paper TuM10.6 | Add to My Program |
Output Feedback Stabilization of Inertial Stabilized Platform with Unmatched Disturbances Using Sliding Mode Approach |
Mao, Jianliang | Southeast Univ |
Yang, Jun | Southeast Univ |
Li, Shihua | Southeast Univ |
Li, Qi | Southeast Univ |
Keywords: Sliding mode control, Output feedback control, Disturbance rejection
Abstract: Inertial stabilized platforms are extensively used to keep the light of sight free from the effects of vehicle motion or vibration. In order to reduce the assembly difficulty and cost as well as achieve a accurate pointing in the presence of disturbances, a finite-time output feedback control strategy is proposed. First, the dynamic model with both matched and unmatched uncertainties is established and transformed into the system with matched one. Then, two high-order sliding mode observers are designed to estimate the unknown state and lumped uncertainty, respectively. Thereafter, an output feedback control based on the estimates and the output using nonsingular sliding mode surface and fast exponential reaching law is developed. Based on Lyapunov stability theory, finite-time convergence proof is given. Finally, the comparative simulations are performed to show the effectiveness of the proposed method.
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TuM11 Regular Session, Ariane 1 |
Add to My Program |
Industrial Systems and Logistics in an International Context |
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Chair: Kopacek, Peter | Vienna Univ. of Tech |
Co-Chair: Jansen, Christoph | Siemens AG |
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13:30-13:50, Paper TuM11.1 | Add to My Program |
Stabilizing the Industrial System: Managed Security Services’ Contribution to Cyber-Peace |
Jansen, Christoph | Siemens AG |
Keywords: Security, Service Engineering Applications, Control and Automation Systems failure
Abstract: Managers of industrial sites have to leverage the potentials of digitalization in diverse dimensions to ensure their competitiveness, while handling the complexity that comes along with Industry 4.0. Ongoing concerns about cyber warfare – a drawback to digitalization – are intruding upon the minds of today’s industry managers. It is high time to turn the discussion towards effective cyber peace keeping. This article emphasizes Managed Industrial Security Services and their role in stabilizing the industrial system – and hence the socio-economic and ecological system.
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13:50-14:10, Paper TuM11.2 | Add to My Program |
Economy of Disassembly |
Kopacek, Peter | Vienna Univ. of Tech |
Kopacek, Bernd | Austrian Society for Systems Engineering and Automation -SAT |
Keywords: End of life management, Sustainability, Reusability
Abstract: There are three basic strategies in End-of-Life Management (the “3-R” possibilities): Reduce, Reuse and Recycle Additionally, “Recover” can be added to enhance the method to a “4-R” theory: Reduce, Reuse, Recycle and Recover. Recover describes the energy recovery from the waste stream. This possibility should not be left out. As the fifth and last option, the strategy landfill is mentioned. This is not an EoL option in the narrow sense, but it is still very important in waste treatment nowadays. There exist some early approaches in the literature to support the decision for a special EoL strategy but they are mostly applicable only in a narrow specialized field. Therefore in the following a simple and practicable method will be introduced. The new method evaluates the different devices regarding their profitability. For this analysis 8-10 important criteria, depending from devices, are chosen for a quantitative rating. The efficiency and universality of this new approach is demonstrated on automation devices and solar panels.
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14:10-14:30, Paper TuM11.3 | Add to My Program |
Monetary System Dynamics |
Hughes, Timothy H. | Univ. of Cambridge |
Keywords: Economic models, Financial dynamics, Policy
Abstract: Modern economies are prone to persistent increases in debt and recurrent financial crises. We present a systems and control perspective on two hypotheses which aim to explain these dynamics: 1. the growth imperative - which investigates the conditions under which capitalist economies necessarily exhibit growing debt; and 2. the financial instability hypothesis - which proposes mechanisms underlying the tendency of capitalist economies to experience financial crises.
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14:30-14:50, Paper TuM11.4 | Add to My Program |
The Slovenian Dictionary of Automatic Control, Systems and Robotics |
Kocijan, Jus | Jozef Stefan Inst |
Karer, Gorazd | Univ. of Ljubljana |
Zagar Karer, Mojca | Fran Ramovs Inst. of the Slovenian Language |
Bajt, Tadej | The Slovenian Acad. of Sciences and Arts |
Karba, Rihard | Univ. of Ljubljana |
Keywords: Cultural impacts of automation technology, Culture, Multi-cultural interaction
Abstract: The Slovenian Dictionary of Automatic Control, Systems and Robotics is described in this paper. The scope of the dictionary, the reason for developing the dictionary, the procedure of its development, the problems of lassification and the complications that were encountered while preparing it for publication are described. The dictionary was developed because of its importance to the development of Slovene terminology in a field that is not only used by professionals, but also by educators when teaching new generations of engineers, and users of modern technology. A considerable social impact of such a project is conceived. Since terminology is a dynamic system, the mechanism for updating the dictionary is established. The procedure and result of this project might be used as a model for developing similar terminological dictionaries in other languages.
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14:50-15:10, Paper TuM11.5 | Add to My Program |
Collaborative Approach to Solve a Two-Level Lot-Sizing Problem Considering the Financing of Working Capital Requirement (I) |
Gayraud, Fabrice | Ec. Des Mines De Nantes |
Lemoine, David | Ec. Des Mines De Nantes |
Bostel, Nathalie | SLP |
Yeung, Thomas G. | École Des Mines De Nantes |
Bian, Yuan | Ec. Des Mines De Nantes |
Keywords: Supply Logistics
Abstract: In recent years, the literature on supply chain management became aware of the fact that financing and operational problems are imbricated and that optimizing globally the two dimensions could improve the global performance. In this work, we present a two-level lot sizing problem and we introduce different financial aspect like the financing of working capital requirement and the net disocunted value. We propose a new model for the two-level uncapacitated lot sizing problem (including financial cost) and a solution method based on collaboration.
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TuM12 Regular Session, Ariane 2 |
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Control of Networks with Applications |
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Chair: Lagoa, Constantino M. | Pennsylvania State Univ |
Co-Chair: Markovich, Natalia | V.A.Trapeznikov Inst. of Control Sciences |
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13:30-13:50, Paper TuM12.1 | Add to My Program |
A Distributed Algorithm with Consistency for PageRank-Like Linear Algebraic Systems |
Lagoa, Constantino M. | Pennsylvania State Univ |
Zaccarian, Luca | LAAS-CNRS and Univ. of Trento |
Dabbene, Fabrizio | CNR-IEIIT |
Keywords: Distributed control and estimation, Multi-agent systems
Abstract: We present a novel solution algorithm for a specific set of linear equations arising in large scale sparse interconnections, such as the PageRank problem. The algorithm is distributed, exploiting the underlying graph structure, and completely asynchronous. The main feature of the proposed algorithm is that it ensures that the consistency constraint (the sum of the solution components summing to one) is satisfied at every step, and not only when convergence is reached, as in the case of the different algorithms available in the literature. This represents an important feature, since in practice this kind of algorithms are stopped after a fixed number of steps. The algorithm is based on two projection steps, and represents a variation of the classical Kaczmarz method. In this paper, we present a completely deterministic version, and prove its convergence under mild assumptions on the node selection rule. Numerical examples testify for the goodness of the proposed methodology.
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13:50-14:10, Paper TuM12.2 | Add to My Program |
Analysis of Clusters in Network Graphs for Personalized Web Search (I) |
Markovich, Natalia | V.A.Trapeznikov Inst. of Control Sciences |
Keywords: Control of networks, Simulation of stochastic systems, Nonparametric methods
Abstract: PageRank is one of the most popular measures of the importance of Web pages. The dual nature of PageRank is not yet completely understood. From its definition the PageRank of a Web page (node) is the probability to find a random walk at this node when the process has reached the steady state. From another side, PageRank of a randomly selected page is a hidden Markov process due to the random number of its in- and out-degrees. Considering the stochastic nature of PageRank we aim to study its extremal index that represents the dependence measure of extremes and plays a fundamental role in the theory of extreme values. Using the representation of PageRank as a weighted branching process and the corresponding Thorny Branching Tree, we propose a nonparametric estimation of the extremal index of PageRank by samples of moderate sizes. It is based on the representation of the reciprocal of the extremal index by a mean cluster size. The cluster implies a block of node ranks with at least one exceedance over a sufficiently high threshold. It is proposed to consider generations of successors of a root node of the PageRank branching process as blocks. Among practical advantages the extremal index determines the mean first hitting time (or the mean minimal time) to reach an influential node with a large PageRank. We consider a Max-linear model as an alternative to PageRank and compare its distribution with that one of PageRank.
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14:10-14:30, Paper TuM12.3 | Add to My Program |
Relative Tempo of Consensus Dynamics on Multiplex Network |
Shao, Haibin | Shanghai Jiao Tong Univ |
Xi, Yugeng | Shanghai Jiao Tong Univ |
Mesbahi, Mehran | Univ. of Washington |
Li, Dewei | Shanghai Jiao Tong Univ |
Keywords: Control of networks, Control over networks, Multi-agent systems
Abstract: In this paper, we examine relative tempo of multiplex consensus networks. We explore the monotonicity property of tempo vector of multiplex networks influenced by external inputs, which provides a distributed data-driven approach to eliminate the external influence exerted on the multiplex consensus network. In addition, we show via simulation studies that the interlayer topology can predict the tempo vector of a multiplex consensus network where only a single-layer is influenced by external input.
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14:30-14:50, Paper TuM12.4 | Add to My Program |
Event-Triggered Dynamic Quantizers for Networked Control Systems |
Rodriguez Ramirez, Juan Esteban | Nara Inst. of Science and Tech |
Minami, Yuki | Osaka Univ |
Sugimoto, Kenji | Nara Inst. of Science and Tech |
Keywords: Control under communication constraints, Quantized systems, Control over networks
Abstract: The quantization of signals is a fundamental process in the operation of networked control systems. Some important quantization related problems include the system performance degradation, the channel data rate constraint, and the network traffic congestion. This paper develops a class of event-triggered dynamic quantizer that (i) minimizes the system performance degradation, (ii) satisfies the channel data rate constraint, and (iii) reduces the system network utilization rate. First, the quantizer design problem is formulated. Second, the design problem is solved by the differential evolution metaheuristic algorithm. Finally, with numerical examples the effectiveness of the event-triggered quantizer and its design method are verified.
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14:50-15:10, Paper TuM12.5 | Add to My Program |
mathcal{H}_{infty} Robustness in Mechanical and Power Networks |
Pirani, Mohammad | Univ. of Waterloo |
Hashemi, Ehsan | Univ. of Waterloo |
Fidan, Baris | Univ. of Waterloo |
Simpson-Porco, John William | Univ. of Waterloo |
Keywords: Control of networks, Control over networks, Distributed control and estimation
Abstract: This paper investigates the robustness of two well-known applications of second-order consensus dynamics, namely mechanical and power networks. For uniform subsystem parameters, we derive expressions for the H_{inf} norms of mechanical and power networks, from external disturbances to body displacements and to generator phase angles, respectively. The closed-form expressions are in terms of the physical parameters (damping coefficients and inertias) of the dynamics and in terms of the spectrum of the grounded Laplacian matrix associated with the network. We then analyze the dependence of the mathcal{H}_{infty} norm of each network on both the network structure and the physical parameters. For a fixed network topology, we find that each system norm can be minimized by choosing the damping coefficient within a specified range. Theoretical contributions are verified via two illustrative examples for mechanical and power networks, in which we showed that the network structure, number of the reference nodes and their location in the network can have considerable effects on the system H_{inf} norm.
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15:10-15:30, Paper TuM12.6 | Add to My Program |
Robust Periodic Economic Predictive Control Based on Interval Arithmetic for Water Distribution Networks (I) |
Wang, Ye | Univ. Pol. De Catalonia |
Blesa, Joaquim | Univ. Pol. De Catalunya (UPC) |
Puig, Vicenc | Univ. Pol. De Catalunya |
Keywords: Control of networks
Abstract: This paper addresses a robust periodic economic model predictive control (EMPC) based on interval arithmetic with unknown-but-bounded additive disturbances for the manage- ment of water distribution networks (WDNs). The system constraints in presence of system disturbances are tightened along the prediction horizon by means of the proposed interval arithmetic. Considering that system variables in the WDN model are also subject to some algebraic equations. These algebraic equations should be satisfieed when the disturbances have effects on those system variables. The EMPC controller is designed with adding the terminal state constraint. The periodically optimal steady states are obtained by employing a periodic EMPC planner with the nominal model. This periodic steady states are subsequently used to be terminal states. The on-line robust constraint satisfactions are implemented into the robust periodic EMPC controller. Finally, the proposed control strategy is verified using a case study.
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TuM13 Open Invited Session, St Exupéry |
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The Legacy of A.M. Lyapunov to Systems and Control Theory. 110 Years of the
Toulouse Edition "The General Problem of the Stability of Motion" - II |
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Chair: Pakshin, Pavel | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
Co-Chair: Panteley, Elena V. | Cnrs, Itmo |
Organizer: Pakshin, Pavel | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
Organizer: Panteley, Elena V. | Cnrs, Itmo |
Organizer: Pakshina, Natalia | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
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13:30-14:10, Paper TuM13.1 | Add to My Program |
Aleksandr Lyapunov: Remembered by His Contemporaries (I) |
Pakshina, Natalia | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
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14:10-14:50, Paper TuM13.2 | Add to My Program |
Stability, As Told by Its Developers (I) |
Loria, Antonio | CNRS |
Panteley, Elena V. | Cnrs, Itmo |
Keywords: Lyapunov methods, Stability of nonlinear systems
Abstract: The general problem of the stability of motion was introduced by A. M. Lyapunov in his memoir Lyapunov (1892), published in French in 1907 –cf. (Lyapunov, 1947), translation which was revised by Lyapunov himself. Since then, many refinements have been made by a number of authors, but confusion regarding fundamental concepts has also settled through the years. Moreover, the effect of erroneous statements has been often amplified by inexact "recursive" citations (when an author A cites an author B, based on a text written by a tertiary author C). The purpose of this article is to present basic definitions and theorems on stability, mostly on Lyapunov stability, in the form of a concise but faithful account of the original statements made by the developers of stability theory, from the Italian G. L. Lagrangia to 20th century Soviet mathematicians. To that end, we rely on original sources to transcript the exact formulations of concepts introduced in the early literature, our translations are made with a maximum of fidelity, keeping at best both the original words and the mathematical notations. We hope, with this brief historical account, to revive the interest on, otherwise, forgotten fundamental literature on Lyapunov stability theory.
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14:50-15:30, Paper TuM13.3 | Add to My Program |
Scientific School of Vladimir Yakubovich in the 20th Century (I) |
Fradkov, Alexander L. | Russian Acad. of Sciences |
Keywords: Stability of nonlinear systems, Lyapunov methods, Optimal control theory
Abstract: In this survey I would like to make some historical remarks concerning activities of Scientific Group created in Saint Petersburg (former Leningrad) by Professor Vladimir Andreevich Yakubovich, one of the founders of the modern control theory. The most valuable results will be briefly characterized and some pictures will be presented.
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TuM14 Open Invited Session, Guillaumet 1 |
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Design of Fault Diagnosis and Fault-Tolerant Control Methods in Unmanned
Aerial Vehicle/Fleet |
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Chair: Theilliol, Didier | Univ. of Lorraine |
Co-Chair: Witczak, Marcin | Univ. of Zielona Gora |
Organizer: Theilliol, Didier | Univ. of Lorraine |
Organizer: Witczak, Marcin | Univ. of Zielona Gora |
Organizer: Zhang, Youmin | Concordia Univ |
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13:30-13:50, Paper TuM14.1 | Add to My Program |
Icing Diagnosis in Unmanned Aerial Vehicles Using an LPV Multiple Model Estimator (I) |
Rotondo, Damiano | NTNU |
Cristofaro, Andrea | Univ. of Camerino |
Hassani, Vahid | NTNU |
Johansen, Tor Arne | Norwegian Univ. of Science and Tech |
Keywords: Parameter estimation based methods for FDI, Observer based and parity space based methods for FDI
Abstract: The phenomenon of icing, i.e. ice accretion on aircraft surfaces, affects the flight performance of unmanned aerial vehicles (UAVs). Autonomous icing detection schemes are needed in order to assure high efficiency and limit energy consumption of de-icing and anti-icing schemes. The novel contribution of this paper is to apply a linear parameter varying multiple model adaptive estimator to the model of the longitudinal nonlinear dynamics of a UAV, in order to achieve an icing diagnosis that provides information about the icing location. An advantage of applying a linear parameter varying approach is that the icing diagnosis scheme is consistent with the UAV dynamics for a wide range of operating conditions, and it uses only existing standard sensors. Simulation results are used to illustrate the application of the proposed method.
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13:50-14:10, Paper TuM14.2 | Add to My Program |
Fault-Tolerant Guidance for Hypersonic Vehicle Based on Predictor-Corrector Strategy (I) |
Meng, Yizhen | Nanjing Univ. of Aeronautics and Astronautics |
Jiang, Bin | Nanjing Univ. of Aeronautics and Astronautics |
Qi, Ruiyun | Nanjing Univ. of Aeronautics and Astronautics |
Keywords: Applications of FDI and FTC, Design of fault tolerant/reliable systems
Abstract: A fault-tolerant guidance law using the predictor-corrector theory for a hypersonic vehicle (HSV) is designed to solve the problem of online trajectory planning under faults in reentry phase. Once the fault occurs, based on the quasi equilibrium glide condition (QEGC), the new limitations of reentry corridor are transformed into the constraints of attack angle, which are used to obtain the prediction of attack angle with Newton iterative method. Then, with the attack angle obtained, the roll angle is predicted based on the range-to-go by iteration. Eventually, the attitude guidance of HSV is achieved to meet the demands of reentry corridor constraints combined with limits of fault. By continuous iteration, the predictor-corrector possesses a strong ability of fault-tolerant. Besides, it also does not need the stand trajectory, which makes it suitable to on-line trajectory planning, especially under fault situations. In this paper, compared with the stand model of attack angle, the simulation results show that the guidance provided in this paper is real-time and effective.
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14:10-14:30, Paper TuM14.3 | Add to My Program |
Fault-Tolerant Tracking Control for a 3-DOF Helicopter with Actuator Faults and Saturation (I) |
Lan, Jianglin | Univ. of Hull |
Patton, Ron J. | Univ. of Hull |
Punta, Elisabetta | National Res. Council of Italy - CNR |
Keywords: Design of fault tolerant/reliable systems, Fault accommodation and Reconfiguration strategies, Applications of FDI and FTC
Abstract: This paper proposes a fault-tolerant tracking control for the elevation and pitch angles of a 3-DOF helicopter system, subject to actuator faults and input saturation. The effects of the fault and saturation are combined as a composite actuator fault, which is estimated together with the system state using an adaptive two-step sliding mode observer. An adaptive backstepping controller is then designed to compensate for the composite fault effect and achieve angle tracking. The control design can ensure system stability and achieve described tracking performance in spite of actuator fault and saturation, as verified through comparative simulations for the 3-DOF helicopter system.
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14:30-14:50, Paper TuM14.4 | Add to My Program |
Nussbaum Gain Adaptive Fault Tolerant Control for Hypersonic Vehicles with Uncertain Parameters and Actuator Faults (I) |
Xu, Binyan | Nanjing Univ. of Aeronautics and Astronautics |
Qi, Ruiyun | Nanjing Univ. of Aeronautics and Astronautics |
Jiang, Bin | Nanjing Univ. of Aeronautics and Astronautics |
Yao, Xuelian | Nanjing Univ. of Aeronautics and Astronautics |
Keywords: Design of fault tolerant/reliable systems
Abstract: A Nussbaum adaptive fault-tolerant controller is designed for the longitudinal motion of a twin-engine hypersonic vehicle containing uncertain parameters and unexpected actuator faults. We first apply feedback linearization to design the controller under nominal condition. Through a combination of parametrization and adaptive law, the model uncertainty can be well coped with. And Nussbaum gain method is used to solve the uncertain control direction function. Based on the previous work, considering the existence of throttle faults, a fault-tolerant controller is developed by choosing the appropriate range of the controller parameters, which is defined to compensate the actuator faults. Simulation results confirm the effectiveness of the proposed design.
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14:50-15:10, Paper TuM14.5 | Add to My Program |
Fault Diagnosis and Fault-Tolerant Control of an Octorotor UAV Using Motors Speeds Measurements (I) |
Saied, Majd | Lebanese Univ |
Lussier, Benjamin | Univ. of Tech. of Compiègne |
Fantoni, Isabelle | Univ. De Tech. De Compiegne |
Shraim, Hassan | LSIS, Univ. AIX Marseille III |
Francis, Clovis | Lebanese Univ. Faculty of Engineering, Branch 1 |
Keywords: Fault diagnosis and fault tolerant control, Robotics
Abstract: This paper presents an active fault-tolerant control strategy (AFTCS) for an octorotor unmanned aerial vehicle (UAV) regarding several motors failures or rotors damages. A complete AFTC architecture including error detection, fault isolation and system recovery is presented. The diagnosis system is based on the motors speeds and currents measurements. Once the motor failure or the rotor loss is diagnosed, a recovery algorithm is applied. It uses the pseudo-inverse control allocation approach to redistribute the control efforts among the healthy actuators. This architecture is validated in real flights.
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15:10-15:30, Paper TuM14.6 | Add to My Program |
Fault-Tolerant Adaptive Control Allocation for Unmanned Multirotor Helicopter (I) |
Wang, Ban | Concordia Univ |
Zhang, Youmin | Concordia Univ |
Ponsart, Jean-Christophe | CRAN - Nancy-Univ |
Theilliol, Didier | Univ. of Lorraine |
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TuM15 Open Invited Session, Guillaumet 2 |
Add to My Program |
Traffic Systems Optimization and Control |
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Chair: Savla, Ketan | Univ. of Southern California |
Co-Chair: Canudas de Wit, Carlos | CNRS-GIPSA-Lab |
Organizer: Roncoli, Claudio | Aalto Univ |
Organizer: Savla, Ketan | Univ. of Southern California |
Organizer: Canudas de Wit, Carlos | CNRS-GIPSA-Lab |
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13:30-13:50, Paper TuM15.1 | Add to My Program |
Traffic Flow Optimization with QoS Constrained Network Admission Control (I) |
Csikós, Alfréd | Inst. for Computer Science and Control, Hungarian Acad. Of |
Farhadi, Hamed | Chalmers Univ. of Tech |
Kulcsar, Balazs | Chalmers Univ. of Tech |
Charalambous, Themistoklis | School of Engineering |
Wymeersch, Henk | Department of Signals and Systems, Chalmers Univ. of Tech |
Keywords: Intelligent transportation systems, Modeling and simulation of transportation systems
Abstract: The paper proposes a control design method in order to gate input flow to a protected urban vehicular network such that travel time Quality of Service (QoS) constraints are preserved within the network. In view of the network to be protected (also called the region), two types of queues are distinguished: external and internal. While external queues represent vehicles waiting to enter the protected network, an internal queue can be used to describe the network's aggregated behaviour. By controlling the number of vehicles entering the internal queue, the travel time within the network subject to the vehicular conservation law and the Network Fundamental Diagram (NFD) can be subsequently controlled. The admission controller can thus be interpreted as a mechanism which transforms the unknown arrival process governing the number of vehicles entering the network to a regulated process, such that prescribed QoS requirements on travel time in the network and upper bound on the external queue are satisfied. The admission control problem is formulated as a constrained convex optimization problem and a Model Predictive Control (MPC) problem. A case study demonstrates the benefits of the admission control mechanisms proposed.
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13:50-14:10, Paper TuM15.2 | Add to My Program |
Nonlinear Feedback Control for General Acyclic Traffic Networks (I) |
Kontorinaki, Maria | Tech. Univ. of Crete |
Karafyllis, Iasson | National Tech. Univ. of Athens |
Papageorgiou, Markos | Tech. Univ. of Crete |
Keywords: Modeling and simulation of transportation systems, Automatic control, optimization, real-time operations in transportation
Abstract: This work is devoted to the construction of explicit feedback control laws for the robust global exponential stabilization of general uncertain discrete-time acyclic traffic networks. We consider discrete-time uncertain network models which satisfy very weak assumptions. The construction of the controllers is based on recently proposed vector-Lyapunov function criteria, as well as the fact that the network is acyclic. The latter requirement is necessary for the existence of a robust, global, exponential stabilizer of the desired uncongested equilibrium point of the network. An illustrative example demonstrates the applicability of the obtained results to realistic traffic flow networks.
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14:10-14:30, Paper TuM15.3 | Add to My Program |
Delay Variability Optimization Using Shockwave Theory at an Undersaturated Intersection (I) |
Mohajerpoor, Reza | Monash Univ |
Saberi, Meead | Monash Univ |
Ramezani, Mohsen | The Univ. of Sydney |
Keywords: Modeling and simulation of transportation systems, Automatic control, optimization, real-time operations in transportation
Abstract: Signal optimization is one of the most crucial problems in the traffic flow theory. Delay at signalized intersections is the main component of travel time in urban transportation networks. This paper investigates an analytical approach based on the shockwave theory to estimate the delay of each vehicle joining the queue, and minimize the total delay and delay variability at an undersaturated intersection. The optimizations are carried out for an intersection with and without loss time and are formulated as convex programs. The global optimal cycle length and splits are attained to minimize the delay variability.
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14:30-14:50, Paper TuM15.4 | Add to My Program |
Distributed Adaptive Perimeter Control for Large-Scale Urban Road Networks with Delayed State Interconnections (I) |
Zheng, Zhengfei | Tech. Inst. of Tech |
Haddad, Jack | Tech. Inst. of Tech |
Keywords: Modeling and simulation of transportation systems, Automatic control, optimization, real-time operations in transportation, Intelligent transportation systems
Abstract: Distributed adaptive perimeter control is a promising paradigm for controlling large-scale road networks. Recently, coordinated distributed perimeter control of interconnected urban road regions has been developed in Haddad and Mirkin (2015). A Macroscopic Fundamental Diagram (MFD)-based model was utilized to describe the aggregate traffic flow dynamics, and model reference adaptive control was implemented to control the distributed perimeter controllers. Previous works, including Haddad and Mirkin (2015), implicitly postulated that during the control process, all needed information for computing are obtained in real time and processed instantly. However, collecting, processing, and uploading traffic data in a large-scale urban road networks impose time delays. Towards developing realistic aggregate models and improving perimeter control algorithms, the current paper aims at addressing the existence of such time delays. Hence, delayed state interconnections are incorporated in the dynamic equations to model data processing and communication delays between surrounding interconnected regions. Based on developed model, distributed perimeter control scheme in presence of time delays in interconnections is implemented.
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14:50-15:10, Paper TuM15.5 | Add to My Program |
A Decentralized Traffic Light Control System Based on Adaptive Learning (I) |
Jin, Junchen | KTH Royal Inst. of Tech |
Ma, Xiaoliang | Royal Inst. of Tech |
Keywords: Intelligent transportation systems, Modeling and simulation of transportation systems, Decentralized Control and Systems
Abstract: This paper proposes a decentralized traffic light control system in a multi-agent framework. Each signal controller at an intersection is modeled as an intelligent agent capable of making actions for signal operations according to received detection information. The controller agent works with a turning movement based phasing scheme. Duration of turning movement is determined by a multi-criteria reinforcement learning algorithm. In the design of agent, both traffic mobility and energy efficiency are taken into account. Then, a case study is carried out to assess the performance of the proposed decentralized signal control system. The simulation results outperforms an optimized vehicle-actuated control system by reducing average travel delay and average fuel consumption for vehicles. In particular, the decentralized control system is queue responsive and able to adapt to demand in its green time allocation.
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15:10-15:30, Paper TuM15.6 | Add to My Program |
Coordinated Variable Speed Limit, Ramp Metering and Lane Change Control of Highway Traffic (I) |
Zhang, Yihang | Univ. of Southern California |
Ioannou, Petros A. | Univ. of Southern California |
Keywords: Automatic control, optimization, real-time operations in transportation, Intelligent transportation systems, Modeling and simulation of transportation systems
Abstract: Integrated variable speed limit and ramp metering control for highway traffic is expected to smooth the traffic flow and improve the mobility of highway networks. Our recent results showed that variable speed limit control alone cannot eliminate capacity drops in many incident cases, where one or more lanes are closed due to microscopic phenomena such as forced lane changes and merging dynamics. In this paper, we developed a coordinated variable speed limit, ramp metering and lane change control which guarantees stability of the traffic flow and improves traffic mobility, safety and the environment. In the proposed control strategy, while the lane change control avoids the capacity drop, a feedback linearization variable speed limit controller coordinates with the ramp metering and stabilizes the bottleneck flow at the maximum level. Microscopic Monte-Carlo simulations demonstrate significant improvement on traffic mobility, safety and environment by using the proposed controller.
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TuM16 Open Invited Session, Daurat |
Add to My Program |
Simple Adaptive Control II |
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Chair: Barkana, Itzhak | Barkana Consulting |
Co-Chair: Sugimoto, Kenji | Nara Inst. of Science and Tech |
Organizer: Barkana, Itzhak | Barkana Consulting |
Organizer: Fradkov, Alexander L. | Russian Acad. of Sciences |
Organizer: Mizumoto, Ikuro | Kumamoto Univ |
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13:30-13:50, Paper TuM16.1 | Add to My Program |
ASPR Based Output Feedback Control with an Adaptive Predictive Feedfoward Input for MIMO Systems (I) |
Mizumoto, Ikuro | Kumamoto Univ |
Fujii, Seiya | Kumamoto Univ |
Keywords: Robust adaptive control, Adaptive system and control
Abstract: This paper deals with an output feedback regulation control system design problem. An almost strictly positive real or ASPR based output feedback control system with the adaptive predictive feedforward input will be proposed for MIMO linear systems. The adaptive output predictor proposed for SISO systems will be expanded for MIMO systems and the stability of the resulting control system will be maintained by designing two-degree of freedom control system via ASPR based output feedback. The proposed control strategy has relatively simple structure with a novel simple adaptive output predictive control and ASPR based simple output feedback. The effectiveness of the proposed method will be confirmed through numerical simulations.
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13:50-14:10, Paper TuM16.2 | Add to My Program |
Adaptive Output Feedback Based Output Tracking Control with Adaptive Parallel Feedforward Compensator (I) |
Mizumoto, Ikuro | Kumamoto Univ |
Kawabe, Nobuyuki | Kumamoto Univ |
Keywords: Robust adaptive control, Adaptive control by neural networks, Adaptive system and control
Abstract: This paper deals with an almost strictly positive real (ASPR) based adaptive output tracking control system design problem. A design scheme of adaptive output feedback based output tracking control system with an adaptively adjusting parallel feedforward compensator is proposed. For non-ASPR system, in order to guarantee the stability of the designed adaptive control system, a parallel feedforward compensator (PFC) is introduced and is adaptively adjusted for remaining the ASPR-ness of the resulting augmented system. Furthermore, an adaptive NN feedforward control is added to attain the output tracking. The stability of the resulting control system is analyzed theoretically and the effectiveness of the proposed method will be confirmed through numerical simulations.
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14:10-14:30, Paper TuM16.3 | Add to My Program |
Direct Tuning in Feedback Error Learning Control and Its Generalization to Non-Minimum Phase Plant (I) |
Sugimoto, Kenji | Nara Inst. of Science and Tech |
Imahayashi, Wataru | Nara Inst. of Science and Tech |
Keywords: Adaptive system and control, Identification for control, Model reference adaptive control
Abstract: Motivated by a model for biological motion control, known as Feedback Error Learning (FEL), much attention has been paid to feedforward (FF) control with on-line tuning. Various tuning/control schemes have been proposed so far for its implementation.This paper proposes yet another tuning law that uses an external signal more directly and makes full use of prior knowledge of feedback (FB) controller. The paper also emphasizes a pole placement perspective on FF control in the two-degree-of-freedom (2DOF) structure, which is particularly useful to address non-minimum phase plant. This is done by tuning the numerators of both prefilter and FF controller transfer functions, while their denominators are specified by poles allotted in advance. Numerical simulation is carried out to illustrate the proposed scheme.
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14:30-14:50, Paper TuM16.4 | Add to My Program |
Autotuner Identification of TITO Systems Using a Single Relay Feedback Experiment |
Berner, Josefin | Lund Univ |
Soltesz, Kristian | Lund Univ |
Hagglund, Tore | Lund Univ |
Astrom, Karl J. | Lund Univ |
Keywords: Autotuning, Identification for control, Closed loop identification
Abstract: Relay autotuning has proven very successful for single-input single-output systems. This paper proposes an identification method for relay autotuning of systems with two inputs and two outputs (TITO systems). The combination of asymmetric relay feedback and output error identification admits short tuning time, without the need for limit cycle convergence. The method is successfully demonstrated on relevant system models, including the Wood-Berry distillation column.
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14:50-15:10, Paper TuM16.5 | Add to My Program |
An Intelligent Modeling Approach for LPV Systems Based on Primary-Secondary Response Mechanism of Immune System |
Chen, Lei | Donghua Univ |
Ding, Yongsheng | Donghua Univ |
Hao, Kuangrong | Donghua Univ |
Ren, Lihong | Donghua Univ |
Keywords: Linear parametrically varying (LPV) methodologies, Nonlinear system identification
Abstract: In this paper, an intelligent modeling approach for LPV systems based on primary-secondary response mechanism of immune system is proposed. Based on the historical data, the first antibodies are produced, and this is the offline modeling process. The producing of the forthcoming antibodies is the online modeling process, it consists of recording antigen, matching the antibodies and forming the new antibodies. The proposed approach has the ability of learning and evolution, and the parameters of LPV system can be updated adaptively. Simulation results showed that the proposed intelligent modeling approach is effective for online LPV system modelling.
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15:10-15:30, Paper TuM16.6 | Add to My Program |
Bumpless Reengagement Using Shared Control between Human Pilot and Adaptive Autopilot |
Farjadian, Amir | MIT |
Annaswamy, Anuradha | Massachusetts Inst. of Tech |
Woods, David | Professor, Integrated Systems Engineering Faculty |
Keywords: Adaptive system and control, Adaptive control -applications, Adaptation and learning in physical agents
Abstract: In this paper, we consider a flight control problem subjected to actuator anomalies. We propose a shared control architecture that includes actions of both a human pilot and an adaptive autopilot that achieves bumpless performance while retaining a Capacity for Maneuver (CfM) following the anomaly. The shared controller distributes the critical tasks of anomaly perception and adaptation between a human pilot and an adaptive autopilot to best utilize their individual strengths. The human pilot’s expertise in detection and perception of anomaly is utilized to determine an initial estimate of the plant parameters. An adaptive autopilot then carries out further tuning of the controller to minimize the tracking error while retaining a certain CfM. The shared controller is evaluated in simulation study of an F-8 aircraft under actuator anomalies and shown to be advantageous compared to a fixed-gain fault tolerant controller.
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TuM17 Open Invited Session, Servanty |
Add to My Program |
Network Control and Supervision for Complex Water Systems |
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Chair: Jensen, Tom Nørgaard | Aalborg Univ |
Co-Chair: Trenn, Stephan | Univ. of Kaiserslautern |
Organizer: Lefevre, Laurent | Univ. Grenoble Alpes |
Organizer: Maestre, Jose M. | Univ. of Seville |
Organizer: Ocampo-Martinez, Carlos | Tech. Univ. of Catalonia (UPC) |
Organizer: Duviella, Eric | Ec. Des Mines De Douai |
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13:30-13:50, Paper TuM17.1 | Add to My Program |
Modeling Water Hammers Via PDEs and Switched DAEs with Numerical Justification (I) |
Kall, Jochen | TU Kaiserslautern |
Kausar, Rukhsana | PUCIT, Univ. of the Punjab |
Trenn, Stephan | Univ. of Kaiserslautern |
Keywords: Modelling and control under change, Adaptive control of water resource systems, Model predictive control of water resources systems
Abstract: In water distribution networks instantaneous changes in valve and pump settings may introduces jumps and peaks in the pressure. In particular, a well known phenomenon in response to the sudden closing of a valve is the so called water hammer, which (if not taken into account properly) may destroy parts of the water network. It is classically modeled as a system of hyperbolic partial differential equations (PDEs). After discussing this PDE model we propose a simplified model using switched differential-algebraic equations (DAEs). Switched DAEs are known to be able to produce infinite peaks in response to sudden structural changes. These peaks (in the mathematical form of Dirac impulses) can easily be predicted and may allow for a simpler analysis of complex water networks in the future. As a first step toward that goal, we verify the novel modeling approach by comparing these two modeling techniques numerically for a simple set up consisting of two reservoirs, a pipe and a valve.
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13:50-14:10, Paper TuM17.2 | Add to My Program |
Asymptotic Set-Point Regulation for a Large Class of Non-Linear Hydraulic Networks (I) |
Jensen, Tom Nørgaard | Aalborg Univ |
Kallesøe, Carsten Skovmose | Grundfos Management A/S |
Wisniewski, Rafal | Aalborg Univ |
Keywords: Dynamics and control, Modelling and control under change, Water and energy nexus modelling and control
Abstract: This work considers an industrial case study which is centred in a large-scale hydraulic network underlying a district heating system. We propose a set of decentralised proportional-integral control actions which attain asymptotic set-point regulation. The result is an extension of previous results on branched district heating networks to also include a class of looped district heating networks. The decentralised control architecture along with global asymptotic stability of the closed loop equilibrium point means that infrequent changes in network topology such as addition/removal of end-users can easily be commissioned without jeopardising the stability properties of the resulting closed loop system. Thus the decentralised control architecture is capable of plug-and-play commissioning.
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14:10-14:30, Paper TuM17.3 | Add to My Program |
Friction Estimation of Pipelines with Extractions by Using State Observers (I) |
Jimenez, Javier | Univ. Del Norte |
Torres, Lizeth | UNAM |
Verde, Cristina | Inst. De Ingenieria, UNAM |
Sanjuan, Marco | Univ. Del Norte |
Keywords: Modeling and identification, Parameter and state estimation, Fault diagnosis
Abstract: This article proposes an approach based on state observers to recursively estimate the friction of pipelines with an extraction. Two specific scenarios, associated with information availability, are treated herein: (1) pressure at the extraction is measurable, (2) extraction measurements are unavailable but the position is known. For both scenarios, measurement availability at the pipeline ends is assumed. The state observers were designed from Liénard type models that represent the fluid dynamics in a pipeline. Such models were extended with the incorporation of the friction factors into their state vectors, such that from the extended models, the observers were constructed. The proposed approach was tested by using data from the commercial software PipelineStudio and experimental data from a laboratory pipeline of water.
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14:30-14:50, Paper TuM17.4 | Add to My Program |
Pressure Regulation in Large Scale Hydraulic Networks with Input Constraints (I) |
Scholten, Tjardo | Univ. of Groningen |
Trip, Sebastian | Univ. of Groningen |
De Persis, Claudio | Univ. of Groningen |
Keywords: Optimal operation of water resources systems, Modelling and control under change, Uncertainty in water resource system control/management
Abstract: In this paper we investigate pressure regulation in large scale hydraulic networks with a multi-pump architecture. We propose distributed controllers that regulate the pressure drop at each end-user asymptotically towards desired set-points. We prove that the obtained closed-loop nonlinear system is locally asymptotically stable. In contrast to previous results, the proposed solution guarantees besides pressure regulation, that the pumps generate only positive pressures (inputs), required by many (centrifugal) pumps that are commonly used in hydraulic networks.
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14:50-15:10, Paper TuM17.5 | Add to My Program |
Outer Approximation Methods for the Solution of Co-Design Optimisation Problems in Water Distribution Networks (I) |
Pecci, Filippo | Imperial Coll. London |
Abraham, Edo | TU Delft |
Stoianov, Ivan | Imperial Coll. London |
Keywords: Optimal operation of water resources systems, Hydroinformatics, Model predictive control of water resources systems
Abstract: In the present manuscript, we investigate and demonstrate the use of outer approximation methods for simultaneously optimising the placement and operation of control valves in water distribution networks. The problem definition results in a mixed-integer nonlinear program with nonconvex constraints. We simplify the formulation, compared to previous literature, in order to reduce the degree of nonlinearity in the constraints and decrease the total problem size. We then formulate the application of outer approximation based methods for the generation of good quality local optimal solutions for the considered co-design problem. Finally, we present the results of applying the developed techniques to two case studies, and also comparing the performances of the outer approximation approaches with those of other local mixed integer nonlinear programming solution methods.
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15:10-15:30, Paper TuM17.6 | Add to My Program |
Optimal Management of Barcelona Water Distribution Network Using Non-Linear Model Predictive Control (I) |
Wang, Ye | Univ. Pol. De Catalonia |
Cembrano, Gabriela | UPC |
Puig, Vicenc | Univ. Pol. De Catalunya |
Urrea, Maite | Iri, Upc-Csic |
Romera, Juli | Tech. Univ. of Catalonia |
Saporta, David | AGBAR |
Valero, José Gabriel | AGBAR |
Quevedo, Joseba | Tech. Univ. of Catalonia |
Keywords: Optimal operation of water resources systems
Abstract: This paper proposes a non-linear optimal control strategy for the operational management of water distribution networks (WDNs) including both flow and hydraulic head/pressure constraints. The optimal operation of WDNs should guarantee water supply with suitable pressures at all the demand nodes in the network. The challenge for non-linear model predictive control (NMPC) in this context is to compute control strategies for the pumps and valves in a WDN to supply the required demand while optimizing performance goals related to cost and safety. A two-layer scheme is used in order to produce set-points that can be directly sent to the actuators: on-off schedules for pumps and pressure set-points for pressures reducing valves. Finally, the results of applying the proposed control strategy to a portion of the Barcelona real WDN are provided.
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TuM18 Regular Session, De Marnier |
Add to My Program |
Bio and Ecological Systems - Control in Agriculture 1 |
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Chair: Visala, Arto | Aalto Univ. ELEC School |
Co-Chair: Guzman, Jose Luis | Univ. of Almeria |
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13:30-13:50, Paper TuM18.1 | Add to My Program |
Modeling and Identification of Irrigation Channel Dynamics Affected by Wind |
Cescon, Marzia | Univ. of Melbourne |
Weyer, Erik | Univ. of Melbourne |
Keywords: Modeling and control of agriculture, Model predictive control of water resources systems, Water prediction and control
Abstract: In this paper, models of open water canals affected by wind stress are derived from first principles and system identification experiments. We show that by adding wind speed and wind direction information to the Saint Venant equations, a physical model capable of describing the actual channel dynamics is obtained. Further, a control-oriented transfer function model is proposed to describe the water level response to wind stress. Validation results using operational data collected in the Waranga Western Main Channel in Australia when strong winds affected the area support our models. The finding will contribute to improve automated water management systems in canals and farms.
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13:50-14:10, Paper TuM18.2 | Add to My Program |
Switching Markov Chains for Modelling the Loads of a Four-Rotor Swather under Different Operating Modes |
Paraforos, Dimitris S. | Univ. of Hohenheim |
Griepentrog, Hans W. | Univ. of Hohenheim |
Keywords: Modeling and control of agriculture
Abstract: Modelling and simulating loads of agricultural machinery under different variable loading conditions is an important tool for optimising the design of these machines. The developed models should be based on real conditions that the machine will face during its service life. In this paper, the load-time series from a four-rotor swather were acquired under normal working conditions, performing infield swathing and headland turning. The turning points of these loads were modelled using switching Markov chains, in order to model the switching between these two operating modes (i.e. swathing and headland turning). Based on the developed model, a total of 10,000 Monte Carlo simulations were performed, to assess the proposed methodology. The comparison between the measured and the simulated loads was performed by calculating the correlation coefficient of the power spectral density (PSD) of the two signals. The mean value and the standard deviation of the correlation coefficient when comparing the PSD of all Monte Carlo simulations with the PSD for the measured load, was 0.87 and 0.05, respectively, while the 5th and 95th percentile were 0.78 and 0.94, respectively.
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14:10-14:30, Paper TuM18.3 | Add to My Program |
Data Driven Broiler Weight Forecasting Using Dynamic Neural Network Models |
Johansen, Vestergaard, Simon | Aalborg Univ. Electronic Systems and SKOV A/S |
Bendtsen, Jan Dimon | Aalborg Univ |
Riisgaard-Jensen, Martin | SKOV |
Mogensen, Jesper | Skov A/s |
Keywords: Artificial neural nets in agriculture
Abstract: In this article, the dynamic influence of environmental broiler house conditions and broiler growth is investigated. Dynamic neural network forecasting models have been trained on farm-scale broiler batch production data from 12 batches from the same house. The model forecasts future broiler weight and uses environmental conditions such as heating, ventilation, and temperature along with broiler behavior such as feed and water consumption. Training data and forecasting data is analyzed to explain when the model might fail at generalizing. We present ensemble broiler weight forecasts to day 7, 14, 21, 28 and 34 from all preceding days and provide our interpretation of the results. Results indicate that the dynamic interconnection between environmental conditions and broiler growth can be captured by the model. Furthermore, we found that a comparable forecast can be obtained by using input data from the previous batch as a substitute for future input data.
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14:30-14:50, Paper TuM18.4 | Add to My Program |
A Low-Cost Embedded Controller Design for Selective Spraying Vehicle (I) |
Pawlowski, Andrzej | UNED |
Guzman, Jose Luis | Univ. of Almeria |
Sánchez-Hermosilla, Julián | Univ. De Almería |
Rodríguez, Carlos | UNED |
Dormido, Sebastián | UNED |
Keywords: Precision farming, Greenhouse control
Abstract: This paper presents the design and the prototype implementation of a low cost embedded controller for a greenhouse selective spraying vehicle. The objective was to develop a tailored and modular control system composed by: main controller module, ultrasonic detection module and valve driving module. The ultrasonic sonar module is used for detecting the crop lines. It allows avoiding application of plant protection products in zone without crop coverage. On the other hand, the developed embedded unit incorporates a nonlinear pressure controller, which is used to regulate the working pressure of spraying systems. Laboratory tests demonstrated that the application of ultrasonic sensors with embedded pressure controller gives a possibility to achieve an important improvement in pesticide application tasks. The main benefits can be obtained in reduction of greenhouse soil contamination, which is achieved by an intelligent spraying algorithm using a low-cost solution based on the developed system.
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14:50-15:10, Paper TuM18.5 | Add to My Program |
Augmented Reality in Forest Machine Cabin (I) |
Palonen, Tuomo | Aalto Univ |
Hyyti, Heikki Sakari | Aalto Univ |
Visala, Arto | Aalto Univ. ELEC School |
Keywords: Man-machine systems in agriculture, Autonomous vehicles in agriculture
Abstract: Augmented reality human machine interface is demonstrated in the cabin of a forest machine outdoors for the first time in real time. In this work, we propose a system setup and a real-time capable algorithm to augment the operator’s visual field with measurements from the forest machine and its environment. In the demonstration, an instrumented forestry crane and a lidar are used to model the pose of the crane and its surroundings. In our approach, a camera and an inertial measurement unit are used to estimate the pose of the operator’s head in difficult lighting conditions with the help of planar markers placed on the cabin structures. Using the estimate, a point cloud and a crane model are superimposed on the video feed to form an augmented reality view. Our system is tested to work outdoors using a forest machine research platform in real time with encouraging initial results.
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TuM19 Regular Session, Gavarnie |
Add to My Program |
Power System Control 2 |
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Chair: Imura, Jun-ichi | Tokyo Inst. of Tech |
Co-Chair: Li, Li | Univ. of Tech. Sydney |
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13:30-13:50, Paper TuM19.1 | Add to My Program |
Distributed State Estimation for Interconnected Synchronous Generators |
Rana, Md | UTS |
Li, Li | Univ. of Tech. Sydney |
Su, Steven W. | Univ. of Tech. Sydney |
Keywords: Smart grids, Monitoring and performance assessment, Estimation and fault detection
Abstract: In contrast to the traditional centralised power system state estimation methods, this paper investigates the optimal filtering problem for distributed dynamic systems. Specifically, the interconnected synchronous generators are modelled as a state-space linear equation where sensors are deployed to obtain measurements. As the synchronous generator states are unknown, the estimation is required to know the overall operating conditions of large-scale complex power networks. Basically, the proposed algorithm is based on the minimization of the mean squared estimation error, and the optimal gain is computed by exchanging information with their neighboring estimators. Afterwards, the convergence of the developed algorithm is proved so that it can be applied to real-time applications in modern smart grids. Finally, simulation results demonstrate the efficacy of the developed approach.
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13:50-14:10, Paper TuM19.2 | Add to My Program |
Virtual Synchronous Generator Controller for MTDC and the Probabilistic Small Signal Stability Analysis |
Wang, Weiyu | Hunan Univ |
Liu, Fang | Central South Univ |
Tan, Yi | Hunan Univ |
Huang, Jinhua | Guangdong Power Grid Co., Ltd(GPGC) |
Tang, Shengwei | Electric Power Res. Inst. of Guangdong Power Grid Co., L |
Li, Yong | Hunan Univ |
Cao, Yijia | Hunan Univ |
Keywords: Control of renewable energy resources, Power systems stability, Control system design
Abstract: In this paper, a new virtual synchronous generator (VSG) strategy based on the V2-P droop control strategy is proposed for the voltage source converter based multi-terminal high voltage direct current (VSC-MTDC) system. The VSG strategy enables the inverter stations to damp the power oscillation and provide frequency support for the AC system. Virtual inertia coefficient is obtained to couple the DC voltage and the angular frequency. To provide the oscillation damping and frequency support, the inverter stations could adjust the output power by the adjustment of the DC reference voltage. Due to the characteristic of the V2-P droop method, there is no requirement for the communication between inverter stations. The Monte Carlo method is used to test the probabilistic small signal stability of the VSG strategy. The performance of the proposed controller is demonstrated by a hybrid AC/DC system which is modeled in DIgSILENT/PowerFactory.
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14:10-14:30, Paper TuM19.3 | Add to My Program |
Distributed Design of Local Controllers for Transient Stabilization in Power Grids |
Sasahara, Hampei | Tokyo Inst. of Tech |
Ishizaki, Takayuki | Tokyo Inst. of Tech |
Sadamoto, Tomonori | Tokyo Inst. of Tech |
Imura, Jun-ichi | Tokyo Inst. of Tech |
Keywords: Control system design, Power systems stability, Modeling and simulation of power systems
Abstract: In this paper, we develop a distributed method for designing local controllers that perform transient stabilization of dynamic response for deections caused by contingencies in a large power system where multiple independent system operators exist and manage their corresponding generators. The system models associated with individual system operators should be private and be unavailable for deciding control policies of other system operators. We formulate the controller design problem where each controller is designed using its corresponding local system model and they achieve a desired local transient response performance. Our proposed method based on hierarchical state-space expansion enables us to solve the controller design problem and the resulting system satisfies the requirements. Through numerical simulations for the IEEJ EAST 10-machines power system, the effectiveness of our proposed method is verified.
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14:30-14:50, Paper TuM19.4 | Add to My Program |
Distributed Stabilization of Multi-Machine Power Systems Via Multi-Agent Flocking Control |
Zhou, Jun | Hohai Univ |
Wang, Cui | Hohai Univ |
Keywords: Power systems stability, Control system design, Intelligent control of power systems
Abstract: In this paper, stabilization in terms of power swing reduction and angular frequency synchronism in multi-machine power systems is addressed by adopting the multi-agent flocking technique that is implemented through distributed static VAR compensators (SVC) as controllers. More precisely, power swing reduction and angular frequency synchronism in a multi-machine power system are re-formulated as stabilization on a related multi-agent statespace network. By inducing multi-agents collision under the suggested control algorithms, all the synchronous generators achieve angular frequency synchronism while power angles are specified to a same desired power angle.
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14:50-15:10, Paper TuM19.5 | Add to My Program |
Input-Output Properties of the Swing Dynamics for Power Transmission Networks with HVDC Modulation |
Koorehdavoudi, Kasra | Washington State Univ |
Roy, Sandip | Washington State Univ |
Prevost, Thibault | RTE |
Xavier, Florent | RTE |
Panciatici, Patrick | RTE |
Venkatasubramanian, Mani | Washington State Univ |
Keywords: Power systems stability, Control system design
Abstract: There is a growing need for wide-area evaluation and control of fast dynamics in the bulk power transmission network, and at the same time new technologies are coming to fruition that enable such control. Analyzing disruptions and designing wide-area controls crucially requires understanding input-output properties of the power network's swing dynamics. In this article, we study input-output properties of the classical swing dynamics model -- specifically, the finite zeros of input-output channels in the model -- from a graph theory perspective. Because deployed controls for high-voltage direct-current (HVDC) lines are known to impact transients/oscillation across a wide area, we also enrich the model to represent modulated (controlled) HVDC, and analyze the zeros of the enriched model. The analyses demonstrate that the graph topology of the power network, the location of the input-output channel, and the type of control used on the HVDC line, primarily determine whether or not the dynamics is minimum phase.
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15:10-15:30, Paper TuM19.6 | Add to My Program |
Modeling and Analysis Methods for Assessing Stability of Microgrids (I) |
Ilic, Marija | Carnegie Mellon Univ |
Jaddivada, Rupamathi | 1993 |
Miao, Xia | Massachusetts Inst. of Tech |
Keywords: Modeling and simulation of power systems, Smart grids, Power systems stability
Abstract: It is proposed in this paper that all components comprising microgrids with highly heterogeneous technologies can be modeled as interconnected dynamic modules. The resulting standard state space component models and the interconnected microgrid model have structure that lends them to highly distributed analysis, necessary stability conditions and local control design. A real world microgrid is used to illustrate modeling and analysis approach.
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TuM20 Open Invited Session, Toulouse |
Add to My Program |
Control of Physiological Systems in Medicine: Models, Identification and
Clinical Application 3 |
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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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13:30-13:50, Paper TuM20.1 | Add to My Program |
Real-Time, Minimally Invasive, Beat-To-Beat Estimation of End-Systolic Volume Using a Modified End-Systolic Pressure-Volume Relation (I) |
Davidson, Shaun M | Univ. of Canterbury |
Pretty, Christopher | Univ. of Canterbury |
Kamoi, Shun | Univ. of Canterbury |
Balmer, Joel | Univ. of Canterbury |
Desaive, Thomas | Univ. of Liege |
Chase, J. Geoffrey | Univ. of Canterbury |
Keywords: Quantification of physiological parameters for diagnosis and treatment assessment, Cellular, metabolic, cardiovascular, pulmonary, neuro-systems, Identification and validation
Abstract: Intensive care management of cardiovascular disease and dysfunction, a major and growing issue, would benefit from improved synthesis of continuously monitored, information rich catheter waveforms into clear, relevant cardiac metrics. Volume measurements are rarely taken in intensive care, but advances have been made in approximating cardiac stroke volume using pressure measurements. This paper proposes a method for the minimally invasive, real-time, beat-to-beat estimation of end-systolic volume, with the goal of providing further insight into cardiac volume behavior and access to important metrics such as cardiac preload. This method relies on a modified end-systolic pressure-volume relation, aortic pressure and heart rate data and a brief echocardiography calibration. The method was validated across 11 pigs and 2 protocols, encompassing the progression of sepsis and a variety clinical procedures employed in the management of sepsis. The method demonstrated consistently strong correlation coefficients, with a mean of R = 0.82, and low estimation error, with a mean absolute percentage error of 13.3%. This method thus allows effective estimation of end-systolic volume, providing a more complete picture of cardiac behavior in an intensive care environment in which volume measurements are rarely taken. As such, the method has the potential to benefit clinical decision making and management of cardiovascular disease and dysfunction.
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13:50-14:10, Paper TuM20.2 | Add to My Program |
Meal Detection in the Artificial Pancreas: Implications During Exercise (I) |
Ramkissoon, Charrise | Univ. De Girona |
Herrero, Pau | Imperial Coll. London |
Bondia Company, Jorge | Univ. Pol. De Valencia |
Vehi, Josep | Univ. De Girona |
Keywords: Artificial pancreas or organs, Bio-signals analysis and interpretation, Physiological Model
Abstract: Many studies have reported that a high number of missed meal boluses occur, especially in adolescents, during insulin pump therapy. It is predicted that this behavior will carry on to articial pancreas therapy, where a continuous glucose monitor (CGM) and an insulin pump are used by a control algorithm to regulate blood glucose (BG) levels in those with type 1 diabetes (T1D). This study utilizes a novel approach to meal detection using a sliding window and computing the normalized cross-covariance between measured glucose, BG(k) and a disturbance term, D(k), estimated from an augmented minimal model using an Unscented Kalman Filter (UKF). This meal detection algorithm is tested in silico in two scenarios: 1) without exercise and 2) with one meal occurring during exercise daily. This experiment was done to see the eect of stacked physiological responses incurred by meals and exercise.
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14:10-14:30, Paper TuM20.3 | Add to My Program |
Predicting the Effects of Changing PEEP Using a Basis Function Method (I) |
Argus, Finbar | Univ. of Canterbury |
Sutherland, Conor | Univ. of Canterbury |
Chakson, Jimmy | Univ. of Canterbury |
McNearney, Eugene | Univ. of Canterbury |
Dickson, Jennifer L. | Univ. of Canterbury |
Redmond, Daniel Paul | Univ. of Canterbury |
Kim, Kyeong Tae | Univ. of Canterbury |
Docherty, Paul D | Univ. of Canterbury |
Chase, J. Geoffrey | Univ. of Canterbury |
Keywords: Quantification of physiological parameters for diagnosis and treatment assessment, Identification and validation, Intensive and chronic care or treatment
Abstract: Abstract: Current methods to optimise mechanical ventilation involve increasing positive end expiratory pressure (PEEP) in steps to maximize recruitment. If PEEP is too high, overdistension and damage occur. There is thus an inherent risk involved when increasing PEEP. This study predicts dynamic elastance and lung mechanics for higher PEEP using clinically relevant elastance basis functions, capturing distension, recruitment and constant stiffness, in a first order model of lung mechanics. The clinically relevant basis functions were used to fit elastance using a single compartment lung model for 10 patients undergoing recruitment maneuvers, where 2-4 PEEP levels were analysed, and then used to predict the elastance and pressure waveforms for PEEP level increases of 5 and 10 cmH_2 O. The mean error for the pressure fits from the clinically relevant basis functions was 2.06%. Mean error for pressure predictions with a PEEP level increase of 5 cmH_2 O was 3.8-5.5%. Mean error for PEEP level increases of 10 cmH_2 O was slightly higher, between 5.0 and 6.6%. Good pressure fits and predictions show these basis functions accurately fit and predict elastance and thus lung behavior at increased PEEP levels. Each clinically relevant basis function behaved as expected, however improvements to the identifiability of distension would further improve the overall accuracy.
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14:30-14:50, Paper TuM20.4 | Add to My Program |
The Novel Dimensional Reduction Method and Tikhonov Regularisation in Parameter Identification of Non-Linear Ill-Posed Problems (I) |
Davidson, Shaun M | Univ. of Canterbury |
Docherty, Paul D | Univ. of Canterbury |
Kretschmer, Joern | Furtwangen Univ |
Murray, Rua | Univ. of Canterbury |
Keywords: Identification and validation, Physiological Model, Biomedical system modeling, simulation and visualization
Abstract: One of the most popular means of addressing premature declaration of convergence due to low error gradients in parameter identification is Tikhonov regularisation. Tikhonov regularisation utilises additional a-priori information to modify the objective surface, and thus is not a true least squares approach. The Dimensional Reduction Method is a framework that can be placed around parameter identification approaches, restricting iteration to hyperplanes where low error gradients exist, thus allowing iteration within these areas without modification of the objective surface. A comparison between the ability of the two methods to accurately identify parameters on the highly non-linear pulmonary recruitment model was undertaken. The Dimensional Reduction Method was able to produce lower residuals in the majority of cases, and statistically significant improvement in both parameter error and model residuals. Additionally, the two approaches can be implemented simultaneously, which further improved model residuals and parameter errors, demonstrating the modularity of each approach and that both approach ill-posed problems in a distinct manner. Overall, this provides a strong case for the advantages of the Dimensional Reduction Method over current parameter identification methods designed for addressing ill-posed problems.
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14:50-15:10, Paper TuM20.5 | Add to My Program |
Plateau Pressure Prediction in ARDS Patients (I) |
Langdon, Ruby | Univ. of Canterbury |
Docherty, Paul D | Univ. of Canterbury |
Schranz, Christoph | Hamilton Medical AG |
Chase, J. Geoffrey | Univ. of Canterbury |
Keywords: Biomedical system modeling, simulation and visualization, Decision support and control, Physiological Model
Abstract: In mechanical ventilation, the optimal level of positive end expiratory pressure (PEEP) is widely debated in the treatment of acute respiratory distress syndrome (ARDS). While PEEP is often necessary to maintain recruitment, excessively high PEEP can cause high pressure at the alveoli, indicated by the measurement of plateau pressure (PP). High PP can indicate over distension and damage to healthy alveoli, which can lead to ventilator induced lung injury (VILI). Model based methods allow the estimation of patient specific parameters that can aid clinicians in selecting optimal patient specific PEEP. A model that accurately and precisely predicts the outcome of an increase in PEEP may allow dangerously high PP to be avoided. This paper examines the PP prediction capability of two variations of a model of respiratory mechanics that uses basis functions to capture pulmonary elastance. BFM(I), uses four basis functions, and BFM(II) uses two. The models were identified on one or more adjacent PEEP steps, and extrapolated to predict PP at PEEP levels that were 2, 4, and 6 cmH2O above the highest PEEP in the training data. A comparison using the same training data was made using the first order model of pulmonary mechanics (FOM(I)). A further method more consistent with typical use of the FOM was also tested, in which the FOM was trained on a single PEEP prior to prediction (FOM(II)). The method was conducted on 23 ARDS patients that underwent a recruitment manoeuvre. All four models yielded high specificity in all scenarios (≥ 0.90). The FOM(I), FOM(II) and BFM(I) sensitivity were similar across all prediction horizons, and generally decreased as the prediction PEEP increased. However the reduced parameterization of BFM(II) compared with BFM(I) allowed sensitivity to remain high at ≥ 0.95 at all prediction horizons. The results highlight the importance of finding a balance between model fitting and predictive ability when considering optimal model parameterization.
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15:10-15:30, Paper TuM20.6 | Add to My Program |
Quantifying Patient Effort in Spontaneously Breathing Patient Using Negative Component of Dynamic Elastance (I) |
Kim, Kyeong Tae | Univ. of Canterbury |
Redmond, Daniel Paul | Univ. of Canterbury |
Morton, Sophie | Univ. of Canterbury |
Howe, Sarah | Univ. of Canterbury |
Chiew, Yeong Shiong | Monash Univ |
Chase, J. Geoffrey | Univ. of Canterbury |
Keywords: Physiological Model, Bio-signals analysis and interpretation
Abstract: Respiratory mechanics of fully sedated patients can be easily estimated as the ventilator has full control of patient’s work of breathing. However, in spontaneously breathing patients or patients whose work of breathing is only partially assisted, respiratory mechanics estimation is much more difficult. This difficulty is caused by un-modelled and variable patient effort introduced into the system. The Time-varying elastance model is a model that can estimate respiratory mechanics of spontaneously breathing patients with use of dynamic elastance. The model has a negative elastance component where measured airway pressure is decreasing, yet the air is flowing into the lungs due to patient effort. In this study, quantification of the negative elastance component is studied. Airway flow, pressure and Electrical Activity of Diaphragm signals from 22 invasively ventilated patients using Pressure Support mode are used for this analysis. Two methods have been used to quantify negative elastance, the zero-crossing method and trapezoidal method. The estimated median values of negative elastance using the zero-crossing method is: -3.289 [Interquartile range (IQR: -4.803~-2.504] cmH2O/L and for trapezoidal method is: -1.899 [IQR: -2.362~-1.664] cmH2O/L. The correlation between electrical activity of the diaphragm and negative elastance is very weak as the R values across patients are: -0.0697 [IQR: -0.4972~ -0.0255] for zero-crossing method and 0.0939 [IQR: -0.0293-0.3003] for trapezoidal method. Negative elastance is a conceptual component of the model and can be used to quantify patient demand. However, in this study, quantifying patient effort using negative elastance has little similarity to electrical activity of the diaphragm, as negative elastance appears to capture more than only patient effort. Further research is needed to use this metric to observe patient effort.
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TuM21 Regular Session, Conques |
Add to My Program |
Adaptive Control Design |
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Chair: Zuyev, Alexander | Max Planck Inst. for Dynamics of Complex Tech. Systems |
Co-Chair: Tohidi, Seyed Shahabaldin | Bilkent Univ |
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13:30-13:50, Paper TuM21.1 | Add to My Program |
Adaptive Control Allocation for Over-Actuated Systems with Actuator Saturation |
Tohidi, Seyed Shahabaldin | Bilkent Univ |
Yildiz, Yildiray | Bilkent Univ |
Kolmanovsky, Ilya V. | Univ. of Michigan |
Keywords: Adaptive control, Fault-tolerant, Sliding mode control
Abstract: This paper proposes an adaptive control allocation approach for over-actuated systems with actuator saturation. The methodology can tolerate actuator loss of effectiveness without utilizing the control input matrix estimation, eliminating the need for persistence of excitation. Closed loop reference model adaptive controller is used for identifying adaptive parameters, which provides improved performance without introducing undesired oscillations. The modular design of the proposed control allocation method improves the flexibility to develop the outer loop controller and the control allocation strategy separately. The ADMIRE model is used as an over-actuated system, to demonstrate the effectiveness of the proposed method using simulation results.
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13:50-14:10, Paper TuM21.2 | Add to My Program |
Adaptive Output Regulation of Invertible MIMO Systems |
Pyrkin, Anton | ITMO Univ |
Isidori, Alberto | Univ. of Rome "La Sapienza" |
Keywords: Adaptive control, Analytic design, Controller constraints and structure
Abstract: The problem of output regulation for MIMO systems with harmonic exogenous inputs and parameter uncertainties is addressed. The issue of robust stability is handled, taking full advantage of all controls and all available measurements, by appealing to a general notion of ``robust" minimum-phase. The classical internal model principle together with adaptive tuning loop is used to design the controller such that guarantees the asymptotic convergence of outputs to equilibrium point. An example of vessel control is given to illustrate the new approach.
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14:10-14:30, Paper TuM21.3 | Add to My Program |
Adaptive Feedforward and Feedback Control for Cloud Services (I) |
Cerf, Sophie | Univ. Grenoble Alpes, GIPSA-Lab |
Berekmeri, Mihaly | Univ. of Grenoble, GIPSA-Lab, LIG |
Robu, Bogdan | Univ. of Grenoble, GIPSA-Lab |
Marchand, Nicolas | GIPSA-Lab CNRS |
Bouchenak, Sara | Univ. of Grenoble |
Landau, Ioan Dore | GIPSA-LAB, |
Keywords: Adaptive control
Abstract: The use of cloud services is becoming increasingly common. As the cost of these services is continuously decreasing, service performance is becoming a key differentiator between providers. Solutions that aim to guarantee Service Level Objectives (SLO) in term of performance by controlling cluster size are already used by cloud providers. However most of these control solutions are based on static textit{if-then} rules, they are therefore inefficient in handling the highly varying service dynamics of cloud environments. Client concurrency, network bottlenecks or non homogeneity of resources are just a few of the many causes that make the behavior of cloud services highly non linear and time varying. In this paper a novel control theoretical approach realizing resource allocation is presented that is robust to these phenomena. It consists of PI and feedforward controller adapted online. A stability analysis of the adaptive control configuration is provided. Simulations using a cloud service model taken from the literature illustrate the performance of the system under various conditions. The use of adaptation significantly improves control efficiency and robustness with respect to variations in the dynamic of the plant.
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14:30-14:50, Paper TuM21.4 | Add to My Program |
L1 Adaptive Output Feedback Control for Underactuated MIMO Systems |
Lee, Hanmin | Univ. of Illinois at Urbana-Champaign |
Cichella, Venanzio | Univ. of Illinois |
Hovakimyan, Naira | UIUC |
Keywords: Adaptive control, Output feedback control, Disturbance rejection
Abstract: This paper addresses the problem of output feedback control for underactuated (non-square) MIMO systems with unknown input gain and matched uncertainties. The L1 adaptive output feedback control architecture in this paper includes a state predictor, an error observer, adaptation laws, and a low-pass lter. It is shown that the proposed control strategy guarantees that the error signals of the closed-loop system are semi-globally bounded. Simulation results are presented to validate the theoretical claims.
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14:50-15:10, Paper TuM21.5 | Add to My Program |
Adaptive Bipartite Tracking Control of Nonlinear Multi-Agent Systems with Unknown Hysteresis | |