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Last updated on July 28, 2017. This conference program is tentative and subject to change
Technical Program for Wednesday July 12, 2017
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We11 Plenary Session, Palais des sports |
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Automating Mobility in Smart Cities |
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Chair: Peaucelle, Dimitri | LAAS-CNRS |
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08:30-09:30, Paper We11.1 | Add to My Program |
Automating Mobility in Smart Cities |
Cassandras, Christos G. | Boston Univ |
Keywords: Integrated traffic management
Abstract: Smart Cities are an example of Cyber-Physical Systems whose goals include improvements in transportation, energy distribution, emergency response, and infrastructure maintenance, to name a few. When it comes to mobility, the availability of large amounts of data, ubiquitous wireless connectivity, and the critical need for scalability open the door for new control and optimization methods with the aim of automating all aspects of mobility, from interconnected self-driving vehicles to sharing transportation resources. We address two key questions: can control and optimization methods enable this automation and, if so, how can we quantify its benets to justify the challenging technological, economic, and social transitions involved? An optimal control framework is presented to show how Connected Automated Vehicles (CAVs) can operate in a dynamic resource contention environment, primarily urban intersections without any trac lights. We also describe how large amounts of actual trac data can be harnessed and drive inverse optimization methods to quantify the value of CAVs in terms of eliminating the prevailing Price of Anarchy: the gap between current "selfish" user-centric and optimal "social" system-centric traffaic equilibria which are achievable with automated mobility.
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WeA01 Interactive Session, Caravelle 1.2 |
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GDR MACS - Industrial and Logistic Systems |
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Chair: Caillaud, Emmanuel | Univ. De Strasbourg |
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10:00-12:00, Paper WeA01.1 | Add to My Program |
Actuator Sensor Securing Over Industrial Network (I) |
Toublanc, Thomas | Univ. Bretagne Sud, Lab-STICC |
Guillet, Sébastien | Brestagne Sud, Lab-STICC |
Frizon de Lamotte, Florent | Univ. Européenne De Bretagne - UBS |
Berruet, Pascal | Univ. De Bretagne Sud |
Lapotre, Vianney | UBS, Lab-STICC |
Keywords: Security, Enterprise Networks, Control and Automation Systems failure
Abstract: Nowadays, the threats on industrial Cyber Physical Systems (CPS) become a major issue. The Industrial Automation Control System (IACS) are a critical and vulnerable part of industries. They interact with the physical world in two ways: by implementing enormous energies at signicant rhythms through their Actuators (A), and by measuring and discretizing at even higher rates the physical values through their Sensors (S). This involves real-time control/command and proscribes latency. In addition, IACS are increasingly controlled by cyberspace through corporate networks and the Internet, that type of system is industrial CPS. These allow the control of the industrial process, the acquisition or the updating of critical parameters, with resources previously reserved for information technology (computer, servers, applications, cloud). Also, the CPS establish a link between low-level networks, eld-bus and high-level computer networks (logistics, commercial, etc.) through several levels of abstraction. This makes it impossible the concrete observation of the system in its environment. In this article, we present our methodology and some results to secure the IACS and its environment. The use of a gateway on eld-bus between S/A and the programmable logic controller allows detection and reaction to threat.
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10:00-12:00, Paper WeA01.2 | Add to My Program |
Safe Design of the Autonomous Driving Control Function (I) |
Cuer, Romain | INSA Lyon |
Pietrac, Laurent | INSA De Lyon |
Niel, Eric | INSA De Lyon |
Diallo, Saidou | Renault |
Minoiu Enache, Nicoleta | Renault SAS |
Dang-Van-Nhan, Christophe | Renault |
Keywords: Intelligent Transportation, Innovation (in development contexts)
Abstract: Abstract: The autonomous vehicle is meant to drive by itself without any driver intervention. The Autonomous Driving (AD) function is based on the Electric/Electronic architecture of the vehicle constituted of sensors, actuators, ECUs (Electronic Control Unit) and communication networks. The focus of this study is on the different states of the AD function, implemented in different ECUs. Traditionally the system design process distinguishes between the systems engineering process and the safety process. In this application, the first process specifies the functional requirements for the AD function while, in the second one, three redundant sub-functions are considered to ensure a continuous service under failure. Each of the two processes might have its own constraints and planning. So, the safety requirements might come often too late to be taken into account in the systems engineering process without major impacts on the design of the vehicle. More than other functions, with respect to its complexity, the AD function imposes to consider the safety requirements at the beginning of the systems engineering process. To achieve this, a state model of the AD function has been built. It allows integrating functional and redundancy aspects, formalizing the approach and formally verifying requirements of interest. The built model will ensure the consistency between the two design processes, functional and safety. Keywords: Autonomous vehicle, safety analysis, systems engineering, requirements analysis, design systems, discrete-event dynamic systems, redundancy control
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10:00-12:00, Paper WeA01.3 | Add to My Program |
Hybrid Satellite Position Estimator Using Self-Induced Dither for SATCOM on the Move (I) |
Broussard, Elliot | Thales Communication and Security |
Pham, Minh Tu | INSA De Lyon |
Ladevez, Maxime | Thales Communication and Security |
Brun, Xavier | Insa De Lyon |
Vion, Benoit | Thales Communication and Security |
Keywords: Connected Vehicles, Low cost technologies
Abstract: Keywords: Tracking Systems, SATCOM On The Move, Least Squares Estimator, Inertially Stabilized Platform, Antennas, Identification. The only way to insure a good satellite communication data rate on a moving vehicle is to maintain an antenna bore-sight in the satellite direction. To do so, the antenna is mounted on an Antenna Positioning Systems(APS). The APS is a motorized gimbals that make the antenna move in order to maintain a proper pointing, regardless the vehicle movements. This kind of satellite communication is called SATCOM On The Move (SOTM). In this paper, an hybrid pointing strategy, using least squares identification and gyroscopes is proposed and tested through realistic simulation. The main difference with other strategies is that the scanning is made using only the motion due to measurement noise and gyroscope drift, making unnecessary the introduction of a pointing dither on purpose, as it is usually done. Such a dither is referred as self-induced dither. The main advantage of this strategy is its robustness with respect to non-linearities due to mechanical faults since no precise dither trajectory has to be followed. Another benefit is that attitude measurements are not used during tracking, making the strategy proposed especially interesting for low cost applications.
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10:00-12:00, Paper WeA01.4 | Add to My Program |
Statistical Damage Localization in Mechanical Systems Based on Load Vectors (I) |
Bhuyan, Md Delwar Hossain | Inria |
Gautier, Guillaume | CEA-Tech. Pays-De-La-Loire |
Döhler, Michael | Inria |
Lecieux, Yann | Univ. De Nantes |
Schoefs, Franck | Univ. De Nantes |
Mevel, Laurent | INRIA |
Keywords: Data-Driven Decision Making
Abstract: The monitoring of mechanical systems aims at detecting and diagnosing damages, in general by using output-only vibration measurements under ambient excitation. In this paper, a method is proposed for the localization of stiffness changes in a structure. Based on mechanical grounds, damage is located in elements of a structure with zero stress when a load is applied that is in the null space of the transfer matrix difference between the nominal reference and the damaged state. This load vector is estimated from system identification in both reference and damaged states, and the stress is computed based on a finite element (FE) model of the structure in the reference state. In this work, we address two sources of errors in this computation that lead to stress that is only approximately zero in the damaged elements, which are (1) estimation errors due to noise and finite data, and (2) modal truncation errors due to a limited number of identified modes in comparison to the number of modes present in the FE model that characterizes the structural behavior. To address (1), we propose a statistical evaluation of the stress estimates for a decision on the damaged elements, by propagating the covariance from system identification results to the covariance of the stress. To address (2), several stress estimates are obtained for different mode sets and Laplace variables in the evaluation of the transfer matrices, and jointly evaluated in a hypothesis test. Damage localization results are presented in a simulation study and on experimental data from a damaged beam in the lab.
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10:00-12:00, Paper WeA01.5 | Add to My Program |
Analysing and Modelling a Network AS-Level Traffic (I) |
Grandemange, Quentin | Univ. De Lorraine |
Bhujwalla, Yusuf | Univ. De Lorraine |
Gilson, Marion | Univ. of Lorraine |
Ferveur, Olivier | Post Tech |
Gnaedinger, Eric Gnaedinger | Univ. De Lorraine |
Keywords: Intrastructure (including energy, telecoms, political, physical etc.), Econometric methods
Abstract: The exponential growth of internet traffic over the last twenty years presents a real challenge to ISP looking to ensure a reliable and efficient service to their customers. Network traffic is far from being straightforward to predict and a deep understanding of the routing domains is a first requirement to achieve proper management of the traffic. This paper focuses on the monitoring and characterisation of traffic for a European Tier-2 operator (Post Luxembourg). It aims, at first, to provide a thorough analysis of the traffic passing through the network using a Netflow collection process. Secondly, it provides a first approach to model the AS-level traffic using a time-series analysis approach.
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10:00-12:00, Paper WeA01.6 | Add to My Program |
Model-Based System Engineering for PSS Development: Review and Problem Statement (I) |
Maleki, Elaheh | IRCCyN |
Belkadi, Farouk | IRCCYN - Ec. Centrale De Nantes |
Bernard, Alain | Ec. Centarle De Nantes |
Keywords: Service Engineering Applications, Complexity modelling, Systems Theory
Abstract: Product-Service System (PSS) has been proposed as a new value-creation strategy to handle the economic, social, technological and environmental challenges. Despite the numerous proposed methodologies, PSS development is still indeterminate. In order to solve this issue, either product or service development processes are adopted. Though, a customized development process according to PSS characteristics as an integrated system seems more efficient. In this context, Systems Engineering (SE) could be advantageous since it supports a wide range of activities through systems lifecycle. Secondly, it supports integrating the interconnected heterogeneous components of the PSS. This paper aims to explore the idea of extending the use of Model-Based Systems Engineering (MBSE) to PSS to integrate different viewpoints in PSS lifecycle and development process.
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10:00-12:00, Paper WeA01.7 | Add to My Program |
Management of the Design Process: Human Resources Allocation in Factories of the Future (I) |
Jin, Guangying | Univ. De Bordeaux |
Sperandio Robin, Severine | Univ. De Bordeaux |
Girard, Philippe | Bordeaux Univ. UMR 5218 CNRS |
Keywords: Systems Theory, Project Management
Abstract: Currently, the relationships among different actors in the project are shaped by many new challenges such as multiplication of data and information, mass customization, global cooperation, scarcity of resources, etc. When managers have several projects to be scheduled, human resources allocation becomes much more complex to grasp. In order to cope with adaption of Product-Process-Organization (P-P-O) model for industry of the future, it is also necessary to have a methodology to approach the problem of human resources allocation.
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10:00-12:00, Paper WeA01.8 | Add to My Program |
Improving the Labile Blood Products Transportation Processes Using Physical Internet, Complex Event Processing and Process Mining (I) |
Schoen, Quentin | Univ. of Toulouse – IMT - Mines Albi, Industrial Engineerin |
Fontanili, Franck | Ec. Des Mines D'albi-Carmaux |
Truptil, Sébastien | Univ. of Toulouse – Mines Albi, Industrial Engineering Cent |
Lauras, Matthieu | Centre De Génie Industriel, Mines D'albi |
Keywords: Supply Logistics, Intelligent Transportation
Abstract: In order to collect whole blood from donors and distribute labile blood products to receivers, the French Blood Establishment (EFS) has to deal with several steps of transportation. Knowing the lifetime of each product, their storage conditions, their sensitiveness, and how vital they are for dozens of patients, we demonstrate why it is so important to improve the transportation processes. Currently, these steps are not agile neither efficient. The main reason is that traceability is performed for each transport container but it is time consuming and all the data are not gathered in real time. In order to improve the tracking and monitoring of this activity with reliable data, we suggest using both a Physical Internet and lambda architecture approaches with complex event processing and Process Mining. Thanks to those ideas, we want to design a real time and a posteriori monitoring and surveillance module.
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10:00-12:00, Paper WeA01.9 | Add to My Program |
A Multi-Objective Model for Home Service Assignment and Routing Problem (I) |
El Hajri, Zied | DISP - INSA Lyon |
Di Mascolo, Maria | CNRS, Inst. National Pol. De Grenoble |
Espinouse, Marie-Laure | G-SCOP |
Radureau, Jérôme | Adomni-Adhap Services |
Keywords: Urban Healthcare
Abstract: The assignment and routing problem in Home Service structures is a very complex task, as the provider has to deal with multiple constraints and conflicting objectives. In this paper, we are interesting in the real case problem faced by a Home Service structure in Bourgoin Jallieu, France. Furthermore, we propose a multi-objective model based on a Mixed-Integer Linear Programming. The aim is to minimize the total working time of the staff, to ensure the continuity of care and to balance workload of the staff. Additionally, time windows, qualifications and working time requirements have to be considered. Computational experiments are conducted on a set of instances based on real-life data.
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10:00-12:00, Paper WeA01.10 | Add to My Program |
Managing the Accompanying Path of People with Disabilities in a Medico-Social Network: A Method to Create a Process Model Based on Autonomous Actors Point of Views (I) |
Mosquera Varela, Anderson Fabian | INSA Lyon |
Trilling, Lorraine | Univ. De Lyon, INSA Lyon, DISP EA4570 |
Monteiro, Thibaud | INSA Lyon, Univ. De Lyon, Département Génie Industriel |
Keywords: Urban Healthcare, eHealth, Complexity modelling
Abstract: Medico-social sector includes a wide range of institutions and services to support vulnerable people. This sector has to ensure personalized support to meet the needs of each person in demand, and also faces a lack of coordination between actors that receive and accompany those people. The orientation process for people with disabilities aims to propose to each person a list of institutions based on their needs. Currently, this orientation process faces many difficulties, and leads sometimes to situations where the person remain without any support. The objective of this document is to present a method to create a process model based on autonomous actors, who have different points of view. This method is applied in modelling the orientation process for people with disabilities within the French context. It seeks to highlight interactions between actors and how the behaviour of each actor affects the whole process. At the same time, it seeks to identify the points of improvement within the behaviour of each actor in order to positively influence the entire orientation process toward the proposition of a more adapted offer to the person.
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10:00-12:00, Paper WeA01.11 | Add to My Program |
A View on Systems of Systems (SoS) (I) |
Assaad, Mohamad Ali | Univ. De Tech. De Compiègne |
Talj, Reine | Heudiasyc, Univ. of Tech. of Compiegne |
Charara, Ali | Umr Cnrs 6599 |
Keywords: Complex Adaptive Systems, Systems Theory
Abstract: Nowadays, Systems of Systems (SoS) are being more recognised for their importance, they exist across multiple domains, and thus multiple visions of what are they and how they are used. Despite this diversity of definitions, one that is based on their characteristics by Maier (Maier (2005)) is getting more acceptance. Traditional engineering is not enough to address the challenges of SoS because of their complexity, the solution however to build and manage SoS is through an architecture framework that contains the “invariants” of the SoS in question, and the set of rules that manage the interactions between components.
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10:00-12:00, Paper WeA01.12 | Add to My Program |
A Rolling Horizon Approach to Goods Transport Rescheduling Problem Using Passenger Urban Rail Network (I) |
Behiri, Walid | UPE |
Belmokhtar-Berraf, Sana | ESIEE Paris |
Keywords: Urban Mobility, Supply Logistics
Abstract: The urban freight transport is almost exclusively carried out by truck. Beyond the drawbacks caused in the city, this transport mode is nearly saturated. This paper discusses an alternative way of transporting freight by using urban rail infrastructure in presence of disturbances. In fact, the transport plan of goods using passenger rail network should be updated in accordance with changes that could be occur. These changes deal with different parameters as new transport demands or cancelling of old ones… An initial plan has been proposed using a MILP model for the problem of assigning different predefined transport demand to trains during a given period. In the present paper, dynamic approach based on a rolling horizon is proposed in order to update the initial plan. The updated plan allows to determine a new assignment of changed demands such as the modifications from the previous plan are minimized.
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WeA02 Interactive Session, Caravelle 1.3 |
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Adaptive and Learning Systems |
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Chair: Giri, Fouad | Univ. of Caen Normandie |
Co-Chair: Rogers, Eric | Univ. of Southampton |
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10:00-12:00, Paper WeA02.1 | Add to My Program |
Adaptive Backstepping State Feedback Control for Fractional Order Systems with Input Saturation (I) |
Sheng, Dian | Univ. of Science and Tech. of China |
Wei, Yiheng | Univ. of Science and Tech. of China |
Cheng, Songsong | Univ. of Science and Tech. of China |
Wang, Yong | Univ. of Science and Tech. of China |
Keywords: Adaptive system and control, Nonlinear adaptive control
Abstract: In this paper, we propose a fractional order adaptive backstepping control solution to the saturation problem of incommensurate fractional order system with uncertainty and nonlinearity. A model transformation is introduced to make the system appropriate to backstepping scheme, and the virtual signals are generated to compensate saturation via the construction of fractional order auxiliary system. By indirect Lyapunov method, the backstepping procedure is applied to fractional order systems with input saturation for the first time, which achieves the goals of stabilization and tracking. Finally, the effectiveness of the proposed fractional order backstepping is demonstrated in several examples.
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10:00-12:00, Paper WeA02.2 | Add to My Program |
Discussion on Fractional Order Derivatives (I) |
Wei, Yiheng | Univ. of Science and Tech. of China |
Chen, Yuquan | Univ. of Science and Tech. of China |
Cheng, Songsong | Univ. of Science and Tech. of China |
Wang, Yong | Univ. of Science and Tech. of China |
Keywords: Adaptive system and control
Abstract: An ancient topic as this paper focuses on, some innovative insightful interesting observations are surely provided. On one hand, by expanding the range of integration order in Riemann-Liouville derivative and Caputo derivative, a new type of definitions are given for fractional order derivatives. On the other hand, a novel representation based on Taylor series is formulated, which is helpful to unravel some uncanny feature and handle some hard issues. The advantage of the proposed results lies in that a deeper understanding of fractional order calculus is achieved and it facilitates the relevant application.
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10:00-12:00, Paper WeA02.3 | Add to My Program |
Fractional Order Composite MRAC for MIMO Systems Based on SDU Factorization (I) |
Cheng, Songsong | Univ. of Science and Tech. of China |
Wei, Yiheng | Univ. of Science and Tech. of China |
Chen, Yuquan | Univ. of Science and Tech. of China |
Zhou, Xi | Univ. of Science and Tech. of China |
Wang, Yong | Univ. of Science and Tech. of China |
Keywords: Model reference adaptive control, Adaptive system and control, Adaptive control -applications
Abstract: Based on factorization of high frequency gain (HFG) matrix K_p, a novel fractional order composite model reference adaptive control (FO-CMRAC) is investigated for a class of fractional order MIMO systems. By introducing K_p=SDU, the stringent symmetry assumption related with the plant high frequency gain matrix is removed. Besides, with the aid of fractional order tracking differentiator (FOTD), the parameter estimation errors is obtained to construct the fractional order parameter updating laws, which can improve the tracking performance. In addition, both the convergence of closed-loop control systems and parameters estimation are proven by indirect Lyapunov approach. Finally, two numerical examples are presented to illustrate the effectiveness of the proposed approach.
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10:00-12:00, Paper WeA02.4 | Add to My Program |
Neural Filter Based Integrator for Virtual Flux Estimation in Direct Power Control of Three-Phase PWM Rectifiers |
Bechouche, Ali | Mouloud MAMMERI Univ. of Tizi Ouzou |
Ould Abdeslam, Djaffar | Univ. De Haute-Alsace |
Sediki, Hamid | Unversity Mouloud Mammeri of Tizi Ouzou, Algeria |
Rahoui, Adel | Univ. of Tizi Ouzou |
Keywords: Adaptive control by neural networks, Identification for control
Abstract: In this paper, new neural filter (NF) based integrator (NF-I) is developed for virtual flux (VF) esti-mation in direct power control (DPC) of a three-phase pulse width modulation (PWM) rectifier. The main advantages of the proposed NF-I are its simple structure, accuracy and provides fast VF esti-mation compared to the traditional first order low-pass (FOLP) filter. The NF capability to online filtering distorted signals is exploited for extracting fundamental components of VF obtained from a pure integration. Numerical simulations of the proposed NF-I inserted in the VF based DPC (VF-DPC) are carried out under different grid voltage conditions. Steady state and dynamic performanc-es of the NF-I are compared with those obtained with the traditional FOLP filter. Simulation results illustrate good performances of the NF-I inserted in the VF-DPC strategy.
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10:00-12:00, Paper WeA02.5 | Add to My Program |
A Variable Structure System Control and Its Application in Underwater Vehicles |
Dyda, Alexander | Maritime State Univ |
Oskin, Dmitry A. | Maritime State Univ. Vladivostok, Russia |
Longhi, Sauro | Univ. Pol. Delle Marche |
Monteriù, Andrea | Univ. Pol. Delle Marche |
Keywords: Switching control, Nonlinear adaptive control
Abstract: The paper proposes a new Variable Structure System (VSS) control algorithm and its application in underwater robotics. The main features of the proposed approach consist on the usage of coupled switching surfaces, and on the usage of an adaptive adjustment method for their parameters in order to accelerate the transient processes. The adaptive algorithm of linear and nonlinear switching surfaces coefficients, is based on the stabilization of the sliding mode parameter close to the reference value. In this paper, it is shown how the proposed approach improves the system transient processes and the energy efficiency in comparison with conventional VSS, neutralizing also some drawbacks. The proposed adaptive VSS algorithm is applied to control a Remotely Operated Vehicle (ROV), and simulation results confirm the advantages to apply it.
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10:00-12:00, Paper WeA02.6 | Add to My Program |
The DREM Approach for Chaotic Oscillators Parameter Estimation with Improved Performance |
Gromov, Vladislav | ITMO Univ |
Borisov, Oleg | ITMO Univ |
Pyrkin, Anton | ITMO Univ |
Bobtsov, Alexey | ITMO Univ |
Kolyubin, Sergey | ITMO Univ |
Aranovskiy, Stanislav | CentraleSupelec - IETR |
Keywords: Adaptive system and control, Adaptive control -applications, Nonlinear adaptive control
Abstract: In this paper we address the problem of parameter estimation performance enhancement for Duffing-like chaotic oscillator with parametric uncertainties. The Dynamic Regressor Extension and Mixing (DREM) approach, which has been recently proposed by the authors, is proven to be a powerful tool in transients improvement; however, it was never applied before for chaotic systems. Here we elaborate on how the DREM approach can be applied for the parameter reconstruction problem of chaotic signal generator used in the data transmitting scenario. The set of numerical examples illustrates the bene ts of the proposed approach.
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10:00-12:00, Paper WeA02.7 | Add to My Program |
A Nonlinear Backstepping Controller for Inverters Used in Microgrids |
El Fadil, Hassan | ENSA, Ibn Tofail Univ. Kénitra |
Giri, Fouad | Univ. of Caen Basse-Normandie |
Ammeh, Leila | ENSA, Ibn Tofail Univ. Kenitra |
Ahmed-Ali, Tarek | Univ. De Caen Normandie |
Yahya, Abdelhafid | Ibn Tofail Univ |
Ouhaddach, Karim | LGS Lab. National School of Applied Sciences (ENSA), Kéni |
Keywords: Nonlinear adaptive control, Adaptive system and control
Abstract: This paper proposes a nonlinear controller for Voltage Source Inverter (VSI) used in microgrids. The controlled system includes the VSI, an LC filter, a coupling inductor, and loads. The controller is designedon the basis of the averaged system model, using the backstepping technique and the droop control method. The controller stability is theoretically analyzed and its performances are illustrated by simulation in different grid operation modes(connected and islanded)and load changes.
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10:00-12:00, Paper WeA02.8 | Add to My Program |
Towards Artificial Situation Awareness by Autonomous Vehicles |
McAree, Owen | Univ. of Sheffield |
Aitken, Jonathan Maxwell | Univ. of Sheffield |
Veres, Sandor M | Univ. of Sheffield |
Keywords: Adaptation and learning in physical agents, Multi-agent systems, Coordination of multiple vehicle systems
Abstract: This paper presents a novel approach to artificial situation awareness for an autonomous vehicle operating in complex dynamic environments populated by other agents. A key aspect of situation awareness is the use of mental models to predict future states of the environment, allowing safe and rational routing decisions to be made. We present a technique for predicting future discrete state transitions (such as the commencement of a turn) by other agents, based upon an uncertain mental model. Predictions take the form of univariate Gaussian distributions, which capture the inherent uncertainty in transition time, whilst still providing great benefit to a decision making system. The prediction distributions are compared with Monte Carlo simulations and show an excellent correlation over long prediction horizons.
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10:00-12:00, Paper WeA02.10 | Add to My Program |
A UGES Switched MRAC Architecture Using Initial Excitation |
Basu Roy, Sayan | Indian Inst. of Tech. Delhi |
Bhasin, Shubhendu | Indian Inst. of Tech. Delhi |
Kar, Indra Narayan | Indian Inst. of Tech |
Keywords: Model reference adaptive control, Adaptive system and control, Nonlinear adaptive control
Abstract: This work proposes a novel switched model reference adaptive control (MRAC) architecture, ensuring parameter convergence without requiring the assumption of persistence of excitation (PE). Previous results which ensure parameter convergence with PE suffer from the disadvantage that the condition cannot be verified online as it relies on the future behaviour of the signal. Further, the PE requirement is often imposed by adding perturbation in the reference/input signal, which may deteriorate tracking performance, and thus renders the objectives of control and identification conflicting to each other. Unlike PE, this work ensures parameter convergence by imposing a newly defined, significantly milder, and online verifiable initial excitation (IE) assumption. A switched composite parameter estimator is designed with the help of two layers of low pass filters, where the first layer obviates the need for state derivative knowledge and the second layer along with the switching term in the estimator relaxes the PE condition. Provided the IE condition is satisfied, the proposed design guarantees uniform global exponential stability (UGES) of the error dynamics, where the convergence rate is user-assignable.
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10:00-12:00, Paper WeA02.11 | Add to My Program |
Adaptive Tracking of Unknown Multi-Sinusoidal Signal in Linear Systems with Arbitrary Input Delays and Unknown Sign of High Frequency Gain |
Gerasimov, Dmitry | ITMO Univ |
Paramonov, Aleksei | ITMO Univ |
Nikiforov, Vladimir O. | St. State Univ. of Information Tech. Mechanicsand Optics |
Keywords: Adaptive system and control, Model reference adaptive control, Identification for control
Abstract: The output adaptive tracking problem for a class of linear time-invariant plants with known parameters, unmeasurable state and arbitrary input delay is considered. The plant high frequency gain and its sign are uncertain. The reference signal is represented by multi-sinusoidal function of time generated by autonomous linear dynamical system of known order but with unknown parameters. The proposed adaptive control law is based on modification of augmented error approach that allows to “swap” the delay and cope with high frequency gain with unknown sign. The designed adaptive control law ensures boundness of all signals in the closed-loop system and asymptotical convergence of tracking error to zero.
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10:00-12:00, Paper WeA02.12 | Add to My Program |
Multi-Modal Vibration Control of a Lightweight Stress-Ribbon Footbridge Based on Subspace Identification |
Liu, Xiaohan | TU Berlin |
Schauer, Thomas | Tech. Univ. Berlin |
Goldack, Arndt | Tech. Univ. Berlin |
Schlaich, Mike | TU Berlin, Germany |
Keywords: Adaptive control -applications, Subspace methods, Identification for control
Abstract: Experimental identification of the modal state-space model for Active Vibration Control (AVC) is proposed based on Subspace Identification Method (SIM). A stress-ribbon bridge built at the Technische Universität Berlin was taken as research object. A real-time control system with pneumatic muscle actuators and inertial sensors was set up for AVC of the bridge. For the purpose of AVC, the feedback control design requires a modal state-space model, which describes the multi-modal characteristics of resonance modes of the bridge and the input/output relationship of the controlled system. Analytically, a state-space model of the bridge can be derived from Euler-Lagrange mechanism. However this is computationally expensive and the determination of damping ratios is also inconvenient. Comparably, SIM offers an attractive alternative due to simple and general parametrisation for Multiple-Input Multiple-Output (MIMO) systems. The identified state-space model from SIM can easily be transformed into a reduced modal state-space model for the AVC controller design. The goodness of the identified state-space model and the truncated modal state-space model was investigated in the stabilization diagram of SIM and with model fit indexes. The identified modal parameters of the footbridge from SIM were compared with that of previous free-vibration tests and the analytical model. Implementation of a Delayed Modal Velocity Feedback Control (DMVFC) based on the obtained modal state-space model was carried out for the full-scale lightweight bridge. The effectiveness of the proposed experimental identification method was shown in case of vertical resonance modes in vibration control experiments.
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10:00-12:00, Paper WeA02.13 | Add to My Program |
Adaptive Optimal Control Based on Parameter Estimation for Servomechanisms |
Zhang, Chi | Beijing Inst. of Tech |
Gan, Minggang | Beijing Inst. of Tech |
Chen, Jie | Beijing Inst. of Tech |
Chen, Chen | Beijing Inst. of Tech |
Keywords: Iterative learning control, Adaptive control -applications, Identification for control
Abstract: In this paper, an adaptive optimal control scheme based on parameter estimation is proposed for optimal control problem of servomechanisms with unknown parameters. Parameters of the servomechanism dynamics are identified online first. Based on parameter estimation, the optimal control policy is achieved through adaptive dynamic programming.The estimation removes an approximation structure from the original method. Therefore the number of unknown weights in approximation structures, to be calculated, is reduced. The analysis for convergence is presented to prove the validity. Finally, simulation results demonstrate that the scheme can approximate the optimal control policy rapidly and effectively.
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WeA03 Interactive Session, Caravelle 2.1 |
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Distributed Parameter Systems (interactive) |
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Chair: Meurer, Thomas | Christian-Albrechts-Univ. Kiel |
Co-Chair: Le Gorrec, Yann | Femto-St, Ensmm |
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10:00-12:00, Paper WeA03.1 | Add to My Program |
Boundary PI Controllers for a Star-Shaped Network of 2 X 2 Systems Governed by Hyperbolic Partial Differential Equations |
Trinh, Ngoc-Tu | Univ. of Lyon 1 |
Andrieu, Vincent | Univ. De Lyon |
Xu, Chengzhong | Univ. Claude Bernard - Lyon1 |
Keywords: control of hyperbolic systems and conservation laws, Lyapunov methods, stability of distributed parameter systems
Abstract: The paper is concerned with the PI control regulation of a star-shaped network of systems governed by hyperbolic partial differential equations. The control input and measured output are on the boundary. First, each system of the network is linearized and diagonalized with Riemann invariants. Then, by using Lyapunov direct method, the PI controller is proposed for a single system. Finally, we extend the PI control design for the star-shaped network of n subsystems. The exponential stability and output regulation of closed-loop systems are all proven with the aid of a strict Lyapunov functional
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10:00-12:00, Paper WeA03.2 | Add to My Program |
Optimal Sensor Location and Mobile Sensor Crowd Modeling for Environmental Monitoring |
Georges, Didier | Grenoble Inst. of Tech. - ENSE3 |
Keywords: controllability and observability of distributed parameter systems
Abstract: In this paper, the optimal sensor location problem is first discussed for environmental monitoring of physical phenomena governed by some advection-diffusion partial-differential equations. In particular, the exact derivation of the observability Gramian of an advection-diffusion PDE is investigated. Based on the optimality criteria derived from this analysis, a law conservation governing the behavior of a crowd of mobile sensors is proposed to ensure convergence of the sensor density towards an optimal location. The monitoring of pollution on a 2D domain is the case study used throughout the paper to illustrate the effectiveness of the proposed approach.
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10:00-12:00, Paper WeA03.3 | Add to My Program |
Source Estimation for the Damped Wave Equation Using Modulating Functions Method: Application to the Estimation of the Cerebral Blood Flow |
Asiri, Sharefa | KAUST |
Laleg, Taous-Meriem | King Abdullah Univ. of Science and Tech. (KAUST) |
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10:00-12:00, Paper WeA03.4 | Add to My Program |
Trajectory Tracking for a System of Two Linear Hyperbolic PDEs with Uncertainties |
Auriol, Jean | MINES ParisTech, PSL Res. Univ. CAS - Centre Automatiq |
Di Meglio, Florent | MINES ParisTech |
Keywords: control of hyperbolic systems and conservation laws, backstepping control of distributed parameter systems, stability of distributed parameter systems
Abstract: We give sufficient conditions that guarantee exponential stability for an uncertain system of two coupled linear hyperbolic PDEs with the actuation proposed in (cite{vazquez2011local}) applied at one boundary of the system. Using the backstepping approach, we map the original uncertain system to a system with a simpler structure. Using the Lyapunov approach proposed in~(cite{bastin2011boundary,diagne2012lyapunov}) it is then possible to derive sufficient conditions that guarantee robustness. Using the same target system we derive a simple algorithm that ensures robust output tracking.
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10:00-12:00, Paper WeA03.5 | Add to My Program |
Stabilization of Lossless Propagation Time-Delay Systems |
Erol, Huseyin Ersin | Anadolu Univ |
Iftar, Altug | Anadolu Univ |
Keywords: stability of delay systems, Systems with time-delays, Descriptor systems
Abstract: Problem of constructing finite-dimensional stabilizing controllers for a class of linear time-invariant neutral time-delay systems, namely lossless propagation time-delay systems, is considered while the effect of small time-delay perturbations on stability is taken into account. For this purpose, a dynamic output feedback controller design approach which provides more flexible and automated design of the controller than previously proposed design approaches based on the continuous pole placement algorithm is proposed. A design example is also presented, to demonstrate the proposed approach.
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10:00-12:00, Paper WeA03.6 | Add to My Program |
Robust Controller Design for Turning Operations Based on Measured Frequency Response Functions (I) |
Hajdu, David | Budapest Univ. of Tech |
Insperger, Tamas | Budapest Univ. of Tech. and Ec |
Stepan, Gabor | Budapest Univ. of Tech. and Ec |
Keywords: stability of delay systems, Robust control (linear case), Robust time-delay systems
Abstract: One of the most significant limitation of the productivity of machining operations is the regenerative machine tool vibration, also called machine tool chatter, which is a selfexcited vibration between the tool and the workpiece induced by the chip formation mechanism. Extension of the chatter-free parameters is possible by active chatter control techniques. The design of the controller requires the identification of the dynamic properties of the system. Uncertainties in the system parameters may result in an inappropriate control performance. Robust control design is therefore a necessary step during the optimization of machining operations. In this paper, a fast and efficient method is presented to determine the region of control gains in the presence of uncertainties in the measured frequency response functions. The method is based on the concept of structured singular values.
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10:00-12:00, Paper WeA03.7 | Add to My Program |
Spectral Shift of Cylindrical Heat Equations by Full-State Boundary Feedback |
Schmidt, Kevin | Univ. of Stuttgart |
Wittmuess, Philipp | Univ. of Stuttgart |
Sawodny, Oliver | Univ. of Stuttgart |
Keywords: control of heat and mass transfer systems, Infinite-dimensional systems, backstepping control of distributed parameter systems
Abstract: This contribution introduces a full-state boundary feedback for cylindrical heat conductors. The desired decay properties are imposed to the spectrum of linear, second-order parabolic partial differential equations (PDEs). The feedback-scheme exploits periodicity in angular direction for cylindrical coordinates to reduce the 3-dimensional (3-D) system to a set of 2-D subsystems by means of a Fourier transformation. A backstepping-based controller for shifting the spectra for each of the decoupled systems on 2-D domains is presented. It can be shown, that any decay rate of the overall tracking error can be achieved by superposing solely a finite number of these controllers. The validity of the approach is shown by simulations.
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10:00-12:00, Paper WeA03.8 | Add to My Program |
Globally Stabilizing Finite-Dimensional Damping Control for Dissipative PDE with Bounded Inputs |
Solis-Daun, Julio | Univ. Autonoma Metropolitana - Iztapalapa |
Keywords: stability of distributed parameter systems, Constrained control, Passivity-based control
Abstract: The main aim of this paper is to address the global asymptotic stabilization (GAS) of a class of dissipative partial differential equations (PDEs) via finite-dimensional admissible (regular and bounded) damping (output) controls. To this end, we use the inertial manifold theory to derive infinite-dimensional dissipative control systems given by interconnection of a finite-dimensional control system on the inertial manifold plus an infinite-dimensional zero-input system on the complement. We show that the GAS of such systems is reduced to the finite-dimensional one. Then, we prove that the finite-dimensional systems which are zero-input point-dissipative (have global attractors K) and those which are B-strictly passive (passivity relative to bounded sets) are connected. Finally, we use the control Lyapunov functions (CLF) theory to design admissible feedback damping controls for the GAS of B-strictly passive systems.
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10:00-12:00, Paper WeA03.9 | Add to My Program |
Reduced Order Controller Design for Temoshenko Beam: A Port Hamiltonian Approach |
Wu, Yongxin | ENSMM |
Hamroun, Boussad | Lab. D'automatique Et Génie Des Procédés |
Le Gorrec, Yann | Femto-St, Ensmm |
Maschke, Bernhard | Univ. Claude Bernard of Lyon |
Keywords: port Hamiltonian distributed parameter systems, control of hyperbolic systems and conservation laws, model reduction of distributed parameter systems
Abstract: This paper deals with the structure and passivity preserving model reduction and the reduced order controller design for a class of distributed controlled port Hamiltonian systems--Timoshenko beam. The boundary conditions of the beam lead to physical constraints which are hardly considered in the reduction procedure. In this work we propose to use the descriptor system realization of port Hamiltonian system to conserve the physical constraints. A passive LQG control design method is proposed for this type of system. This LQG method defines a balanced coordinate which allows us to reduce the system. Using the obtained reduced model, a reduced order passive controller which stabilizes the full order system is designed using the LQG method. At last we give the numerical simulations to show the effectiveness of the proposed reduced passive controller.
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10:00-12:00, Paper WeA03.10 | Add to My Program |
PDE Observer Design for Counter-Current Heat Flows in a Heat-Exchanger |
Zobiri, Fairouz | Univ. Grenoble Alpes |
Witrant, Emmanuel | Univ. Joseph Fourier, Grenoble |
Bonne, François | CEA/INAC/SBT |
Keywords: controllability and observability of distributed parameter systems, control of hyperbolic systems and conservation laws, thermal and process control applications of distributed parameter systems
Abstract: In this work, we consider the estimation of temperature profiles along the pipes of a plate heat exchanger. The transport phenomena through the heat exchanger are modeled by hyperbolic partial differential equations (PDE) of first order in time and space. The counter-flow heat exchange implies that the system is comprised of rightward (where the hot fluid circulates) and leftward (cold fluid pipes) hyperbolic PDE. The heat exchanged between the pipes of hot and cold fluid induces a coupling between the rightward and leftward equations, which increases the difficulty of solving the PDE system. The estimation objective is addressed by the design of an observer using a PDE approach, which uses boundary measurements to estimate the distributed profiles. The convergence of the observation error is established using Lyapunov analysis. Simulation results illustrate the efficiency of our method using a simulator with time-varying parameters validated on experimental data.
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10:00-12:00, Paper WeA03.11 | Add to My Program |
On Mixed Galerkin Modeling for Controller Design of Boundary Control Systems |
Imai, Jun | Okayama Univ |
Noso, Katsuyuki | Okayama Univ |
Takahashi, Akiko | Okayama Univ |
Funabiki, Shigeyuki | Okayama Univ |
Keywords: model reduction of distributed parameter systems, control of heat and mass transfer systems, Descriptor systems
Abstract: A mixed Galerkin formulation for reduced-order modeling is presented for controller design of distributed parameter systems with boundary inputs. A null space approach is established to yield appropriate trial and test functions by using candidate trial functions which are free from boundary conditions. The approach is applicable, with considerably mild conditions on the candidate trial functions, on the interior domain as well as its boundaries. It is shown that this modeling technique yields a finite dimensional descriptor system of index 1, that is equivalent to a state-space representation suitable for controller design model. Effectiveness of the proposed method is demonstrated by an example of a heat conduction rod using polynomial functions which are not preprocessed to meet the boundary conditions.
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WeA04 Interactive Session, Caravelle 2.2 |
Add to My Program |
Non-Linear Control Systems III |
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Chair: Aranda-Bricaire, Eduardo | CINVESTAV |
Co-Chair: Gravdahl, Jan Tommy | Norwegian Univ. of Science and Tech. (NTNU) |
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10:00-12:00, Paper WeA04.1 | Add to My Program |
Finite and Fixed-Time State Estimation: Pendulum-Cart System (I) |
Gutiérrez, Diego | Univ. Nacional Autónoma De México |
Ríos, Héctor | Inst. Tecnológico De La Laguna |
Rosales, Jose Antonio | Tecnologico De Monterrey, CCM |
Galvan-Guerra, Rosalba | UPIIH-IPN |
Keywords: Sliding mode control, Nonlinear observers and filter design
Abstract: In this paper the problem of state estimation for the Pendulum-Cart System is addressed. Different high-order sliding-modes techniques are applied for such a mechanical system. The mathematical model is studied and a couple of high-order sliding-modes observers are proposed to estimate the state, in spite of disturbances; exactly and in a finite or fixed-time, respectively. Some experiments and comparisons are presented to illustrate the effectiveness of the presented algorithms.
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10:00-12:00, Paper WeA04.2 | Add to My Program |
Switched Gain Differentiator with Fixed-Time Convergence (I) |
Efimov, Denis | Inria |
Polyakov, Andrey | INRIA Lille Nord-Europe |
Levant, Arie | Tel - Aviv Univ |
Perruquetti, Wilfrid | Ec. Centrale De Lille |
Keywords: Sliding mode control, Stability of hybrid systems, Observers for linear systems
Abstract: Acceleration of estimation for a class of nonlinear systems in the output canonical form is considered in this work. The acceleration is achieved by a supervisory algorithm design that switches among different values of observer gain. The presence of bounded matched disturbances, Lipschitz uncertainties and measurement noises is taken into account. The proposed switched gain observer guarantees global uniform time of convergence of the estimation error to the origin in the noise-free case. In the presence of noise our commutation strategy pursuits the goals of overshoot reducing for the initial phase, acceleration of convergence and improvement of asymptotic precision of estimation. Efficacy of the proposed switching-gain observer is illustrated by numerical comparison with a sliding mode and linear high-gain observers.
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10:00-12:00, Paper WeA04.3 | Add to My Program |
Variable Structure Tracking Control-Observer for a Perturbed Inertia Wheel Pendulum Via Position Measurements (I) |
Aguilar, Luis T. | Inst. Pol. Nacional |
Iriarte, Rafael | National Univ. of Mexico, UNAM |
Orlov, Yury | CICESE |
Keywords: Sliding mode control, Output feedback control, Robustness analysis
Abstract: In this paper we address the robust tracking control problem, against the unknown but bounded matched disturbances, for an inertia wheel pendulum. The interested periodic motion of the pendulum will be in the upright position which corresponds to an unstable equilibrium point of the unforced system. A two-relay controller based reference model was developed for generating the reference trajectories where a second order sliding modes controller enforces the unactuated link to follow such prescribed trajectory. The desired amplitude and frequency were tuned by choosing the two relay control gains properly. A variable structure observer was developed to estimate the velocity of the pendulum and the wheel. Lyapunov stability analysis was made to demonstrate the robustness of the closed-loop system. Performance issues of the constructed controller-observer were illustrated in a numerical study.
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10:00-12:00, Paper WeA04.4 | Add to My Program |
Higher Order Sliding Mode Stabilization of an Inverted Cart-Pendulum System (I) |
Mendoza Avila, Jesus | National Autonomous Univ. of Mexico |
Castillo Lopez, Alberto Ismael | National Autonomous Univ. of Mexico |
Iriarte, Rafael | National Univ. of Mexico, UNAM |
Keywords: Sliding mode control, Robust control applications, Robust control
Abstract: Stabilization of a cart-pendulum system through Higher Order Sliding Mode design is presented. From Singular LQ method, a relationship between order of singularity of a given performance index and the order of sliding mode controller is established. Thus, several arbitrary relative degree optimal sliding surfaces and its corresponding Higher Order Sliding Mode Controller can be specified for a given system. Continuous Higher Order Sliding Mode Controllers are obtained through a robustification method for arbitrary relative degree controllers based on Integral Sliding Modes and Super-Twisting Algorithm. An agreement between the accuracy/complexity of the Continuous Higher Order Sliding Mode Controller and the limited accuracy offered by the system's sensors and actuators is obtained experimentally.
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10:00-12:00, Paper WeA04.5 | Add to My Program |
Robust Generation of Self-Oscillation in Pendulum Systems: A Switched Integral Sliding Mode Control Approach (I) |
Velázquez-Velázquez, Juan Eduardo | ESIMEZ-IPN |
Galvan Guerra, Rosalba | IPN |
Fridman, Leonid M. | National Autonomous Univ. of Mexico |
Keywords: Sliding mode control, Robust control, Control of switched systems
Abstract: A two relay controller is robustified by a switched integral sliding mode controller in order to generate robust self-oscillations for pendulum systems. The proposed strategy assures theoretically exact robustification of the self-oscillations preserving the amplitude and frequency of the oscillations even in the presence of matched uncertainties/perturbations. The efficiency of the proposed robustifying approach is illustrated on an example of a Furuta pendulum.
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10:00-12:00, Paper WeA04.6 | Add to My Program |
Input-To-State Stabilizing a General Nonlinear System with Time-Varying Input Delay and Disturbances |
Cai, Xiu Shan | Zhejiang Normal Univ |
Meng, Lingxin | Zhejiang Normal Univ |
Lin, Cong | Zhejiang Normal Univ |
Zhang, Wei | Shanghai Univ. of Engineering Science |
Liu, Leibo | Henan Univ. of Science and Tech |
Liu, Yanhong | Zhengzhou Univ |
Keywords: Nonlinear predictive control, Input-to-State Stability, Delay systems
Abstract: We investigate input-to-state stabilization for a general nonlinear system with input delay and disturbances. With an infinite-dimensional backstepping transformation, the original system is transferred to a target system. A delay-compensating and disturbances attenuating control law is designed for this kind of nonlinear systems. Stability of the target system is first proved by constructing a Lyapunov functional. Equivalence of norms for original and target system is deduced. Further, input-to-state stabilization for the original system under the delay-compensating control law is drawn.
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10:00-12:00, Paper WeA04.7 | Add to My Program |
A Computational Procedure for Ellipsoidal Robust Forward Invariant Tubes in Nonlinear MPC |
Villanueva, Mario E. | Texas A&M |
Li, Jiaqi | ShanghaiTech Univ |
Feng, Xuhui | ShanghaiTech Univ |
Chachuat, Benoit | Imperial Coll. London |
Houska, Boris | ShanghaiTech Univ |
Keywords: Nonlinear predictive control, Robust control, Control of constrained systems
Abstract: Min-max differential inequalities (DIs) can be used to characterize robust forward invariant tubes with convex cross-section for a large class of nonlinear control systems. The advantage of using set-propagation over other existing approaches for tube MPC is that they avoid the discretization of control policies. Instead, the conservatism of min-max DIs in tube MPC arises from the discretization of sets in the state-space, while the control law is never discretized and remains defined implicitly via the solution of a min-max optimization problem. The contribution of this paper is the development of a practical implementation of min-max DIs for tube MPC using ellipsoidal-tube enclosures. We illustrate these developments with a spring-mass-damper system.
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10:00-12:00, Paper WeA04.8 | Add to My Program |
Discrete Time Formulation of Quasi Infinite Horizon Nonlinear Model Predictive Control Scheme with Guaranteed Stability |
Rajhans, Chinmay | Iit Bombay |
Patwardhan, Sachin C. | Indian Inst. of Tech. Bombay |
Pillai, Harish | Indian Inst. of Tech. Bombay |
Keywords: Nonlinear predictive control, Stability of nonlinear systems, Lyapunov methods
Abstract: The quasi infinite horizon NMPC formulation developed by Chen and Allgower [1998] provides a systematic method to characterize the terminal set needed to ensure nominal stability of a system controlled using finite horizon NMPC formulation at an unstable operating point. Their approach, however, has been developed for continuous time NMPC formulations. Real time implementation of an NMPC scheme using microprocessors, however, makes model discretization inevitable. In this work, a discrete time version of the quasi infinite NMPC formulation is developed, which is particularly suited for operating a system at an unstable operating point. Also, a novel approach is developed for characterization of the terminal region that makes use of the discrete time nonlinear model and that provides sufficient degrees of freedom to characterize the terminal region. The nominal closed loop system is then shown to be equi-asymptotically stable when controlled using the proposed discrete time QIH-NMPC. Efficacy of the proposed approach is demonstrated using a benchmark problem given by Chen and Allgower [1998]. The simulation study shows that the proposed approaches result in terminal regions that are comparable or larger than the terminal region reported by Chen and Allgower [1998]. Also, the proposed discrete time QIH-NMPC is able to steer the state trajectories from specified feasible initial conditions to locations inside the terminal set within the specified prediction horizon and later converge to the unstable operating point.
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10:00-12:00, Paper WeA04.9 | Add to My Program |
Predictive Control with On-Off Actuators of Partially Fading Memory Systems |
Salvador, Jose R. | Univ. De Sevilla |
Alamo, Teodoro | Univ. De Sevilla |
Ramirez, Daniel R. | Univ. of Sevilla |
Muñoz de la Peña, David | Univ. De Sevilla |
Keywords: Nonlinear predictive control, Process control, Control design for hybrid systems
Abstract: This paper presents a new algorithm for the predictive control of systems with on-off actuators that it is tailored for systems in which part of the state vector depends only slightly on past values of the control signal beyond a certain t-L time instant. An example of this is a system with both slow and fast stable dynamics, where the fast ones vanishes after a certain time while the slow dynamics are still influencing the transient state. The algorithm is based on an iterative procedure that constructs a set of candidate solutions to the predictive control problem. The size of the candidate solutions set is reduced from 2^N to an user specified value M that can be set accordingly to the computing capabilities of the machine in which the algorithm is to be implemented. The algorithm considers nonlinear systems and although the solution is suboptimal, the approximation error is small in practice and reduces with higher M values. The results are illustrated with a simulated example.
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10:00-12:00, Paper WeA04.10 | Add to My Program |
On Distributed Model Predictive Control for Vehicle Platooning with a Recursive Feasibility Guarantee |
Shi, Shengling | Eindhoven Univ. of Tech |
Lazar, Mircea | Eindhoven Univ. of Tech |
Keywords: Control of interconnected systems, Constrained control, Decentralized control
Abstract: This paper proposes a distributed model predictive control algorithm for vehicle platooning and more generally networked systems in a chain structure. The distributed models of the vehicle platoon are coupled through the input of the preceding vehicles. Using the principles of robust model predictive control, the coupled input is regarded as a disturbance and the robust model predictive control algorithm proposed by [Kerrigan, 2001] is employed for every vehicle. Based on this approach, a new distributed model predictive control algorithm is proposed by communicating the inputs among the vehicles, which enlarges the feasible regions of the local controllers while recursive feasibility still holds.
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10:00-12:00, Paper WeA04.11 | Add to My Program |
Stable Nonlinear Control of an Agonist-Antagonist Muscle-Driven System |
Richter, Hanz | Cleveland State Univ |
Warner, Holly | Cleveland State Univ |
Keywords: Lyapunov methods, Control in neuroscience, Application of nonlinear analysis and design
Abstract: We introduce an asymptotically stable nonlinear controller for a two-muscle system with an agonist-antagonist arrangement. The classical Hill model with series and parallel elasticity is used for each muscle. The controller is based on a combination of backstepping and algebraic virtual control matching to determine final activation control signals. Two definitions for the synthetic input used in the first backstepping stage are considered, a scalar form and a vector form. A novel feature of the vector approach is the ability to incorporate a minimum-effort optimality criterion as a way of resolve actuation redundancy. Minimum effort criteria reflect well-established biomechanical principles of human movement. The proposed approach is scalable and can serve as a ``working controller'' to facilitate studies in the field of human-machine interactions, including machine control systems and biomechanical state estimation.
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10:00-12:00, Paper WeA04.12 | Add to My Program |
Formal Controller Synthesis Via Genetic Programming |
Verdier, Cees | TU Delft |
Mazo Jr., Manuel | TU Delft |
Keywords: Lyapunov methods, Evolutionary algorithms, Control of constrained systems
Abstract: This paper presents an automatic controller synthesis method for nonlinear systems with reachability and safety specifications. The proposed method consists of genetic programming in combination with an SMT solver, which are used to synthesize both a control Lyapunov function and the modes of a switched state feedback controller. The resulting controller consists of a set of analytic expressions and a switching law based on the control Lyapunov function, which together guarantee the imposed specifications. The effectiveness of the proposed approach is shown on a 2D pendulum.
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10:00-12:00, Paper WeA04.13 | Add to My Program |
On the Stabilization of Fixed-Point Iterations Arising in Hierarchical Control Design |
Alamir, Mazen | Gipsa-Lab (CNRS-Univ. of Grenoble) |
Trinh, Van-Vuong | CNRS |
Bonnay, Patrick | CEA/INAC/SBT |
Keywords: Control of interconnected systems, Distributed nonlinear control, Control under communication constraints (nonliearity)
Abstract: Fixed-point iterations are commonly used to break the algebraic loops involved in the distributed optimization among computational entities sharing only a partial knowledge. However, although this approach is appealingly simple and that it works astonishingly well in many practical situations, its use is rarely associated to an appropriate analysis of its convergence. In this paper, it is shown that this iteration can be rationally conducted using control theory in order to derive a provable stability under appropriate assumptions.
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10:00-12:00, Paper WeA04.14 | Add to My Program |
Relaxing the Conditions of ISS for Multistable Periodic Systems |
Efimov, Denis | Inria |
Schiffer, Johannes | Univ. of Leeds |
Barabanov, Nikita E. | North Dakota State Univ |
Ortega, Romeo | Supelec |
Keywords: Lyapunov methods, Stability of nonlinear systems, Input-to-State Stability
Abstract: The input-to-state stability property of nonlinear dynamical systems with multiple invariant solutions is analyzed under the assumption that the system equations are periodic with respect to certain state variables. It is shown that stability can be concluded via a signindefinite function, which explicitly takes the systems’ periodicity into account. The presented approach leverages some of the difficulties encountered in the analysis of periodic systems via positive definite Lyapunov functions proposed in Angeli and Efimov (2013, 2015). The new result is established based on the framework of cell structure introduced in Leonov (1974) and illustrated via the global analysis of a nonlinear pendulum with a constant persistent input.
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WeA05 Regular Session, Latécoère |
Add to My Program |
Spacecraft Control |
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Chair: Louembet, Christophe | Univ. De Toulouse |
Co-Chair: Castaldi, Paolo | Univ. of Bologna - Aerospace Engineering Faculty |
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10:00-10:20, Paper WeA05.1 | Add to My Program |
Time Optimal State Feedback Control with Application to a Spacecraft with Cold Gas Propulsion |
Kitchen-McKinley, Samuel | Embry-Riddle Aeronautical Univ |
Drakunov, Sergey V. | Embry-Riddle Aeronautical Univ |
Keywords: Control of systems in vehicles, Guidance, navigation and control of vehicles, Space exploration and transportation
Abstract: A cold gas propulsion system is well suited to provide the required thrust for a small surveyor spacecraft operated near an asteroid or planetary surface. The cold gas propellant can obtained in-situ from local surface or atmospheric constituents. For small spacecraft, the cold gas system may be limited to only on-off control of the main tank where the generated thrust is directly dependent on the tank pressure. As such the thrust will slowly decrease as the propellant is expended. A state feedback, time optimal, control law is developed for a vehicle with decreasing thrust in translational motion. The success of the control law is shown in simulation.
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10:20-10:40, Paper WeA05.2 | Add to My Program |
Model Predictive Control for Rendezvous Hovering Phases Based on a Novel Description of Constrained Trajectories |
Arantes Gilz, Paulo Ricardo | Lab. D'analyse Et D'architecture Des Systèmes - Centre Na |
Joldes, Mioara | LAAS-CNRS |
Louembet, Christophe | Univ. De Toulouse |
Fcamps, Frederic | CNRS/LAAS |
Keywords: Guidance, navigation and control of vehicles, Control of systems in vehicles, Autonomous systems
Abstract: The present article proposes a predictive control law for orbital spacecraft rendezvous hovering phases. An innovative description of periodic space-restricted trajectories based on computing the envelope of a family of curves is given. This description is used to provide a model predictive controller able to minimize the fuel consumption and account for convex constraints, such as periodicity, saturation of the thrusters and space restrictions. The efficiency of this control algorithm is assessed on a board simulating the performance of devices usually employed in space applications.
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10:40-11:00, Paper WeA05.3 | Add to My Program |
A New Glideslope Guidance Algorithm for Minimum-Fuel Fixed-Time Elliptic Rendezvous Using Semidefinite Programming |
Ariba, Yassine | Icam |
Arzelier, Denis | LAAS-CNRS |
Urbina, Laura Sofia | LAAS-CNRS |
Keywords: Guidance, navigation and control of vehicles
Abstract: This paper presents a new minimum-fuel glideslope guidance algorithm for approaching a target evolving on an elliptic orbit. In addition to the usual rectilinear profile to follow as in Hablani’s seminal paper, two new features are requested for the new algorithm. The first one imposes bounds on the guidance error inherent to chemical propulsion glideslope guidance, such that the chaser’s trajectory does not escape from an admissible domain. The second one minimizes the consumption during rendezvous. Indeed, unlike the classical glideslope algorithm for which there is no direct control on the fuel consumption, additional degrees of freedom and relevant decision variables may be identified. By combining a useful parametrization of the Tschauner-Hempel relative equations of motion and results from polynomial optimization, a semidefinite formulation of the constraints on the maximal guidance error is obtained. For a fixed-time glideslope rendezvous with a pre-assigned number of maneuvers, a fuel-optimal solution with a bounded guidance error is obtained by solving a semidefinite programming problem. Two numerical examples illustrate the usefulness of the method compared to the classical ones when the approach corridor has to verify stringent geometrical restrictions such as line-of-sight constraints.
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11:00-11:20, Paper WeA05.4 | Add to My Program |
An Approach for Geostationary Satellite Mode Management |
Tipaldi, Massimo | Univ. of Sannio |
Witzmann, Marco | OHB System AG |
Ferraguto, Massimo | Space Systems Finland Ltd |
Glielmo, Luigi | Univ. of Sannio |
Keywords: Man-in-the-loop systems, Autonomous systems, Mission control and operations
Abstract: In each mission phase, a satellite is characterized by a well-defined set of modes. They define a clear configuration of the spacecraft subsystems and have specific operational implications. In this paper, we present an approach for geostationary earth observation satellite mode management during both the Launch and Early Orbit phase and the full operational phase. It draws on a real space mission project currently carried out at OHB System AG. The configurations of the Attitude and Orbit Control System are also analyzed, their operational meaning and the relationship with the satellite modes. It is also explained how on-board autonomy requirements play a relevant role in the satellite mode definition and management. Geostationary satellites can usually be operated in a quasi real-time fashion, therefore a limited level of on-board autonomy can be sufficient. However, they can be characterized by high availability requirements and have a need for ground operation reduction, which can lead to an increased level of on-board autonomy in satellite mode management.
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11:20-11:40, Paper WeA05.5 | Add to My Program |
Space Debris Removal Using a Tether: A Model |
Velez, Pedro | ISAE-Supaero |
Atie, Tala | ISAE-SUPAERO |
Alazard, Daniel | Univ. De Toulouse - ISAE |
Cumer, Christelle | ONERA |
Keywords: Flight dynamics identification, formation flying, Guidance, navigation and control of vehicles, Space exploration and transportation
Abstract: Focused on the removal of space debris, this paper studies the modeling of a target satellite connected to a chaser satellite by a tether. All dynamic couplings between the flexible and rigid modes of the satellites are accounted for. The tether attached to both satellites is modeled as a massless spring when stretched and non-existent when compressed. The objective of this work is to model the behaviour of the three bodies: chaser, tether, and target in the orbital reference frame for arbitrary initial conditions of the target satellite. Simulations of the whole system including the chaser Attitude and Orbit Control System (AOCS) are performed to evaluate its ability to damp the debris tumbling motion and to tow the debris.
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11:40-12:00, Paper WeA05.6 | Add to My Program |
Combined Singular Perturbations and Nonlinear Geometric Approach to FDI in Satellite Actuators and Sensors |
Baldi, Pietro | Univ. of Bologna - Aerospace Engineering Faculty |
Castaldi, Paolo | Univ. of Bologna - Aerospace Engineering Faculty |
Mimmo, Nicola | Univ. of Bologna - Aerospace Engineering Faculty |
Simani, Silvio | Univ. of Ferrara |
Keywords: Health monitoring and diagnosis, Decision making and autonomy, sensor data fusion, Autonomous systems
Abstract: This paper presents a novel scheme for the detection and isolation of faults affecting the sensors measuring the satellite attitude, body angular velocity and flywheel spin rates as well as defects related to the control torques provided by satellite momentum wheels. Thanks to the jointly use of the singular perturbations theory and nonlinear geometric approach, a novel fault detection and isolation system has been developed to accurately detect and isolate faults occurring on all the considered actuators and sensors. Simulation results are based on a detailed nonlinear satellite model with embedded disturbance description. The results document the effectiveness of the proposed fault detection and isolation scheme.
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WeA06 Open Invited Session, Mermoz |
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Open Issues and Trends for Model Based Systems -And System of Systems
Engineering |
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Chair: Bonjour, Eric | Univ. of Lorraine / ENSGSI |
Co-Chair: Chapurlat, Vincent | Ec. Des Mines D'alès |
Organizer: Bonjour, Eric | Univ. of Lorraine / ENSGSI |
Organizer: Chapurlat, Vincent | Ec. Des Mines D'alès |
Organizer: Leardi, Carlo | Tetra Pak Packaging Solutions S.p.A |
Organizer: Garro, Alfredo | Univ. of Calabria |
Organizer: Mayer, Frédérique | Univ. of Lorraine |
Organizer: Roussel, Jean-Claude | Airbus Group Innovations |
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10:00-10:20, Paper WeA06.1 | Add to My Program |
An MBSE Approach to Pass from Requirements to Functional Architecture (I) |
Lemazurier, Lori | Ec. Des Mines De Nantes |
Chapurlat, Vincent | Ec. Des Mines D'alès |
Grossetete, Alain | Areva Np |
Keywords: Model-driven systems engineering
Abstract: With systems being more and more complex, especially in the case of Nuclear Power Plant design, Systems Engineering (SE) has seen an increasing interest in the industrial world. Although SE concepts and processes have become well-known, passing from Requirements to Functional Architectures has not been a fully addressed issue. This paper proposes a tooled method that offers three different design perspectives: a Requirement View, a Context View and a Behavioural View. Those views mainly help the designers to express requirements, structure their architecture design, work together, verify and partially validate their design by means of five interconnected Design Specific Modelling Languages (DSML).
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10:20-10:40, Paper WeA06.2 | Add to My Program |
Towards an Integration of Systems Engineering and Project Management Processes for a Decision Aiding Purpose (I) |
Lachhab, Majda | INP-ENIT, Univ. of Toulouse |
Béler, Cédrick | Lab. Génie De Production / INP-ENIT - Univ. Oftoulou |
Solano Charris, Elyn | EICEA, La Sabana Univ |
Coudert, Thierry | Univ. of Toulouse |
Keywords: Modelling and decision making in complex systems, Business process management systems, Enterprise integration
Abstract: This article proposes an integrated process that combine Systems Engineering processes and Project Management ones. These processes are defined according to the industrial standard processes existing in the literature. The main idea is to define a common information model enabling the federation of all the points of view of the different actors with regards to Systems Engineering, Project Time Management, Project Cost Management and Project Risk Management. The resulting integrated project graph encompasses all the scenarios established after defining all the coupling points between those processes. The definition of the graph is based also on the available knowledge and the capitalized experiences resulting from experience feedback on previous projects. The scenario selection optimization is then performed using a decision-aided tool that aims to build a panel of Pareto-optimal solutions taking into account uncertainties on project objectives (cost and duration). This tool will also enable the decision-maker to select one scenario according to an acceptable level of risks. The integrated process, the optimization tool based on Ant Colony Optimization (ACO) and the method for decision making are described in the paper.
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10:40-11:00, Paper WeA06.3 | Add to My Program |
DALTON: A Generic Meta-Model to Support Business Rules and Requirements Engineering in a PLM System (I) |
Fortineau, Virginie | Khtema |
Talhi, Asma | Arts Et Métiers Paristech |
Paviot, Thomas | Arts Et Métiers Paristech |
Lamouri, Samir | Arts Et Métiers ParisTech |
Keywords: Model-driven systems engineering, Modelling and decision making in complex systems
Abstract: This paper deals with the management of business rules and requirements to be integrated to a PLM system during the SE process. It proposes a rule and requirement management process made of four stages: the expression of the rule, the activation of the rule, the application of the rule and the checking of the requirement. To support this process, a generic meta-model is presented. The proposed model is called DALTON for ``DAta Linked Through Occurrences Network" because it is based on a data network. The model is validated with a use case taken from the nuclear industry, and algorithms in Java were developped to implement the associated reasoning automating the process of rules and requirements engineering.
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11:00-11:20, Paper WeA06.4 | Add to My Program |
The Determination of Functional Safety Concept Coupled with the Definition of Functional Architecture: A Framework of Analysis from the Automotive Industry (I) |
Mauborgne, Pierre | Univ. De Lorraine |
Deniaud, Samuel | UTBM |
Levrat, Eric | Nancy-Univ |
Bonjour, Eric | Univ. of Lorraine / ENSGSI |
Micaelli, Jean-Pierre | Univ. Jean Moulin Lyon 3, IAE De Lyon |
Loise, Dominique | Systèmes Conseil |
Keywords: Model-driven systems engineering, Methodologies and tools for analysis of complexity
Abstract: In the nineties the growing integration of electronic components in mass products led to the introduction of systems engineering methods in the design offices. In the automotive industry this deployment has been accelerated due to the need for the reduction of polluting emissions and for safety concerns. Recently the introduction of safety standards such as ISO 26262 and the design of connected and autonomous vehicles required the development of new system modeling approaches, and particularly, model-based safety analysis methods (MBSA). In this article, we explain how Functional Safety Concept can be determined jointly with the definition of the logical architecture. This will be based on failure propagation mechanisms. This method is applied on an automotive case study.
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11:20-11:40, Paper WeA06.5 | Add to My Program |
Urban Logistics Ecosystem: A System of System Framework for Stakeholders in Urban Freight Transport Projects (I) |
Lagorio, Alexandra | Univ. of Bergamo |
Pinto, Roberto | Univ. of Bergamo |
Golini, Ruggero | Univ. of Bergamo |
Keywords: Modelling and decision making in complex systems, Business process management systems, Complex logistic systems
Abstract: Urban freight transportation plays a pivotal role in ensuring the liveability of urban areas due to its fulfilment of citizens needs and its induced economic impact. Building upon the body of research on the topic of city logistics, its connected impacts and measures, this paper focuses on the development of a framework which is collectively exhaustive in describing the concerning crucial elements and in revealing their multiple and mutual influences. Through the investigation of an academic definition of ecosystem, its decipherment in terms of urban logistics followed by its application to case studies, such a framework has been firstly theoretically designed and then some application examples are given.
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11:40-12:00, Paper WeA06.6 | Add to My Program |
Offer Elaboration: New Confidence Indexes to Take into Account Uncertainty (I) |
Sylla, Abdourahim | Mines Albi |
Vareilles, Elise | Toulouse Univ. - Mines Albi |
Coudert, Thierry | Univ. of Toulouse |
Aldanondo, Michel | Toulouse Univ. - Mines Albi |
Geneste, Laurent | Ec. Nationale D'ingénieurs De Tarbes |
Keywords: Modelling and decision making in complex systems, Model-driven systems engineering
Abstract: In order to respond to a call for tenders, bidders must define and evaluate potential solutions, based upon the specifications of customer’s requirements and their capabilities (skills, existing solutions, resources … etc.). The definition and the evaluation of potential solutions are not trivial activities. The lack of relevant information makes the evaluation imprecise and uncertain. Therefore bidders choose the most suitable solution based upon the standard indicators (cost, performance and lead time) and their subjective feeling. Unfortunately, this may leads to the choice of unfeasible solution regarding customer’s expectations (cost, performance and delivery time). Therefore, the aim of this paper is twofold: (i) first, to clarify the notion of imprecision and uncertainty in the evaluation of potential solutions; and (ii) second, to propose two Confidence Indexes (CI) in order to take into account uncertainty in offer elaboration. The first one (CIS) characterizes the confidence in the technical system solution and the second one (CIP) the confidence in the implementation process of the technical system. The proposed CIS and CIP will enable bidders to choose the most relevant solution not only based upon the standard indicators but also considering the confidence in the potential solutions.
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WeA07 Regular Session, Spot |
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Input Design for Identification and Detection |
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Chair: Puncochar, Ivo | Univ. of West Bohemia |
Co-Chair: Häggblom, Kurt-Erik | Åbo Akademi Univ |
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10:00-10:20, Paper WeA07.1 | Add to My Program |
System Identification Algorithm for Non-Uniformly Sampled Data |
Bekiroglu, Korkut | Penn State Univ |
Lagoa, Constantino M. | Pennsylvania State Univ |
Lanza, Stephanie | The Pennsylvania State Univ |
Sznaier, Mario | Northeastern Univ |
Keywords: Identification for control, Continuous time system estimation, Time series modelling
Abstract: Considerable effort has been devoted to the development of algorithms for identification of parsimonious discrete time models from noisy input/output data sets since this facilitates controller design. Several methods, such as nuclear norm minimization, have been used to provide approximate solutions to this non-convex problem. However, even though the field of continuous time system identification is now mature, results on parsimonious model identification of continuous time systems are still very limited. In this paper, an atomic norm minimization method is proposed for this purpose that can handle non-uniformly sampled data without preprocessing. The proposed approach provides an efficient way to use noisy, non-uniformly sampled data to determine a reliable, low-order continuous time model. Numerical performance is illustrated using academic examples and simulated behavioral data from a smoking cessation study.
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10:20-10:40, Paper WeA07.2 | Add to My Program |
Input Design for Fault Detection Using Extended Kalman Filter and Reinforcement Learning |
Skach, Jan | Univ. of West Bohemia |
Puncochar, Ivo | Univ. of West Bohemia |
Keywords: Fault detection and diagnosis, Input and excitation design
Abstract: The paper deals with an active fault detection problem for jump Markov nonlinear systems with Gaussian noises. The problem is formulated as a functional optimization problem over an infinite-time horizon with a general discounted detection criterion. The design of an active fault detector is performed in two steps. First, the original problem is recast as a perfect state information problem by complementing the nonlinear system with a suboptimal state estimator based on a bank of extended Kalman filters. Then, a temporal-difference learning algorithm is used to train the active fault detector such that the criterion is minimized. A simulation example of a differential wheeled robot is used to illustrate the performance of the proposed design.
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10:40-11:00, Paper WeA07.3 | Add to My Program |
Active Fault Diagnosis for Jump Markov Nonlinear Systems |
Skach, Jan | Univ. of West Bohemia |
Puncochar, Ivo | Univ. of West Bohemia |
Straka, Ondrej | Univ. of West Bohemia |
Keywords: Fault detection and diagnosis, Input and excitation design, Particle filtering/Monte Carlo methods
Abstract: In this paper, a problem of active fault diagnosis for jump Markov nonlinear systems with non-Gaussian noises is considered. The imperfect state information formulation is transformed using sufficient statistics to a dynamical optimization problem that can be solved using approximate dynamic programming. The sufficient statistics are produced using the Bayesian recursive relations and particle filter algorithm. A special structure of approximate Bellman function is chosen to reduce a complexity caused by high dimension of statistics obtained from the particle filter. The proposed active fault detector design is compared with an extended Kalman filter based design in the simulation example.
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11:00-11:20, Paper WeA07.4 | Add to My Program |
Maximizing Parameter Identifiability of a Combined Thermal and Electrochemical Battery Model Via Periodic Current Input Optimization |
Mendoza, Sergio | The Pennsylvania State Univ |
Rothenberger, Michael | Infoscitex |
Liu, Ji | Pennsylvania State Univ |
Fathy, Hosam K. | Penn State Univ |
Keywords: Identification for control, Closed loop identification, Nonlinear system identification
Abstract: This paper examines the problem of estimating the parameters of a combined thermal and electrochemical model of a lithium-ion battery from a single non-invasive, dynamic experiment. This paper is motivated by the poor parameter identifiability suffered by the models needed for model-based control of lithium-ion batteries. There is already a substantial literature on battery parameter estimation, but most research conduct separate studies for thermal and electrochemical parameter estimation. The goal in this paper, in contrast, is to examine the feasibility of estimating both sets of parameters simultaneously, from a single experiment. We focus, in this feasibility study, on reduced-order models to simulate both the thermal and electrochemical dynamics. However, the underlying approach is extendible to higher-order representations. An optimal battery cycling is designed to maximize the Fisher identifiability of the combined model's parameters, namely the battery’s charge capacity, ohmic resistance, diffusion-related resistance/capacitance eigenvalues, entropy coefficients as a function of state of charge, and thermal time eigenvalue. The current trajectory maximizing the identifiability of the thermal and electrochemical parameters is validating through a Monte Carlo simulation study. This study shows that this framework can indeed enable the accurate simultaneous estimation of all of the above parameters based on a single experiment lasting just 12 hours. The results are encouraging considering the laboratory time needed for estimating these parameters using separate thermal/electrochemical identification experiments.
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11:20-11:40, Paper WeA07.5 | Add to My Program |
A New Optimization-Based Approach to Experiment Design for Dynamic MIMO Identification |
Häggblom, Kurt-Erik | Åbo Akademi Univ |
Keywords: Input and excitation design, Identification for control
Abstract: A new optimization-based approach to experiment design for dynamic MIMO identification is presented. Unlike previously proposed methods that consider dynamics and constraints, the proposed method directly addresses the distribution of output data to be generated in the experiment. The problem is formulated as a convex optimization problem with constraints expressed as linear matrix inequalities (LMIs). Two optimization objectives considered are to maximize the smallest singular value and the determinant of the output covariance matrix. The solution can be implemented in a similar way as previously proposed gain-directional designs based on an estimate of the static gain matrix. The type of perturbation (e.g., RBS, PRBS, multisine signal) can be selected by the user. Various aspects of the method are illustrated by the Wood-Berry distillation column.
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11:40-12:00, Paper WeA07.6 | Add to My Program |
Order Determination and Input Selection with Local Model Networks |
Belz, Julian | Univ. of Siegen |
Nelles, Oliver | Univ. of Siegen |
Schwingshackl, Daniel | Alpen-Adria-Univ. Klagenfurt |
Rehrl, Jakob | Graz Univ. of Tech |
Horn, Martin | Graz Univ. of Tech |
Keywords: Nonlinear system identification, Identification for control
Abstract: An automatic order determination and input selection method for nonlinear dynamic models following the external dynamics approach is proposed. Based on a wrapper- like input selection approach using local model networks (LMN), the proposed method is able to automatically identify important operating point (OP) variables solely based on measured data. If local linear models are used, the OP variables describe regions in which the process can sufficiently be described by linear, dynamic models. The necessary order of these linear, dynamic models is determined altogether with the OP variables in one framework by the proposed method. We show that this method is able to improve the model accuracy and lead to a more concise model for a real-world heating, ventilating and air conditioning (HVAC) system.
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WeA08 Open Invited Session, Diamant |
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Security and Privacy for Networked Multi-Agent Cyber-Physical Systems |
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Chair: Dey, Subhrakanti | Uppsala Univ |
Co-Chair: Ferrari, Riccardo M.G. | Delft Univ. of Tech |
Organizer: Dey, Subhrakanti | Uppsala Univ |
Organizer: Shi, Ling | Hong Kong Univ. of Science and Tech |
Organizer: Pappas, George J. | Univ. of Pennsylvania |
Organizer: Sinopoli, Bruno | Carnegie Mellon Univ |
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10:00-10:20, Paper WeA08.1 | Add to My Program |
Indiscernible Topological Variations in DAE Networks with Applications to Power Grids (I) |
Küsters, Ferdinand | Fraunhofer Inst. for Industrial Mathematics ITWM |
Patil, Deepak | Indian Inst. of Tech. Delhi |
Tesi, Pietro | Univ. of Groningen |
Trenn, Stephan | Univ. of Kaiserslautern |
Keywords: Fault detection and diagnosis, Multi-agent systems, Hybrid and switched systems modeling
Abstract: The ability to detect topology variations in dynamical networks defined by differential algebraic equations (DAEs) is considered. We characterize the existence of initial states, for which topological changes are indiscernible. A key feature of our characterization is the ability to verify indiscernibility just in terms of the nominal topology. We apply the results to a power grid model and also discuss the relationship to recent mode-detection results for switched DAEs.
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10:20-10:40, Paper WeA08.2 | Add to My Program |
On Remote State Estimation in the Presence of an Eavesdropper (I) |
Leong, Alex | Paderborn Univ |
Quevedo, Daniel | Paderborn Univ |
Dolz, Daniel | Univ. Jaume I |
Dey, Subhrakanti | Uppsala Univ |
Keywords: Estimation and filtering, Sensor networks, Control and estimation with data loss
Abstract: This paper studies a remote state estimation problem in the presence of an eavesdropper. A sensor transmits local state estimates over a packet dropping link to a remote estimator, which at the same time can be overheard by an eavesdropper with a certain probability. The objective is to determine when the sensor should transmit, in order to minimize the estimation error covariance at the remote estimator, while trying to keep the eavesdropper error covariance above a certain level. This is done by solving an optimization problem that minimizes a linear combination of the expected estimation error covariance and the negative of the expected eavesdropper error covariance. Structural results on the optimal transmission policy are derived, and shown to exhibit thresholding behaviour in the estimation error covariances. In the infinite horizon situation, it is shown that with unstable systems one can keep the expected estimation error covariance bounded while the expected eavesdropper error covariance becomes unbounded.
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10:40-11:00, Paper WeA08.3 | Add to My Program |
Private and Secure Coordination of Match-Making for Heavy-Duty Vehicle Platooning (I) |
Farokhi, Farhad | The Univ. of Melbourne |
Shames, Iman | Univ. of Melbourne |
Johansson, Karl H. | Royal Inst. of Tech |
Keywords: Cooperative systems
Abstract: A secure and private framework for inter-agent communication and coordination is developed. This allows an agent, in our case a fleet owner, to ask questions or submit queries in an encrypted fashion using semi-homomorphic encryption. The submitted query can be about the interest of the other fleet owners for using a road at a specific time of the day, for instance, for the purpose of collaborative vehicle platooning. The other agents can then provide appropriate responses without knowing the content of the questions or the queries. Strong privacy and security guarantees are provided for the agent who is submitting the queries. It is also shown that the amount of the information that this agent can extract from the other agent is bounded. In fact, with submitting one query, a sophisticated agent can at most extract the answer to two queries. This secure communication platform is used subsequently to develop a distributed coordination mechanisms among fleet owners.
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11:00-11:20, Paper WeA08.4 | Add to My Program |
Secure Dynamic State Estimation by Decomposing Kalman Filter (I) |
Liu, Xinghua | Nanyang Tech. Univ |
Mo, Yilin | Nanyang Tech. Univ |
Garone, Emanuele | Univ. Libre De Bruxelles |
Keywords: Estimation and filtering, Sensor networks
Abstract: We consider the problem of estimating the state of a linear time-invariant Gaussian system in the presence of sparse integrity attacks. The attacker can control p out of m sensors and arbitrarily change the measurements. Under mild assumptions, we can decompose the optimal Kalman estimate as a weighted sum of local state estimates, each of which is derived using only the measurements from a single sensor. Furthermore, we propose a convex optimization based approach, instead of the weighted sum approach, to combine the local estimate into a more secure state estimate. It is shown that our proposed estimator coincides with the Kalman estimator with certain probability when all sensors are benign, and we provide a sufficient condition under which the estimator is stable against the (p,m)-sparse attack when p sensors are compromised. A numerical example is provided to illustrate the performance of the proposed state estimation scheme.
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11:20-11:40, Paper WeA08.5 | Add to My Program |
Strong Structural Input and State Observability of LTV Network Systems with Multiple Unknown Inputs (I) |
Gracy, Sebin | Univ. Grenoble Alpes |
Garin, Federica | INRIA |
Kibangou, Alain | GIPSA-Lab, Univ. Grenoble Alpes, CNRS |
Keywords: Distributed control and estimation, Sensor networks
Abstract: This paper studies linear time-varying (LTV) network systems aected by multiple unknown inputs. The goal is to reconstruct both the initial state and the unknown input. The main result is a characterization of strong structural input and state observability,i.e., the conditions under which both the whole network state and the unknown input can be reconstructed for all system matrices that share a common zero/non-zero pattern. This characterization is in terms of strong structural observability of a suitably-de ned linear timeinvariant (LTI) subsystem.
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11:40-12:00, Paper WeA08.6 | Add to My Program |
Detection and Isolation of Replay Attacks through Sensor Watermarking (I) |
Ferrari, Riccardo M.G. | Delft Univ. of Tech |
Teixeira, André M.H. | Delft Univ. of Tech |
Keywords: Fault detection and diagnosis, Control over networks, Channel estimation/equalisation
Abstract: This paper addresses the detection and isolation of replay attacks on sensor measurements. As opposed to previously proposed additive watermarking, we propose a multiplicative watermarking scheme, where each sensor’s output is separately watermarked by being fed to a SISO watermark generator. Additionally, a set of equalizing filters is placed at the controller’s side, which reconstructs the original output signals from the received watermarked data. We show that the proposed scheme has several advantages over existing approaches: it has no detrimental effects on the closed-loop performance in the absence of attacks; it can be designed in a modular fashion, independently of the design of the controller and anomaly detector; it facilitates the detection of replay attacks and the isolation of the time at which the replayed data was recorded. These properties are discussed in detail and the results are illustrated through a numerical example.
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WeA09 Regular Session, Argos |
Add to My Program |
Modeling for Control Optimization |
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Chair: Rey, Felix | ETH Zurich |
Co-Chair: She, Jinhua | Tokyo Univ. of Tech |
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10:00-10:20, Paper WeA09.1 | Add to My Program |
An Improved-WM Method Based on Optimization of Centers of Output Fuzzy Subsets for Fuzzy Rules |
Jin, Yali | China Univ. of Geosciences |
Cao, Weihua | China Univ. of Geosciences |
Wu, Min | China Univ. of Geosciences |
She, Jinhua | Tokyo Univ. of Tech |
Yuan, Yan | China Univ. of Geosciences |
Keywords: Modeling for control optimization, Data-based control, Parametric optimization
Abstract: The generation of fuzzy rules from samples is significant for fuzzy modelling. To improve the robustness of Wang-Mendel (WM) method, an improved WM method to extract fuzzy rules from all the regularized sample data was proposed. However, the accuracy of the model with this method is degraded for the conflicting rules with small difference between support degrees. And the output subsets can only be chosen from the pre-defined ones. To solve these problems, we develop an improved-WM method based on optimization of centers of output fuzzy subsets for fuzzy rules (COiWM). This method adopts the fuzzy c-means (FCM) clustering algorithm to divide the input and output spaces, and the improved WM method which replaces the original data by regularized data is used to calculate the support degrees. Then the support degrees are used as weights to optimize the centers of output fuzzy subsets with a method of weighted averages, so as to enhance the accuracy of a fuzzy model. Experimental results of a case study on short term daily maximum electric load forecasting prove that our proposed method enhances the accuracy of a fuzzy model.
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10:20-10:40, Paper WeA09.2 | Add to My Program |
Supervisory Model Predictive Control of the Heat Integrated Distillation Column |
Meyer, Krisitian | Tech. Univ. of Denmark, |
Bisgaard, Thomas | Tech. Univ. of Denmark |
Huusom, Jakob Kjøbsted | Tech. Univ. of Denmark |
Abildskov, Jens | Tech. Univ. of Denmark |
Keywords: Modeling for control optimization, Disturbance rejection, Tracking
Abstract: This paper benchmarks a centralized control system based on model predictive control for the operation of the heat integrated distillation column (HIDiC) against a fully decentralized control system using the most complete column model currently available in the literature. The centralized control system outperforms the decentralized system, because it handles the interactions in the HIDiC process better. The integral absolute error (IAE) is reduced by a factor of 2 and a factor of 4 for control of the top and bottoms compositions, respectively.
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10:40-11:00, Paper WeA09.3 | Add to My Program |
Predictive Control of Hydronic Floor Heating Systems Using Neural Networks and Genetic Algorithms |
Vinther, Kasper | Aalborg Univ |
Green, Torben | Danish Tech. Inst |
Jensen, Søren Østergaard | Danish Tech. Inst |
Bendtsen, Jan Dimon | Aalborg Univ |
Keywords: Modeling for control optimization, Evolutionary algorithms, Nonlinear predictive control
Abstract: This paper presents the use a neural network and a micro genetic algorithm to optimize future set-points in existing hydronic floor heating systems for improved energy efficiency. The neural network can be trained to predict the impact of changes in set-points on future room temperatures. Additionally, weather disturbances such as solar heat gain can be anticipated and compensated for, while taking into account the slow dynamics of the floor. Together with a genetic algorithm, they provide a way to search for optimal future set-point sequences, when convexity and continuity in the solution space is not guaranteed. Evaluation of the performance of multiple neural networks is performed, using different levels of information, and optimization results are presented on a detailed house simulation model.
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11:00-11:20, Paper WeA09.4 | Add to My Program |
Online Combinatorial Optimization for Interconnected Refrigeration Systems: Linear Approximation and Submodularity |
Yang, Insoon | Univ. of Southern California |
Keywords: Modeling for control optimization, Large scale optimization problems, Control design for hybrid systems
Abstract: This paper proposes a new control method that can save the energy consumption of multi-case supermarket refrigerators by explicitly taking into account their interconnected and switched system dynamics. Its novelty is a bilevel combinatorial optimization formulation to generate ON/OFF control actions for expansion valves and compressors. The inner optimization module keeps display case temperatures in a desirable range and the outer optimization module minimizes energy consumption. In addition to its energy-saving capability, the proposed controller significantly reduces the frequency of compressor switchings by employing a conservative compressor control strategy. However, solving this bilevel optimization problem associated with interconnected and switched systems is a computationally challenging task. To solve the problem in near real time, we propose two approximation algorithms that can solve both the inner and outer optimization problems at once. The first algorithm uses a linear approximation, and the second is based on the submodular structure of the optimization problem. Both are (polynomial-time) scalable algorithms and generate near-optimal solutions with performance guarantees. Our work complements existing optimization-based control methods (e.g., MPC) for commercial refrigerators, as our algorithms can be adopted as a tool for solving combinatorial optimization problems arising in these methods.
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11:20-11:40, Paper WeA09.5 | Add to My Program |
MPC with Sliding Mode Control for the Energy Management System of Microgrids |
Incremona, Gian Paolo | Univ. Degli Studi Di Pavia |
Cucuzzella, Michele | Univ. of Pavia |
Magni, Lalo | Univ. of Pavia |
Ferrara, Antonella | Univ. of Pavia |
Keywords: Modeling for control optimization, Sliding mode control, Power systems
Abstract: This paper presents the design of a high level Model Predictive Control (MPC) for efficient management and consumption of energy resources in microgrids locally controlled via Sliding Mode Control (SMC). The proposed MPC relies on a new model of the so-called Energy Management System (EMS), which takes into account the involved powers as new inputs. In the paper, the microgrid includes a Distributed Generation unit (DGu), based on a renewable energy source, and two Energy Storage units (ESus), working both in grid-connected and islanded operation mode and controlled by SMC. The MPC module generates the references of power for the energy storage systems, taking into account input and state constraints. The proposed approach is theoretically analyzed and the asymptotical stability of the controlled systems is proved. Simulation assessment confirms the efficacy of the proposal.
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11:40-12:00, Paper WeA09.6 | Add to My Program |
A Tailored ADMM Approach for Power Coordination in Variable Speed Drives |
Rey, Felix | ETH Zurich |
Hokayem, Peter | ABB, Switzerland |
Lygeros, John | ETH Zurich |
Keywords: Industrial applications of optimal control, Modeling for control optimization, Power systems
Abstract: Variable speed drives (VSDs) are AC/DC/AC power converters that drive electric machines at variable frequency. In a VSD the electric energy is first rectified to DC, then stored in a DC-link, and finally inverted back to the desired AC signal. The energy stored in the DC-link can be kept within tight bounds when the rectifier and the inverter coordinate their actions. This is achieved by utilizing model predictive control (MPC), which translates the control task into a sequence of optimization programs. In this paper we show how to utilize the structural properties of the underlying system to solve these optimization programs efficiently. We decompose the VSD into the rectifier, the DC-link and the inverter, and we use the alternating direction method of multipliers (ADMM) to exploit this decomposition. We show that our proposed method behaves favorably when compared to an interior point method, or a conventional ADMM approach.
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WeA10 Regular Session, Cassiopée |
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Stability of Nonlinear Systems I |
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Chair: Turner, Matthew C. | Univ. of Leicester |
Co-Chair: Ito, Hiroshi | Kyushu Inst. of Tech |
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10:00-10:20, Paper WeA10.1 | Add to My Program |
Improved Circle and Popov Criteria for Systems Containing Magnitude Bounded Nonlinearities |
Turner, Matthew C. | Univ. of Leicester |
Sofrony, Jorge Ivan | Univ. Nacional De Colombia |
Keywords: Stability of nonlinear systems, Anti-windup, Robustness analysis
Abstract: This paper presents improved versions of the Circle and Popov Criteria for Lure systems in which the nonlinear element is both sector and magnitude bounded. The main idea is to use the fact that if the nonlinearity is magnitude bounded and the linear system is asymptotically stable, then its state will be ultimately bounded. When the state enters this set of ultimate boundedness, it will satisfy a narrower sector condition which can then be used to prove stability in a wider set of cases than the standard Circle and Popov Criteria. The results are illustrated with some numerical examples.
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10:20-10:40, Paper WeA10.2 | Add to My Program |
On the Convergence of a Matricial Fixed-Point Iteration Connected with Spectral Estimation |
Baggio, Giacomo | Univ. of Padova |
Keywords: Stability of nonlinear systems, Lyapunov methods, Application of nonlinear analysis and design
Abstract: In this paper, an in-depth analysis of a nonlinear matricial fixed-point iteration and its convergence properties is provided. Remarkably, the analyzed iteration can be regarded as a "frequency-sampled'' version of a thoroughly investigated and very efficient fixed-point iteration for Kullback-Leibler approximation of spectral densities, proposed in [Pavon and Ferrante, 2006]. A proof of global convergence to a prescribed set of fixed points of the latter iteration seems to be elusive, though conjectured and corroborated by an extensive campaign of numerical simulations. The present work represents a first step towards the solution of this conjecture.
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10:40-11:00, Paper WeA10.3 | Add to My Program |
A Note on the Stability of Nonlinear Differential-Algebraic Systems |
Di Franco, Pierluigi | Pierluigi Di Franco |
Scarciotti, Giordano | Imperial Coll. London |
Astolfi, Alessandro | Imperial Col. London & Univ. of Rome Tor Vergata |
Keywords: Stability of nonlinear systems, Lyapunov methods, Descriptor systems
Abstract: The problem of the stability analysis for nonlinear differential-algebraic systems is addressed using tools from classical control theory. Exploiting Lyapunov Direct Method we provide linear matrix inequalities to establish stability properties of this class of systems. In addition, interpreting the differential-algebraic system as the feedback interconnection of a dynamical system and an algebraic system, a sufficient stability condition has been derived using the small-gain theorem. The proposed techniques are illustrated by means of simple examples.
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11:00-11:20, Paper WeA10.4 | Add to My Program |
Lyapunov Functions to Avoid Squashed Sublevel Sets for Interconnections Containing Non-ISS Components |
Ito, Hiroshi | Kyushu Inst. of Tech |
Keywords: Stability of nonlinear systems, Lyapunov methods, Input-to-State Stability
Abstract: This paper raises the issue of undesirable sublevel sets generated by Lyapunov functions for interconnection of integral input-to-state stable (iISS) systems. Sublevel sets are important information of forward invariant sets describing behavior of systems. This paper demonstrates for the previously available Lyapunov function that in the case of small stability margins, sublevel sets are compressed in one direction and stretched in the other direction extremely when a component system is not input-to-state stable (ISS). This paper also shows conservativeness of such sublevel sets by proposing a new Lyapunov function producing much better sublevel sets. The developments reveal practical issues to which we need to attend carefully when a component system is not ISS.
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11:20-11:40, Paper WeA10.5 | Add to My Program |
Path-Wise Bounds and Iiss of Nonlinear Systems Exposed to Global Stochastic Noise |
Ito, Hiroshi | Kyushu Inst. of Tech |
Keywords: Input-to-State Stability, Lyapunov methods, Control of interconnected systems
Abstract: This paper peruses path-wise bounds, integral input-to-state stability and integral noise-to-state stability for stochastic nonlinear systems and proposes their Lyapunov-type characterizations. The characterizations are utilized to develop small-gain criteria to verify stability of interconnected systems. In contrast to preceding results, the developments allow stochastic noise to be active globally in the state space. The obtained criteria are made parallel to deterministic ones by resolving fundamental issues arising from stochastic noises.
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11:40-12:00, Paper WeA10.6 | Add to My Program |
Differential Positivity with Respect to Cones of Rank K |
Mostajeran, Cyrus S. | Univ. of Cambridge |
Sepulchre, Rodolphe J. | Univ. of Cambridge |
Keywords: Stability of nonlinear systems, Positive systems, Networked systems
Abstract: We consider a generalized notion of differential positivity of a dynamical system with respect to cone fields generated by cones of rank kgeq 2. The property refers to the contraction of such cone fields by the linearization of the flow along trajectories. It provides the basis for a generalization of differential Perron-Frobenius theory, whereby the Perron-Frobenius vector field which shapes the one-dimensional attractors of a differentially positive system is replaced by a distribution of rank k that results in k-dimensional integral submanifold attractors instead. We further develop the theory in the context of invariant cone fields and invariant differential positivity on Lie groups and illustrate the key ideas with an extended example involving consensus on the space of rotation matrices SO(3).
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WeA11 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" - III |
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Chair: Pakshin, Pavel | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
Co-Chair: Pakshina, Natalia | Arzamas Pol. Inst. of R.E. Alekseev NSTU |
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 WeA11.1 | Add to My Program |
What Types of Functions May Be the Perron Function of a Diagonal Discrete Linear Time-Varying Systems? (I) |
Babiarz, Artur | Faculty of Automatic Control, Electronics and Computer Science, |
Czornik, Adam | Faculty of Automatic Control, Electronics and Computer Science, |
Konyukh, Alexander | Belarus State Ec. Univ |
Niezabitowski, Michal | Silesian Univ. of Tech. Faculty of Automatic Control |
Keywords: Time-varying systems, Linear systems
Abstract: In this paper we investigate properties of the Perron exponents of diagonal discrete linear time-varying systems. We give necessary and sufficient conditions for a function f to be the Perron function of the considered systems.
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10:20-10:40, Paper WeA11.2 | Add to My Program |
The Stability Postulate of N. G. Cetaev and the Augmented Model Validation (I) |
Rasvan, Vladimir | Univ. of Craiova |
Keywords: Stability of nonlinear systems, Model validation, Distributed nonlinear control
Abstract: The stability in the sense of Lyapunov turned to be a most important property for equilibria and global trajectories of the dynamical systems. The so-called Stability Postulate of N. G. v{C}etaev states that only those trajectories and equilibria which are at least stable in the sense of Lyapunov are observable and measurable. On the other hand any mathematical model of some real (physical) process requires validation in order to be self consistent as a mathematical object, also to fit to data obtained from experiments (at least basically). Combining standard validation criteria for self consistency (existence, uniqueness, data dependence) with the Stability Postulate, also with other requirements will lead to the so-called textit{augmented model validation} for self consistency i.e. as a mathematical object. Since these new concepts (like the Stability Postulate) define a {em methodology} they have to be checked on applications (as v{C}etaev did). Therefore, there will be considered a case of energy co-generation described by conservation laws.
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10:40-11:00, Paper WeA11.3 | Add to My Program |
Lyapunov Functions: An Optimization Theory Perspective (I) |
Polyak, Boris T. | Moscow Inst. of Control Sciences |
Shcherbakov, P.S. | Moscow Inst. of Control Sciences |
Keywords: Lyapunov methods, Stability of nonlinear systems, Power systems
Abstract: The problems of unconstrained optimization and establishing asymptotic stability have much in common. Understanding the analogy between these two sheds light on their interconnection and may lead to a number of new results. For instance, in this paper, we provide estimates of the rate of convergence when analyzing asymptotic stability of differential equations, rather than just ascertain the very fact of stability. Also, standard methods for the design of Lyapunov functions (e.g., those having the meaning of the full energy of the system) turn out to be unsatisfactory from this point of view and have to be modified. These claims are exemplified in the paper by considering the heavy-ball method for function minimization ``in parallel'' with the problem of asymptotic stability for the synchronous motor equation.
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11:00-11:20, Paper WeA11.4 | Add to My Program |
On the Influence of Small Perturbations on the Senior Lyapunov Exponent of the Discrete Time-Varying System (I) |
Babiarz, Artur | Faculty of Automatic Control, Electronics and Computer Science, |
Barabanov, Evgenij | Inst. of Mathematics of National Acad. of Sciences of Bela |
Czornik, Adam | Faculty of Automatic Control, Electronics and Computer Science, |
Niezabitowski, Michal | Silesian Univ. of Tech. Faculty of Automatic Control |
Vaidzelevich, Aliaksei | Inst. of Mathematics of National Acad. of Sciences of Bela |
Keywords: Time-varying systems, Linear systems
Abstract: In this paper we consider the influence of parametric perturbations on the maximal Lyapunov exponent of the discrete time-varying system. The main result states that the exact upper movability boundaries of the greatest Lyapunov exponent under arbitrary small perturbations is the central exponent.
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11:20-11:40, Paper WeA11.5 | Add to My Program |
Constructive Analysis of Control System Stability (I) |
Osinenko, Pavel | Tech. Univ. Chemnitz |
Devadze, Grigory | Tech. Univ. Chemnitz |
Streif, Stefan | Tech. Univ. Chemnitz |
Keywords: Lyapunov methods, Asymptotic stabilization, Stability of nonlinear systems
Abstract: Stability of control systems is one of the central subjects in control theory. The classical asymptotic stability theorem states that the norm of the residual between the state trajectory and the equilibrium is zero in the limit. Unfortunately, it does not in general allow computing a rate of convergence, whereas proving exponential stability is notoriously complicated. This work proposes to revisit the asymptotic stability theory with the aim of computing convergence rates using constructive analysis which is a mathematical tool that realizes equivalence between certain theorems and computational algorithms. The overall goal of the current study matches with the trend for introducing formal verification tools into control theory. Besides existing approaches, constructive analysis, suggested within this work, can also be considered for formal verification of control systems. A computational example is provided that demonstrates extraction of a convergence certificate for a dynamical system
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11:40-12:00, Paper WeA11.6 | Add to My Program |
Application of the Localization Method to Stability Analysis and Construction of Lyapunov Functions (I) |
Krishchenko, Alexander | Bauman Moscow State Tech. Univ |
Golubev, Alexey | Bauman Moscow State Tech. Univ |
Keywords: Stability of nonlinear systems, Lyapunov methods, Application of nonlinear analysis and design
Abstract: This paper deals with asymptotic stability criteria for equilibrium points of nonlinear autonomous systems formulated in terms of compact invariant sets and positively invariant sets. To verify these criteria the functional method of compact invariant sets localization is used. The obtained results can be applied to show the asymptotic stability property in critical cases and to construct a Lyapunov function if the equilibrium point is (globally) asymptotically stable. The theoretical results are illustrated by examples.
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WeA12 Regular Session, Ariane 2 |
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Transportation Systems: Optimization and Assessment |
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Chair: Steinbuch, Maarten | Eindhoven Univ. of Tech |
Co-Chair: Kouvelas, Anastasios | École Pol. Fédérale De Lausanne |
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10:00-10:20, Paper WeA12.1 | Add to My Program |
Sustainability Assessment of a Transportation System under Uncertainty: An Integrated Multicriteria Approach |
Moskolai Ngossaha, Justin | Univ. Fédérale De Toulouse, ENIT-LGP |
Houe Ngouna, Raymond | Univ. Fédérale De Toulouse, ENIT-LGP |
Archimede, Bernard | Univ. De Toulouse, Lab. GeniedeProduction, Ec. Nati |
Nlong, Jean Michel | Univ. De Ngaoundéré. Faculté Des Sciences |
Keywords: Information processing and decision support
Abstract: Urban development is a critical issue that many cities are facing, due to the demography growth which results from the economic attractiveness of the urban centers. Based on common standards such as the Urban Development Plans, some projects for transportation systems renewal are progressively launched. In order to allow social cohesion, especially by providing travelers with services which may allow to better organize the transport, it is necessary to structure the transportation system according to sustainability requirements. This paper examines an integrated approach for assessing the sustainability of the current transportation system design, based on a policy making problem, aiming at providing decision makers with a framework allowing them to choose the most eco-responsible policy amongst many alternatives. Since the sustainability indicators may conflict each other, in order to better take into account the requirements of the whole transportation system in its design phase, a system-based approach has been adopted to characterize the complex structure of these indicators. A general methodology for their elicitation is proposed, using a process-object methodology and based on surveys from recent research on sustainable transportation, along with eco-design principles, in order to take into account urban transport priorities, sustainability challenges and the analysis of the whole lifecycle of the transport infrastructure and equipment. To validate this proposal, a multi-criteria decision method, allowing subjectivity, uncertainty, incomplete judgments and group consensus is then performed, based on a case study which shows the flexibility of fuzzy analytical hierarchy process for such assessment.
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10:20-10:40, Paper WeA12.2 | Add to My Program |
Methodology for Determining Critical Locations in Road Networks Based on Graph Theory |
Henning, Sven | Univ. of Paderborn, Heinz Nixdorf Inst |
Biemelt, Patrick | Univ. of Paderborn |
Abdelgawad, Kareem | Univ. of Paderborn |
Gausemeier, Sandra | Heinz Nixdorf Inst. Univ. of Paderborn |
Evers, Hans Heinrich | Univ. of Paderborn |
Traechtler, Ansgar | Univ. of Paderborn |
Keywords: autonomic transport systems, Cooperative navigation, Multi-vehicle systems
Abstract: Latest research in the field of fully autonomous driving led to a new control approach based on decentralized control algorithms for macroscopic traffic scenarios. This control approach balances the traffic load (density) within a road network segment of limited area to maximize the vehicle throughput and to avoid traffic jams. However, it is necessary to divide the road network into multiple individual segments of limited area in an appropriate way. Due to the lack of a methodology to locate such locations for limited areas within a road network, this work presents an adopted technique that solves this problem by modelling the road network as spatial network and by using graph centrality indices. The presented method was implemented into a software framework and validated by simulation.
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11:00-11:20, Paper WeA12.4 | Add to My Program |
Experimental Verification of a Dynamic Model for Lane-Less (Indian) Traffic |
Joshi, Apurva | IIT Bombay |
Chakraborty, Debraj | Indian Inst. of Tech. Bombay |
Keywords: Modeling and simulation of transportation systems, Automatic control, optimization, real-time operations in transportation
Abstract: In a recent paper (R. U. Chavan et al., 2016), the authors proposed a dynamic model of traffic behaviour on (Indian) roads, where lane discipline is not maintained even when the roads are wide and multiple vehicles can travel abreast. The primary hypothesis in this model was that each driver is influenced by an assortment of neighbouring cars and not only by the vehicle immediately in front. The proposed equations claim to be a model for driver/vehicle movement on such roads and hence should be able to predict actual motion of real vehicles. In this paper we experimentally verify this claim, after suitable modification of the theory to make it applicable for heterogeneous traffic. Videos of normal traffic on a sample road in Mumbai city, India, is recorded from the top of an adjacent high-rise building. Detailed motion information of groups of cars is extracted through novel image processing techniques. The proposed model is initialized with the extracted data and the computed trajectories are compared with the actual ones calculated from the images. It is verified that the proposed model can accurately predict complex maneuvers, such as overtaking, sideways movements (lane-changing) and avoiding collisions with slower moving vehicles.
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11:20-11:40, Paper WeA12.5 | Add to My Program |
Dynamical Modeling and Predictive Control of Bus Transport Systems: A Hybrid Systems Approach |
Sirmatel, Isik Ilber | Epfl Luts |
Geroliminis, Nikolas | Ec. Pol. FEDERALE DE LAUSANNE (EPFL) |
Keywords: Automatic control, optimization, real-time operations in transportation, Modeling and simulation of transportation systems, Intelligent transportation systems
Abstract: Bus operations, due to their unstable nature, are inefficient when left uncontrolled with respect to retaining headways. Irregularities such as bus bunching lead to loss of time and decrease bus service quality. Development of bus transport system management schemes to avoid bus bunching and improve performance are of high importance, and has thus been the focus of many works in the public transport systems literature. Motivated by the importance of developing bus control strategies for improving performance, and specifically by the lack of a detailed but computationally efficient mathematical model describing bus transport system dynamics in the literature (which can facilitate model-based control design), we propose a mixed logical dynamical model of a single loop bus transport system, which involves both continuous (e.g., bus positions) and binary (e.g., the state of a bus regarding whether it is holding at a certain stop or not) states. Furthermore, we develop a hybrid model predictive control scheme with actuation via bus speeds, which can regularize headways and improve bus service quality. Performance of the predictive controller is evaluated via simulation experiments using the proposed model, where the passenger demands and maximum bus speeds are extracted from data collected from the bus network of the city of Fribourg. Results indicate the potential of the proposed controller in avoiding bus bunching and decreasing passenger travel times.
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11:40-12:00, Paper WeA12.6 | Add to My Program |
Effects of Using Synthesized Driving Cycles on Vehicle Fuel Consumption |
Hereijgers, Kobus | Eindhoven Univ. of Tech |
Silvas, Emilia | Eindhoven Univ. of Tech |
Hofman, Theo | Tech. Univ. Eindhoven |
Steinbuch, Maarten | Eindhoven Univ. of Tech |
Keywords: Simulation, Modeling and simulation of transportation systems, Hybrid and alternative drive vehicles
Abstract: Creating a driving cycle (DC) for the design and validation of new vehicles is an important step that will influence the efficiency, functionality and performance of the final systems. In this work, a DC synthesis method is introduced, based on multi-dimensional Markov Chain, where both the velocity and road slope are investigated. Particularly, improvements on the DC synthesis method are proposed, to reach a more realistic slope profile and more accurate fuel consumption and CO2 emission estimates. The effects of using synthesized DCs on fuel consumption are investigated considering three different vehicle models: conventional ICE, and full hybrid and mild hybrid electric vehicles. Results show that short but representative synthetic DCs will results in more realistic fuel consumption estimates (e.g. in the 5%-10% range) and in much faster simulations. Using the results of this proposed method also eliminates the need to use very simplified DCs, as the New European Driving Cycle(NEDC), or long, measured DCs.
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WeA14 Regular Session, Guillaumet 1 |
Add to My Program |
Process Control |
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Chair: Vilanova, Ramon | Univ. Autònoma De Barcelona |
Co-Chair: Veronesi, Massimiliano | Yokogawa Italy |
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10:00-10:20, Paper WeA14.1 | Add to My Program |
Multi-Objective Optimization Based Tuning Tool for Industrial 2doF PID Controllers (I) |
Gamboa, Carlos | Univ. De Costa Rica |
Rojas, Jose David | Univ. De Costa Rica |
Arrieta, Orlando | Univ. of Costa Rica |
Vilanova, Ramon | Univ. Autònoma De Barcelona |
Keywords: Process control, Disturbance rejection (linear case), Control problems under conflict and/or uncertainties
Abstract: A computer-aided control system design tool is presented. This tool is able to take advantage of a database of Pareto optimal PID controllers. The idea is to give to the control engineer an useful tool to close the gap between the optimization procedure and the final selection of the parameters. The input to the tool are the allowed degradation of the considered cost functions, the desired level of robustness and the information of the plant, in the form of second order plus time delay model or a set of input-output data. The tool is written as a graphical user interface in MATLAB and freely available to anyone.
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10:20-10:40, Paper WeA14.2 | Add to My Program |
Applications of an Optimal Multi-Objective Technique for Integrated Control Structure Selection and Tuning |
Juliani, Rodrigo | Univ. of Sao Paulo |
Garcia, Claudio | Pol. School of the Univ. of Sao Paulo |
Keywords: Process control, Linear multivariable systems, Parametric optimization
Abstract: The controller tuning affects the control performance as much as the input/output (I/O) pairing. Thus, an optimal tuning should be sought simultaneously with the best I/O pairing, and not after the pairing has been defined. An optimal multi-objective technique for integrated control structure selection and tuning is proposed and applied to industrial benchmarks. The technique integrates the tasks of I/O pairing and controller tuning, and supports any multi-objective specification. It allows the direct employment of complex specifications of control problems, solving the I/O pairing problem simultaneously with the tun-ing problem. The technique is applied to two industrial benchmarks, a 3x7 heavy oil fractionator (HOF) and a 6x7 fluid catalytic cracking (FCC) units. The examples demonstrate the complete control project, including the PID I/O pairings, controller tuning, system identification and MPC implementation.
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10:40-11:00, Paper WeA14.3 | Add to My Program |
Closed-Loop Tuning Rules for Feedforward Compensator Gains |
Veronesi, Massimiliano | Yokogawa Italy |
Guzman, Jose Luis | Univ. of Almeria |
Visioli, Antonio | Univ. of Brescia |
Hagglund, Tore | Lund Univ |
Keywords: Process control, Linear systems
Abstract: This paper presents new simple tuning rules for the gain in feedforward compensators. When the ideal feedforward controller is not possible to implement, a negative effect is introduced in the closed-loop response. So, the closed-loop transfer function from the disturbance to the error is analyzed and tuning rules for the feedforward gain are proposed. Two feedforward structures are used, a lead-lag compensator and a static controller. First, the feedforward gain is tuned to reduce the overshoot in the response for both compensator structures. Afterwards, a second tuning rule for the feedforward gain is derived to minimize the integrated absolute error. Finally, the different tuning rules are evaluated through simulations and compared with other existing solutions in the literature.
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11:00-11:20, Paper WeA14.4 | Add to My Program |
Scalability of Feedback Control Systems for Plug-And-Play Control |
Luo, Hao | Univ. of Duisburg-Essen |
Zhao, Hao | Harbin Inst. of Tech |
Ding, Steven X. | Univ. of Duisburg-Essen |
Yin, Shen | Univ. of Duisburg-Essen |
Gao, Huijun | Harbin Inst. of Tech |
Yang, Xu | Univ. of Science and Tech. Beijing |
Keywords: Structural properties, Industrial applications of optimal control, Fault-tolerant
Abstract: In this paper, with the help of the Youla parameterization, the realizations of feedback control systems are discussed which results in a preferable and more convenient way to realize plug-and-play (PnP) control without modifying pre-designed control systems. Furthermore, based on the equivalence of different realizations of the Youla parameterization, a link between the standard feedback and the observer-based state feedback control system is given so that the well developed observer-based control techniques, like LQG/H2 control etc., can be achieved in the standard feedback control system via PnP control design. The effectiveness of the proposed PnP design schemes is verified using a direct current (DC) motor benchmark system.
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11:20-11:40, Paper WeA14.5 | Add to My Program |
Fractional Order MPC Design Using Improved State Space Model |
Zou, Qin | Hangzhou Dianzi Univ |
Zhang, Ridong | Hangzhou Dianzi Univ |
Gao, Furong | Hong Kong Univ. of Sci & Tech |
Xue, Anke | Hangzhou Dianzi Univ |
Zhang, Junfeng | Shanghai Jiao Tong Univ |
Keywords: Process control, Fractional systems
Abstract: In order to improve the performance of control systems, a fractional order model predictive control (FMPC) algorithm using extended non-minimal state space (ENMSS) model is presented in this paper. For this propose, the fractional order model that describes the characteristics of practical processes more accurate than integer order model and the model predictive control (MPC) method based on ENMSS model that includes the state variable and output tracking error are considered. In this paper, the Grünwald-Letnikov (GL) definition is used to discretize the fractional order model and the fractional order cost function. This algorithm inherits the advantages of integer order extended non-minimal state space model predictive control (ENMSSMPC) with more adjustable parameters and better disturbance rejection, such that the controller tuning is more flexible. By comparing with the integer order ENMSSMPC, the results of the temperature control of an industrial heating furnace indicate the performance improvement of the proposed method.
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11:40-12:00, Paper WeA14.6 | Add to My Program |
Enhanced Active Disturbance Rejection Control for Time Delay Systems |
Hao, Shoulin | Dalian Univ. of Tech |
Liu, Tao | Dalian Univ. of Tech. (DLUT) |
Wang, Qing-Guo | The Univ. of Johannesburg |
Keywords: Systems with time-delays, Process control, Robust time-delay systems
Abstract: In this paper, a further enhanced active disturbance rejection control method is proposed for time-delay systems, which can be generally applied for open-loop stable, integrating and unstable processes. The plant model is adopted to design an extended state observer (ESO) such that both the disturbance and the unknown plant dynamics could be estimated. Then a prediction filter is designed to estimate the delay-free output response for control design, while satisfying the asymptotic stability constraints. A notable merit is that there is a single tuning parameter in the proposed ESO or controllers, which can be monotonically tuned to achieve a good trade-off between the control performance and robustness. The robust stability constraint of the closed-loop system is derived in terms of the linear matrix inequality and the Wirtinger inequality. An illustrative example is given to demonstrate the effectiveness of the proposed method.
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WeA15 Open Invited Session, Guillaumet 2 |
Add to My Program |
Linear Parameter Varying Systems: Modelling, Analysis, Observation,
Control, Diagnosis and Applications |
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Chair: Tóth, Roland | Eindhoven Univ. of Tech |
Co-Chair: Sename, Olivier | Grenoble Inst. of Tech. / GIPSA-Lab |
Organizer: Tóth, Roland | Eindhoven Univ. of Tech |
Organizer: Sename, Olivier | Grenoble Inst. of Tech. / GIPSA-Lab |
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10:00-10:20, Paper WeA15.1 | Add to My Program |
Internal Stability and Loop-Transformations: An Overview on LFTs, Mobius Transforms and Chain Scattering (I) |
Szabo, Zoltan | Mta Sztaki |
Seiler, Peter | Univ. of Minnesota |
Bokor, Jozsef | Hungarian Acad. of Sciences |
Keywords: Linear systems, Linear parameter-varying systems, Robustness analysis
Abstract: In robust control problems it is often convenient to consider maps between controller sets that are defined by Mobius transformations. Moreover, these loop-transformations are also intimately related to different factorizations, that simplify the structure of the problem. Starting from a fundamental observation that relates internal stability of the control loops to mere stability of a specific LFT, the paper provides an exhaustive answer to the question under which conditions the internal stability of a control loop is preserved by performing a loop-transformation. As a main result it is shown that Mobius transformations defined by unimodular matrices preserves the internal stability of the loop and an explicit formula is also given that relates the two loops. This result is formulated in a general context that includes LTV or LPV systems as well. The paper also provides an overview on the different transformation techniques, as Mobius transformations, LFTs, different generalized chain scattering (CSD) transforms, and their interrelations. This knowledge gives a solid basis for those approaches that use an input-output framework in combination with the IQC analysis and synthesis techniques in the solution of linear parameter varying (LPV) design problems.
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10:20-10:40, Paper WeA15.2 | Add to My Program |
Stability Analysis of LPV Systems with Piecewise Differentiable Parameters (I) |
Briat, Corentin | ETH Zürich |
Khammash, Mustafa H. | Swiss Federal Inst. of Tech. (ETH) |
Keywords: Linear parameter-varying systems, Stability of hybrid systems, Robust control
Abstract: Linear Parameter-Varying (LPV) systems with piecewise differentiable parameters is a class of LPV systems for which no proper analysis conditions have been obtained so far. To fill this gap, we propose an approach based on the theory of hybrid systems. The underlying idea is to reformulate the considered LPV system as an equivalent hybrid system that will incorporate, through a suitable state augmentation, information on both the dynamics of the state of the system and the considered class of parameter trajectories. Then, using a result pertaining on the stability of hybrid systems, two stability conditions are established and shown to naturally generalize and unify the well-known quadratic and robust stability criteria together. The obtained conditions being infinite-dimensional, a relaxation approach based on sum of squares programming is used in order to obtain tractable finite-dimensional conditions. The approach is finally illustrated on two examples from the literature.
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10:40-11:00, Paper WeA15.3 | Add to My Program |
Generalising Quasi-LPV and CDI Models to Quasi-Convex Difference Inclusions (I) |
Sala, Antonio | Univ. Pol. De Valencia |
Keywords: Parameter-varying systems, Robust control, Constrained control
Abstract: Many works in literature are based on the idea that a nonlinear system with sector-bounded nonlinearities can be expressed as a quasi-LPV system. The convex difference inclusion (CDI) modelling framework proposed by M. Fiacchini and coworkers in several of their works generalises the modelling procedure and proposes robust controllers for them. In fact, their work can be further generalised to a quasi-convex framework with minor modifications to the proposed algorithms. The generalisation allows for less conservative modelling and, subsequently, less conservative estimates of lambda-contractive and invariant sets for such classes of models keeping reasonable computational tractability, at least in low-dimensional cases.
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11:00-11:20, Paper WeA15.4 | Add to My Program |
Global Robust Output Regulation for a Class of Nonlinear Systems Via Event-Triggered Control |
Liu, Wei | The Chinese Univ. of Hong Kong |
Huang, Jie | The Chinese Univ. of Hong Kong |
Keywords: Output regulation, Digital implementation, Robust control
Abstract: In this paper, we study the event-triggered global robust output regulation problem for a class of nonlinear systems in output feedback form with unity relative degree. We first convert the problem into the event-triggered global robust stabilization problem of a well defined augmented system by the internal model approach. Then, we solve the stabilization problem by an output-based event-triggered control law together with an output-based event-triggered mechanism. Finally, the theoretical result is applied to the Lorenz systems.
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11:20-11:40, Paper WeA15.5 | Add to My Program |
Interval Observer for LPV Systems: Application to Vehicle Lateral Dynamics |
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: Continuous time system estimation, Linear parametrically varying (LPV) methodologies
Abstract: This paper presents a new method for guaranteed and robust estimation of sideslip angle and lateral tire forces with consideration of cornering stiffness variations resulting from changes in tire/road and driving conditions. An interval LPV observer with both measurable and unmeasurable time-varying parameters is proposed. The longitudinal velocity is treated as the online measured time-varying parameter and the cornering stiffness at front and rear tires are assumed to be unknown but bounded with a priori known bounds. The obtained results are no more punctual values but a set of acceptable values. The simulation is based on experimental data in order to prove the effectiveness of the proposed observers.
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11:40-12:00, Paper WeA15.6 | Add to My Program |
Robust Output Estimator Synthesis Based on Cycling-Based LPTV Scaling |
Hosoe, Yohei | Kyoto Univ |
Miyamoto, Mitsuaki | Kyoto Univ |
Hagiwara, Tomomichi | Kyoto Univ |
Keywords: Time-varying systems, Robust estimation
Abstract: This paper is concerned with robust output estimator synthesis for discrete-time linear periodically time-varying (LPTV) systems with uncertainties. To evaluate robustness of estimation, we exploit the separator-type robust stability theorem under the cycling-based treatment of LPTV systems; we call such an approach for robustness analysis cycling-based LPTV scaling. Then, we derive a linear matrix inequality condition for robust estimator synthesis. A noteworthy property of our cycling-based synthesis approach is that we can predetermine the estimator period in the synthesis regardless of the system period, which is difficult to achieve in the case with the lifting-based treatment of LPTV systems.
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WeA16 Regular Session, Daurat |
Add to My Program |
Mechatronic System - I |
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Chair: Aschemann, Harald | Univ. of Rostock |
Co-Chair: Ebner, Wolfgang | Virtual Vehicle Res. Center |
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10:00-10:20, Paper WeA16.1 | Add to My Program |
Auto-Generated Specification of Assembly Units by Formalized Requirements for a Higher Maturity in the Engineering Process |
Schlag, Andreas | Daimler AG |
Keywords: Mechatronic systems, Smart Structures, Design methodologies
Abstract: Today's engineering work flow of resources, e.g. units of automotive assembly lines or robotic cells in the body shop, shows up some gaps in provision of information in different engineering disciplines like mechanical-, electrical- or software engineering. The common issue is addressed by the kind of description of the technical and functional needs that mostly production planners are using in the planning phase. This article focuses the gap of describing required resources and introduces a method to auto-generate formalized object-related requirements by using a formalized process-description language. The general functionality of the method is presented by two use cases. Further, a way to exchange and provide this auto-generated engineering data in the engineering work flow is introduced by a suggested implementation in ReqIF. Towards seamless engineering data provision a call for integration of the ReqIF in AutomationML is given.
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10:20-10:40, Paper WeA16.2 | Add to My Program |
Iterative Learning Control of a Pneumatically Actuated Lung Tumour Mimic Model |
Wache, Alexander | Univ. of Rostock |
Aschemann, Harald | Univ. of Rostock |
Prabel, Robert | Univ. of Rostock |
Kurth, Jens | Univ. Medical Center of Rostock |
Krause, Bernd | Univ. Medical Center of Rostock |
Zorn, Stefan | Univ. of Rostock |
Keywords: Mechatronic systems, Motion Control Systems, Human Mechatronics
Abstract: In this paper, a model-based tracking control is proposed for a mechanism dedicated to accurately reproduce the breathing-induced motion of a human lung tumour. A lung tumour mimic model should perform the same smooth motion as a real one in a human body during inhalation and exhalation. In former work, a 3-dimensional mechanism equipped with three pneumatically driven axes has been developed and built up for this purpose. The discrete-time control structure consists of cascaded control loops: In the fast inner loops, the chambers pressures of the pneumatic cylinders are controlled, whereas the outer loops are related to the position control of the cylinders. Furthermore, iterative learning controllers are employed to compensate model uncertainties and lumped disturbance forces. The proposed overall control structure has been implemented and successfully validated on the innovative test rig.
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10:40-11:00, Paper WeA16.3 | Add to My Program |
Symbolic Dynamic Modelling of Locomotion Systems with Persistent Contacts - Application to the 3D Bicycle |
Mauny, Johan | IMT Atlantique Bretagne-Pays De La Loire, LS2N |
Porez, Mathieu | IRCCyN |
Boyer, Frederic | Ec. Des Mines De Nantes |
Keywords: Modeling, Mobile robots
Abstract: In this article, we propose a general symbolic dynamic modelling framework devoted to Mobile Multibody Systems subject to hard persistent contacts. In particular, all rigid planar and spatial wheeled vehicles belong to this class of systems. To illustrate the approach we apply it to a realistic model of the three dimensional bicycle. Though being a familiar object for everybody, deriving the fully nonlinear dynamics of this system in a closed symbolic form is far from being trivial. Using a Newton-Euler algorithm coupled to a projective approach based on an explicit model of the contacts, the approach is successfully applied to the simulation of a free bicycle. It shows how the passive asymptotic stabilisation of the bicycle can be naturally ensured when it is thrown with sufficient initial velocities.
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11:00-11:20, Paper WeA16.4 | Add to My Program |
A Model-Based Design Approach for an Optimal Electro-Hydraulic System within Automatic Transmissions |
Ebner, Wolfgang | Virtual Vehicle Res. Center |
Fuchs, Johannes | TU Graz |
Brasseur, Georg | Tech. Univ. Graz |
Keywords: Design methodologies, Application of mechatronic principles, Mechatronics for Mobility Systems
Abstract: Fast and precise actuation plays a key role to reach challenging drivability targets of an automatic transmission. Electro-hydraulic actuation systems are mainly used to fulfill the demanding requirements in state-of-the-art applications. Additionally to control tasks, the electro-hydraulic system is responsible for the cooling and lubrication of gears, clutches and other parts of the transmission. The focus of this article is to optimize a hydraulic layout design, satisfying various demands from lubrication, cooling, transmission efficiency as well as production costs. The presented approach analyses the different requirements in detail and derives corresponding rules for possible hydraulic layouts. A standard automotive test cycle is used to illustrate and quantify the design considerations of the different topologies. Additionally, worst-cases scenarios are considered to take into account cases that are not covered explicitly in the provided test cycle. The system costs and the average power consumption of the hydraulic layout are shown to be the two essential optimization criteria finally left for the design decision. With respect to essential optimal criteria a corresponding multi-objective optimization is performed and the optimal solutions are discussed.
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11:20-11:40, Paper WeA16.5 | Add to My Program |
Generation of Simulation Models in MATLAB-Simulink Based on AutomationML Plant Description |
Novak, Petr | Tech. Univ. Wien |
Ekaputra, Fajar | Tech. Univ. Wien |
Biffl, Stefan | Tech. Univ. Wien |
Keywords: Modeling, Mechatronic systems, Design methodologies
Abstract: Process simulations are useful test-beds for experiments and optimizations along the entire industrial plant life-cycle. Shifting testing and tuning of industrial plants and their automation systems from the real world to simulated environments is a part of a virtualization, which is one of the key movements in emerging areas of Industry 4.0 and factories of the future. Although simulations bring a large variety of benefits, they suffer from a time-consuming and error-prone design phase, which limits their use in industrial practice. This paper proposes a new design method called AML2SIM, which transforms the real plant description represented in AutomationML (AML) and generates a dynamic simulation model (SIM). The proposed method significantly improves the engineering and re-design of simulation models in terms of saving time and effort of experts as the models can be easily re-generated based on a given AutomationML plant model. Simulations are assembled from simulation blocks that are shared among various projects in simulation libraries, hence the method contributes to reuse of simulation artifacts.
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11:40-12:00, Paper WeA16.6 | Add to My Program |
Shaping Stable Oscillation of a Pendulum on a Cart Around the Horizontal |
Surov, Maksim | Saint-Petersburg State Univ. of InformationTechnologies Mec |
Gusev, Sergei V. | St. Petersburg State Univ |
Shiriaev, Anton | NTNU |
Keywords: Mechatronic systems, Motion Control Systems
Abstract: Planning and stabilizing induced oscillations for underactuated mechanical systems are challenging tasks. Available analytical solutions are primary linked to formats of representation of feasible trajectories and can give a rather limited perception of a variety of possibilities for particular systems. The paper provides new insights to the tasks exploring the classical and popular robotic benchmark set-up. In particular, the case study illustrates the procedure for generating a periodic behavior of a pendulum on a cart, when the pendulum oscillates around the horizontal. Planning such a behavior requires novel arguments for establishing a presence of a forced cycle. Furthermore, if found, the orbital stabilization of the cycle requires an alternative set of transverse coordinates. Both assignments are successfully solved. The analytical contributions are discussed and supported by numerical simulations.
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WeA17 Invited Session, Servanty |
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Advanced Control Techniques for Data Storage and Scanning Probe Microscopy |
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Chair: Pantazi, Angeliki | IBM Res. - Zurich |
Co-Chair: Yamaguchi, Takashi | Ricoh Company Ltd |
Organizer: Pantazi, Angeliki | IBM Res. - Zurich |
Organizer: Yamaguchi, Takashi | Ricoh Company Ltd |
Organizer: Cherubini, Giovanni | IBM |
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10:00-10:20, Paper WeA17.1 | Add to My Program |
Analysis of Sampled-Data Open-Loop Characteristics on Magnetic-Head Positioning System in HDDs (I) |
Atsumi, Takenori | Chiba Inst. of Tech |
Keywords: Vibration control, Motion Control Systems, Microsystems: nano- and micro-technologies
Abstract: In the magnetic-head positioning system in hard disk drives (HDDs), it is hard to analyze the effect of mechanical resonances beyond the Nyquist frequency after the HDDs were assembled. However, unexpected variations of mechanical characteristics often happen in actual HDDs because HHDs are mass-produced products. To solve such a problem, this paper proposed the analysis method of the sensitivity characteristics including the intersampling oscillations for the magnetic-head positioning control system of HDDs. This method enables us to analyze the performance of the magnetic-head positioning control system beyond the Nyquist frequency by using measurable open-loop characteristics. To show the validity of the proposed method, this study conducted simulation analyses on the magnetic-head positioning control system. The simulation results show that proposed sensitivity characteristics are good approximated solutions.
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10:20-10:40, Paper WeA17.2 | Add to My Program |
Dual Actuation of Fast Scanning Axis for High-Speed Atomic Force Microscopy (I) |
Ito, Shingo | TU Wien |
Neyer, Daniel | TU Wien |
Steininger, Juergen | Vienna Univ. of Tech |
Schitter, Georg | Vienna Univ. of Tech |
Keywords: Micro and Nano Mechatronic Systems, Motion Control Systems
Abstract: In order to overcome the limiting trade-off between the imaging speed and scanning range of an atomic force microscope (AFM), this paper combines two piezoelectric actuators as a dual stage actuator (DSA) for a lateral motion (X axis) of the AFM probe with respect to the sample. As the first actuator, a piezoelectric tube actuator of the commercial AFM is utilized. Although the actuator realizes a relatively large actuation range, it has the first mechanical resonance at a low frequency of 2.5 kHz. In the case of high-speed imaging, this resonance impairs the imaging speed and quality. In order to overcome this, a piezoelectric shear actuator with the first resonance at 19 kHz is selected as the second actuator, combined in the commercial AFM. To generate the X-axis motion by synchronizing those two actuators, this paper proposes a feedforward control design for DSAs in the frequency domain, which takes into account the actuator dynamics. In the proposed approach, triangular raster scan is composed as a Fourier series by individually adjusting the complex Fourier coefficients for each actuator. The effectiveness of the DSA and its control is validated by experimental AFM imaging at a scan rate of 200 Hz, where the lowest frequency component is applied to the tube actuator and the other higher components of the scanning signal to the high-speed shear actuator.
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10:40-11:00, Paper WeA17.3 | Add to My Program |
Tape Transport Control with Suppression of Time-Varying Tension Disturbances (I) |
Pantazi, Angeliki | IBM Res. - Zurich |
Cherubini, Giovanni | IBM |
Taketomi, Tomoko | IBM |
Bui, Nhan | IBM |
Lantz, Mark | IBM |
Keywords: Mechatronic systems, Motion Control Systems
Abstract: Disturbance suppression in the transport system of tape drives is essential for achieving high volumetric densities in tape storage, as improved tension control will enable operation with thinner tape media. In addition, tension variations lead to dimensional changes in the cross-track direction of the tape that must be accounted for in the track width budget. Hence, better tension control enables a higher track density. Furthermore, fluctuations of the tape velocity and tension around the nominal values impact the performance of the data channels, and consequently also the achievable areal recording density. In a tape transport system, disturbances are mainly induced by reel eccentricities that lead to time-varying tension disturbances. In this paper, the tension disturbances are first characterized using a strain-gauge sensor included in one of the rollers that determine the tape path. Then, a second characterization method that does not rely on a strain-gauge sensor is introduced. The new method is based on an estimate of the tension variation signal, which is derived from the difference of head lateral position measurements obtained by reading servo patterns on two adjacent servo bands. A tension feedback system is proposed, which uses time-varying controllers that adapt their frequency characteristics depending on the longitudinal tape position. The closed-loop system is designed to enhance disturbance suppression at the reel rotation frequencies. Experimental results are presented to illustrate the performance of the proposed tape transport control system.
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11:00-11:20, Paper WeA17.4 | Add to My Program |
Beating Landauer’s Bound by Memory Erasure Using Time Multiplexed Potentials (I) |
Talukdar, Saurav | Univ. of Minnesota |
Bhaban, Shreyas | Univ. of Minnesota TC |
Salapaka, Murti V. | Univ. of Minnesota, Twin Cities |
Keywords: Micro and Nano Mechatronic Systems, Modeling
Abstract: The Landauer’s Principle, proposed by Rolf Landauer in 1961, states that the logically irreversible operation of erasing a single bit of information requires atleast kbT ln 2 amount of energy, kb and T being Boltzmann’s constant and temperature respectively. However, Landauer’s bound holds only for erasure mechanisms that are perfect. In this article we investigate the effect of imperfections in erasure mechanisms. If the proportion of successful erasures is quantified by p, we show that the minimum energy needed to erase a bit of information is given by kbT[ln 2+p ln p+(1−p) ln(1−p)], also known as the Generalized Landauer bound. Furthermore, we provide a mechanism for realizing a memory bit by multiplexing an optical trap rapidly and propose a mechanism of erasure, for various success proportions p. Using our framework, we show using Monte Carlo simulations that heat dissipation lower than the Landauer’s bound is achievable by reducing p. Thus, we establish an independent method of beating Landauer’s bound by resorting to partially successful erasures.
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11:20-11:40, Paper WeA17.5 | Add to My Program |
Budgeting of Systematic versus Stochastic Errors in Sensor Fusion for Piezo Electric Transducers (I) |
Kohl, Dominik | TU Wien |
Hoser, Severin | TU Wien |
Saathof, Rudolf | Vienna Univ. of Tech |
Schitter, Georg | Vienna Univ. of Tech |
Keywords: Motion Control Systems, Mechatronic systems, Micro and Nano Mechatronic Systems
Abstract: Inherent non-linearity of piezo electric transducers, used in atomic force microscopy limits the position accuracy. In order to improve linearity, the elongation can be estimated by charge measurements. To extend the frequency range to DC, strain gauges are added by means of sensor fusion. This paper addresses the challenge of choosing the filter parameters for a first order complimentary filter used for sensor fusion. After identifying stochastic and systematic errors of charge and strain gauge measurements, the optimal parameters of a first order complimentary filter is computed. Depending on the application different filter parameters are found for the same nano-positioning system, by minimizing either stochastic errors, systematic errors or a combination of both. By this method the positioning uncertainty of charge monitoring (234.1 nm) and strain gauge measurement (347.1 nm) is reduced to 140.6 nm for a commercial tube piezo.
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WeA18 Regular Session, De Marnier |
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Bio and Ecological Systems - Modeling and Control of Environmental Systems
2 |
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Chair: Join, Cédric | UHP-Nancy & ALIEN INRIA-Futurs |
Co-Chair: Coelho, João Paulo | IPB and INESC TEC |
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10:00-10:20, Paper WeA18.1 | Add to My Program |
A Simple and Efficient Feedback Control Strategy for Wastewater Denitrification |
Join, Cédric | UHP-Nancy & ALIEN INRIA-Futurs |
Bernier, Jean | SIAAP |
Mottelet, Stephane | Univ. De Tech. De Compiegne |
Fliess, Michel | Ec. Pol |
Rechdaoui-Guérin, Sabrina | SIAAP |
Azimi, Samir | SIAAP |
Rocher, Vincent | Siaap |
Keywords: Water quality and quantity management, Optimal operation of water resources systems, Dynamics and control
Abstract: Due to severe mathematical modeling and calibration difficulties open-loop feedforward control is mainly employed today for wastewater denitrification, which is a key ecological issue. In order to improve the resulting poor performances a new model-free control setting and its corresponding ``intelligent'' controller are introduced. The pitfall of regulating two output variables via a single input variable is overcome by introducing also an open-loop knowledge-based control deduced from the plant behavior. Several convincing computer simulations are presented and discussed.
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10:20-10:40, Paper WeA18.2 | Add to My Program |
Optimized Fractional Order Sliding Mode Controller for Water Level in Irrigation Canal Pool |
Oliveira, Josenalde Barbosa | Agricultural School of Jundiaí |
Pinho, Tatiana M. | UTAD and INESC TEC |
Coelho, João Paulo | IPB and INESC TEC |
Boaventura Cunha, José | Univ. De Tras-Os-Montes E Alto Douro |
Moura Oliveira, Paulo | Univ. De Tras Os Montes E Alto Douro |
Keywords: Uncertainty in water resource system control/management, Optimal operation of water resources systems, Natural and environmental systems
Abstract: Water level regulation of irrigation canals represents a major challenge for control systems design. Those systems exhibit large dynamic variation in their operating conditions. To overcome this fact, robust controllers should be applied. The sliding mode control paradigm reveals this ability which make it a suitable candidate to be incorporated in the irrigation canal control loop. Moreover, its exibility can be further potentiated by extending the ordinary formulation by adding fractional-order integro-differential operations. In this work, fractional-order sliding mode control is applied to the above mentioned problem. This application represents a novelty and, according to the obtained simulation results, leads to an accurate and proper performance when compared to its integer-order counterpart and to a fractional proportional-integrative controller, recently proposed for this problem.
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10:40-11:00, Paper WeA18.3 | Add to My Program |
Evolutionary Game Dynamics and Risk Control in Global Dilemmas with Insurance Compensation |
Du, Jinming | Northeastern Univ |
Jia, Yongnan | Peking Univ |
Keywords: Game theory for natural resources, Real time control of environmental systems, Climate change impact and adaptation measures
Abstract: In this paper, we study the evolution of global cooperation through proposing a multi-level threshold public goods game model, and introducing an insurance compensation mechanism to probe the risk control. We find that high risk and high threshold are in favor of global cooperation. Furthermore, the introduction of insurance compensation remarkably promotes the emergency of global cooperative behaviors. On the other hand, the fixation time of global cooperation is sharply shortened after introducing insurance compensation mechanism. Besides, global cooperation is strengthened with the increase of imitation intensities.
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11:00-11:20, Paper WeA18.4 | Add to My Program |
Structural Effects and Aggregation in a Social-Network Model of Natural Resource Consumption |
Manzoor, Talha | Lahore Univ. of Management Sciences |
Rovenskaya, Elena | IIASA |
Muhammad, Abubakr | LUMS School of Science & Engineering, Pakistan |
Keywords: Natural resources management, Game theory for natural resources, Modeling and identification of environmental systems
Abstract: In this paper we consider a networked system of natural-resource consumption, where the agents are governed by a recently reported model of consumer psychology. Dynamics of the consumption for each agent are influenced by the state of the resource and consumption of her neighbors. The process is parameterized by the psychological characteristics of each agent. This study extends the original model to incorporate the underlying network topology, and explores the effects of aggregation via densely-connected communities present in the network. The exercise yields new interpretations of the predictions made by the original model in context of the influence network. We present aggregation mechanisms first for certain canonical structures of the consuming population and later on for a class of non-canonically structured populations. In the end we present an approximate aggregation scheme for populations where only some inaccurate information of the consumer characteristics is available.
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11:20-11:40, Paper WeA18.5 | Add to My Program |
Predictive Model Based Architecture for Energy Biomass Supply Chains Tactical Decisions |
Pinho, Tatiana M. | UTAD and INESC TEC |
Coelho, João Paulo | IPB and INESC TEC |
Veiga, Germano | Inesc Tec |
Moreira, António Paulo | Faculdade De Engenharia Da Univ. Do Porto |
Moura Oliveira, Paulo | Univ. De Tras Os Montes E Alto Douro |
Boaventura Cunha, José | Univ. De Tras-Os-Montes E Alto Douro |
Keywords: Modeling and identification of environmental systems, Scheduling, coordination, optimization, Modelling and control under change
Abstract: Renewable sources of energy play a decisive role in the current energetic paradigm to mitigate climate changes associated with greenhouse gases emissions and problems of energy security. Biomass energy and in particular forest wood biomass supply chains have the potential to enhance these changes due to its several benefits such as ability to produce both bioenergy and bioproducts, generate energy on-demand, among others. However, this energy source has some drawbacks mainly associated with the involved costs. In this work, the use of a Model Predictive Control approach is proposed to plan, monitor and control the wood-biomass supply chain for energy production at a tactical level. With this methodology the biomass supply chain becomes more efficient ensuring the service quality in a more competitive way. In order to test and validate the proposed approach different simulation scenarios were considered that proved the efficiency of the proposed tool regarding the decisions definition and control.
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11:40-12:00, Paper WeA18.6 | Add to My Program |
Order Reduction for a Signaling Pathway Model of Neuronal Synaptic Plasticity |
Lehtimäki, Mikko | Tampere Univ. of Tech |
Paunonen, Lassi | Tampere Univ. of Tech |
Pohjolainen, Seppo | Tampere Univ. of Tech |
Linne, Marja-Leena | Tampere Univ. of Tech |
Keywords: Model reduction and dynamic emulation, Kinetic modeling and control of biological systems, Dynamics and control
Abstract: In this study a nonlinear mathematical model of plasticity in the brain is reduced using the Proper Orthogonal Decomposition and Discrete Empirical Interpolation Method. Such methods are remarkably useful for connecting reduced small scale models via the inputs and outputs to form optimally performing large scale models. Novel results were obtained as mathematical model order reduction has not been applied in neuroscience without linearization of the mathematical model and never to the model presented here. The reduced order model consumes considerably less computational resources than the original while maintaining a low root mean square error between the original and reduced model.
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WeA19 Regular Session, Gavarnie |
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Solar Energy Systems |
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Chair: Bueno Lopez, Maximiliano | Univ. De La Salle |
Co-Chair: Conte, Francesco | Univ. of Genova |
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10:00-10:20, Paper WeA19.1 | Add to My Program |
Fuzzy Assisted Enhanced Control for Utility Connected Rooftop PV (I) |
Pullaguram, Deepak | Indian Inst. of Tech. Delhi |
Mishra, Sukumar | Indian Inst. of Tech. Delhi |
Senroy, N. | IIT Delhi |
Bhattacharya, Somesh | Indian Inst. of Tech. Delhi |
Keywords: Control of renewable energy resources, Smart grids, Control system design
Abstract: A modified control strategy for enhanced operation for a single phase rooftop PV connected to a single phase utility grid is presented in this paper. The current control is modified such that the quadrature references produced are independent of the grid side harmonics, which aids in the optimal control performance, even in polluted grid conditions. The transformations for the quadrature components are achieved using an inverse park phase locked loop (PLL), which enhances the PV performance, especially in the single phase. To assist the controller actions in the most efficient way, a TS fuzzy control for the DC link voltage regulation is used. Thus an improved performance for the rooftop PV With the proposed control topology is observed over the conventional control. The efficacy of the control scheme is tested in the MATLAB/ SIMULINK environment.
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10:20-10:40, Paper WeA19.2 | Add to My Program |
Chaos in a Stand-Alone Photovoltaic Plant (I) |
Abdelmoula, Mohamed | Univ. of Reims Champagne-Ardenne, Lab. CReSTIC |
Moughamir, Said | Univ. of Reims Champagne-Ardenne, Lab. CReSTIC |
Robert, Bruno Gérard Michel | Univ. of Reims Champagne-Ardenne |
Keywords: Modeling and simulation of power systems, Power systems stability, Control of renewable energy resources
Abstract: The topic of this work joins in a wide theme treating with the security and the reliability of the operating mode of complex electronic circuits. A study of the dynamical behavior of a stand-alone photovoltaic system under digital controls is presented. Numerical simulations are illustrated in the time domain and in the parameters space. The objective of this work is to operate the mathematical advances of bifurcations theory to predict and control the bifurcations phenomena in an isolated photovoltaic plant. To accomplish this aim, we have presented a new discrete time model of the photovoltaic power system. The advantage of this model is that can be handled analytically with the aim to design controller to harness any abnormal behavior that can occur. Without time delayed feedback control (TDFC), the system may present undesirable behaviors such as chaotic solutions. Using this control theory, it is shown that TDFC is able to stabilize the interesting periodic orbit for larger values of proportional gain.
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10:40-11:00, Paper WeA19.3 | Add to My Program |
Bounded-Voltage Power Flow Control for Grid-Tied PV Systems (I) |
Wang, Yeqin | Texas Tech. Univ |
Ren, Beibei | Texas Tech. Univ |
Zhong, Qing-Chang | Illinois Inst. of Tech |
Keywords: Control of renewable energy resources, Application of power electronics
Abstract: An uncertainty and disturbance estimator (UDE)-based robust power flow control for grid-tied DC/AC converters was reported in the literature to achieve accurate power delivery in the presence of various types of model uncertainties and external disturbances. In this paper, a bounded-voltage power flow control is proposed for grid-tied PV systems with the improvement of the existing UDE-based robust power flow control to provide AC voltage protection.With the bounded-voltage design, the output voltage of the DC/AC converter always stays within the given range, which avoids the integrator windup caused by the saturation unit with the inappropriate setting of reactive power reference. Both simulation and experimental results are provided to demonstrate the effectiveness the proposed strategies.
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11:00-11:20, Paper WeA19.4 | Add to My Program |
Fuzzy-Based Reactive Power Control for Smart PV Inverters in LV Distribution Systems |
Bernal Alzate, Efrain | Univ. De La Salle |
Bueno Lopez, Maximiliano | Univ. De La Salle |
Salazar Caceres, Jose Fabian | Univ. De La Salle |
Keywords: Smart grids, Real time simulation and dispatching, Intelligent control of power systems
Abstract: Future society entails new paradigms in how the world will work; new ideas as Smart Grid, Smart Cities, Smart Homes, an interactions between them have been established and studied.With the inclusion of Information and Communication Technology (ICT) components into the low-voltage (LV) distribution grid, some measurement data from smart meters are available for control of the distribution networks with high penetration of photovoltaic systems (PV). This paper takes a local voltage-control strategy for smart LV distribution networks, by using a novel fuzzy based methodology using local information collected from smart meters as status information source of the grid. Comparison studies are presented for a smart home LV distribution system to validate the method, showing the robustness of proposed method compared with the traditional local approaches. To illustrate the applicability of the proposed method, a real-time digital simulator for smart distribution power grids with a the developed voltage-control system are used. The results show that the proposed method can simultaneously mitigate the PV reactive power injection, as well as minimize the voltage rise and power losses.
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11:20-11:40, Paper WeA19.5 | Add to My Program |
An Ultra-Short-Term Pre-Plan Power Curve Based Smoothing Control Approach for Grid-Connected Wind-Solar-Battery Hybrid Power System |
Peng, Chao | Univ. of Electronic Science and Tech. of China |
Zou, Jianxiao | School of Automation Engineering, Univ. of Electronic Scien |
Zhang, Zhenzhen | Coll. of Electrical & Information Engineering, Southwest Univ |
Han, Lu | Univ. of Electronic Science and Tech. of China |
Liu, Miao | Univ. of Electronic Science and Tech. of China |
Keywords: Control of renewable energy resources, Intelligent control of power systems, Optimal operation and control of power systems
Abstract: Recently, wind-solar-battery hybrid power generation has become one of the most popular methods to tackle the grid integrating problem of wind and solar power. A novel ultra-short-term pre-plane power curve based smoothing control approach is proposed for grid-connected wind-solar-battery hybrid power system (WSBHPS). A pre-plan power curve based scheduling module, which takes the grid limitation of maximum powers fluctuation, maximizing wind and solar power utilization and reducing use of battery energy storage system(BESS) as objectives, is designed according to ultra-short-term prediction information of wind and solar power and state of charging (SOC) of BESS. A real-time power fluctuation compensation module is designed based on weighted moving average filtering algorithm to smooth power fluctuation in real time. The results of simulation experiments show that the proposed approach could not only reduce the use of BESS, but also has better smoothing effectiveness compared with traditional low filter based smoothing control approach.
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11:40-12:00, Paper WeA19.6 | Add to My Program |
Day-Ahead Planning and Real-Time Control of Integrated PV-Storage Systems by Stochastic Optimization |
Conte, Francesco | Univ. of Genova |
Massucco, Stefano | Univ. of Genova |
Silvestro, Federico | Univ. of Genova |
Keywords: Control of renewable energy resources, Optimal operation and control of power systems, Smart grids
Abstract: This paper proposes a solution for the day-ahead planning and the control of real-time operation of a large utility scale grid-connected system composed by a photovoltaic plant (PV) integrated with a battery energy storage system (BESS). The day-head planning algorithm determines the optimal daily energy delivery profile based on a prediction of the PV power production. The objective is to maximize the power delivery, according to the request of specific profile shape constraints, which can be defined by the transmission system operator. The real-time operation algorithm dynamically regulates the BESS power exchange, in order to realize the planned power profile and satisfying operational and technical constraints. The proposed algorithms use chance-constrained stochastic optimization, which allows the day-ahead planning and the real-time operation to stochastically take into to account long-term and short-term PV power predictions, respectively. Simulations results show the effectiveness of the proposed solutions.
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WeA20 Invited Session, Toulouse |
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Advances in Artificial Pancreas Control Systems |
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Chair: Breton, Marc D | Univ. of Virginia |
Co-Chair: Cinar, Ali | Illinois Inst. of Tech |
Organizer: Cinar, Ali | Illinois Inst. of Tech |
Organizer: Breton, Marc D | Univ. of Virginia |
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10:00-10:20, Paper WeA20.1 | Add to My Program |
Mixed Linear-Quadratic Cost Function Design for MPC of an Artificial Pancreas - Improved Treatment & Safety for a Broad Range of Meal Sizes (I) |
Rebello, Gustavo | Federal Univ. of Juiz De Fora |
Gondhalekar, Ravi | Charles Stark Draper Lab |
Dassau, Eyal | Harvard Univ |
Doyle, Francis | Harvard Univ |
Keywords: Dynamics and control, Artificial pancreas or organs, Control of physiological and clinical variables
Abstract: A novel Model Predictive Control (MPC) strategy for an artificial pancreas to treat people with type 1 diabetes mellitus is proposed and tested in-silico. The proposed controller has been designed to handle a large spectrum of meal sizes more effectively than the authors' current strategy. Hyperglycemia due to small meals is treated more assertively, leading to increased time in euglycemia, whereas hyperglycemia due to large meals is treated more cautiously, resulting in a markedly reduced risk of controller-induced hypoglycemia. This is achieved by replacing the purely quadratic cost function employed within the MPC optimization by a mixed linear-quadratic cost function. This simple modification results in significant leeway to design a controller that responds more effectively and safely to the dietary habits of the AP user, while maintaining the quadratic program structure of the resulting optimization problem. The proposed MPC strategy's benefits are demonstrated by in-silico analysis using the Universities of Virginia/Padova US Food & Drug Administration accepted metabolic simulator.
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10:20-10:40, Paper WeA20.2 | Add to My Program |
Artificial Pancreas: First Clinical Trials in Argentina (I) |
Sánchez-Peña, Ricardo S. | Inst. Tecnológico De Buenos Aires (ITBA) |
Colmegna, Patricio Hernán | Inst. Tecnológico De Buenos Aires |
Grosembacher, Luis | HiBA - Hospital Italino Buenos Aires |
Breton, Marc D | Univ. of Virginia |
De Battista, Hernán | Univ. Nacional De La Plata - CONICET |
Garelli, Fabricio | Univ. of La Plata |
Belloso, Waldo | HIBA |
Campos Nanez, Enrique | Univ. of Virginia |
Simonovich, Ventura | HIBA |
Beruto, Valeria | HIBA |
Scibona, Paula | HIBA |
Chernavvsky, Daniel | Univ. of Virginia |
Keywords: Artificial pancreas or organs, Clinical trial, Control of physiological and clinical variables
Abstract: The first clinical trials using an Artificial Pancreas (AP) in Latin America have been defined in 2 stages. The first stage was carried out in November 2016 with the UVA controller (developed by the Center for Diabetes Technology and already clinically tested), and the second will be performed during the first semester of 2017 with the ARG (Automatic Regulation of Glucose) algorithm (developed by ITBA, UNQ, and UNLP in Argentina). Both tests are based on the DiAs (Diabetes Assistant) from the UVA, and are performed in the HIBA on 5 patients with Type 1 Diabetes Mellitus (T1DM), for 36 hours. For the first stage, Open-Loop (OL) insulin boluses were applied before meals and patient's physical activity was included. On the other hand, for the second stage, patients will not be involved in physical activity, but no OL insulin boluses will be injected before meals. In this work, experimental results from the first stage with the UVA controller, and preliminary results with the ARG control algorithm tested on the UVA/Padova simulator are presented. Due to the final paper deadline, the experimental results from the second stage are not included here, but will be presented at the IFAC World Congress.
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10:40-11:00, Paper WeA20.3 | Add to My Program |
Artificial Pancreas: From Control-To-Range to Control To-Target (I) |
Incremona, Gian Paolo | Univ. Degli Studi Di Pavia |
Messori, Mirko | Univ. of Pavia |
Toffanin, Chiara | Univ. of Pavia |
Cobelli, Claudio | Univ. of Padova |
Magni, Lalo | Univ. of Pavia |
Keywords: Artificial pancreas or organs, Control of physiological and clinical variables, Chronic care and/or diabetes
Abstract: In the last decade, control algorithms designed for Artificial Pancreas (AP) systems were characterized by significant progresses. In particular, the Control-to-Range Model Predictive Control (MPC) showed its effectiveness and safety in several real life studies. Recent studies on model individualization and the enhanced quality of glucose sensors further improved the efficacy of MPC, thus allowing moving from a Control-to-Range to a Control-to-Target approach. In this study, an integral action in the MPC approach (IMPC) is proposed. This ensures beneficial effects in terms of regulation to the target in presence of disturbances such as delays, pump limitation and model uncertainties. The integral action is even more important when model individualization is performed since, during the identification phase, it allows to focus on the identification of the dynamical part of the model rather than to the static gain. The patient models considered in this contribution have been identified through a constrained optimization approach. A procedure for tuning the IMPC aggressiveness by considering both the glucose control performance and the integral of the error with respect to the target is described. Finally, in silico experiments are presented to assess the effectiveness of the proposed IMPC.
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11:00-11:20, Paper WeA20.4 | Add to My Program |
Insulin Limitation in the Artificial Pancreas by Sliding Mode Reference Conditioning and Insulin Feedback: An in Silico Comparison (I) |
Sala, Iván | Univ. Pol. De València |
Díez, José Luis | Univ. Pol. De Valencia |
Bondia Company, Jorge | Univ. Pol. De Valencia |
Keywords: Artificial pancreas or organs, Chronic care and/or diabetes, Control of physiological and clinical variables
Abstract: Sliding Mode Reference Conditioning (SMRC) has been recently proposed as a new technique to limit insulin-on-board in an artificial pancreas system. It is based on the glucose set point modulation by means of an outer control loop to avoid violation of imposed insulin-on-board limits. Clinical evaluation under a mixed meal challenge has demonstrated, in combination with a PD controller, a significant improvement in postprandial control as compared to insulin pump therapy. However, advantages of SMRC as compared to the widely used Insulin Feedback in PID-based artificial pancreas systems have not been thoroughly investigated. As well, SMRC offers many possibilities of criteria for the selection of insulin-on-board limits according to the expected role of the outer loop with respect to the main controller. In this paper, all these aspects are investigated through an in silico study in face of a challenging scenario with multiple sources of variability.
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11:20-11:40, Paper WeA20.5 | Add to My Program |
Impact of Sensing and Infusion Site Dependent Dynamics on Insulin Bolus Based Meal Compensation (I) |
Kölle, Konstanze | Norwegian Univ. of Science and Tech |
Fougner, Anders Lyngvi | Norwegian Univ. of Science and Tech |
Stavdahl, Øyvind | Norwegian Univ. of Science and Tech. (NTNU) |
Keywords: Artificial pancreas or organs, Biomedical system modeling, simulation and visualization, Control of physiological and clinical variables
Abstract: Meals are most challenging in the regulation of blood glucose levels (BGL) in diabetes mellitus type 1, whether it is automated, semi-automated or manually controlled. The common subcutaneous (SC) route for glucose sensing and insulin administration suffers from large latencies. This paper investigates the impact of glucose sensing and insulin absorption dynamics on the achievable glucose regulation when insulin boluses are triggered by a meal detection system. In silico patients from the academic version of the UVa/Padova simulator are studied. The sub-models of glucose sensing and insulin absorption are adjusted to allow simulations with different time delays and time constants. Meals are detected with published methods based on threshold-checking of continuous glucose monitoring data. Slow glucose sensing dynamics delay the meal detection. Delayed meal detection can be compensated to some extent by exact knowledge about the insulin absorption. The combination of slow glucose sensing and slow insulin administration reduces the effect of insulin boluses on the postprandial BGL. The classical SC approach is, therefore, at high risk of large BGL excursions despite meal detection.
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11:40-12:00, Paper WeA20.6 | Add to My Program |
Evaluation of Model Complexity in Model Predictive Control within an Exercise-Enabled Artificial Pancreas (I) |
Resalat, Navid | Oregon Health and Science Univ |
El Youssef, Joseph | Oregon Health and Science Univ |
Reddy, Ravi | Oregon Health and Science Univ |
Jacobs, Peter | Oregon Health and Science Univ |
Keywords: Artificial pancreas or organs, Chronic care and/or diabetes, Biomedical system modeling, simulation and visualization
Abstract: Model predictive control (MPC) algorithms have been used often within artificial pancreas control systems both in-silico and in clinical studies. Increasingly complex models in the controller can more accurately predict the glycemic response, but they introduce increased computational complexity which can be challenging to implement especially within an embedded environment where computational resources are limited. Less complex models are also preferable in that they can be evaluated in silico against more complex plant models. There has not yet been an evaluation of how the complexity of models used within an MPC impacts performance within an artificial pancreas. A model within an artificial pancreas MPC algorithm should be as complex as necessary to accurately predict a glycemic response to meals, exercise, stress, and other disturbances, but not overly complex. In this paper, we evaluate four glucoregulatory models used within an MPC, starting with a 4-state model and increasing in complexity up to six states. We evaluate the complexity using an in-silico population derived from a more complex glucoregulatory model (9 state variables). We assess how complexity of the model impacts performance both in terms of standard control metrics such as settling time and overshoot as well as clinically relevant metrics such as percent time in euglycemia (glucose between 70 and 180 mg/dl), percent time in hypoglycemia (<70 mg/dl) and percent time in hyperglycemia (>180 mg/dl). We find that model complexity matters far less than how well the model parameters match the individual subjects. When the simplest model is used, but fit to an individual subject’s data, it performed comparably with more complex models. We selected a middle-complexity model and integrated it into our previously published exercise-enabled MPC model and evaluated it in a virtual patient population both with and without the exercise model present. We found that increasing complexity by modeling exercise is critical to help enable early insulin shut-off by the controller to avoid hypoglycemia.
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WeA21 Regular Session, Conques |
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Data-Based Control |
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Chair: Garone, Emanuele | Univ. Libre De Bruxelles |
Co-Chair: Galeani, Sergio | Univ. Di Roma Tor Vergata |
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10:00-10:20, Paper WeA21.1 | Add to My Program |
Sub-Optimal Extremum Seeking Control |
Labar, Christophe | Univ. Libre De Bruxelles |
Garone, Emanuele | Univ. Libre De Bruxelles |
Kinnaert, Michel | Univ. Libre De Bruxelles |
Keywords: Data-based control, Energy systems
Abstract: This paper deals with the problem of steering a system at a certain percentage of the optimal cost, so as to keep a desired amount of reserve. This reserve can be used as a knob to counteract fast changes in the operating conditions of the system. In this paper, we consider the case where the system dynamics as well as the analytical expression of the cost function are unknown. We propose a modified version of extremum seeking control that, under certain assumptions, is able to keep a desired margin with respect to the estimated maximum. The theoretical properties of the presented scheme are analysed and the effectiveness of the approach is validated in simulation on a wind turbine example.
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10:20-10:40, Paper WeA21.2 | Add to My Program |
Learning-Based Nonlinear Model Predictive Control |
Limon, Daniel | Univ. De Sevilla |
Calliess, Jan-Peter | Univ. of Cambridge |
Maciejowski, Jan | Univ. of Cambridge |
Keywords: Data-based control, Nonlinear predictive control, Adaptive control
Abstract: This paper presents stabilizing Model Predictive Controllers (MPC) in which prediction models are inferred from experimental data of the inputs and outputs of the plant. Using a nonparametric machine learning technique called LACKI, the estimated (possibly nonlinear) model function together with an estimation of Hölder constant is provided. Based on these, a number of predictive controllers with stability guaranteed by design are proposed. Firstly, the case when the prediction model is estimated off-line is considered and robust stability and recursive feasibility is ensured by using tightened constraints in the optimisation problem. This controller has been extended to the more interesting and complex case: the online learning of the model, where the new data collected from feedback is added to enhance the prediction model. An on-line learning MPC based on a double sequence of predictions is proposed.
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10:40-11:00, Paper WeA21.3 | Add to My Program |
External Models for Output Regulation Based on Moment Estimation from Input-Output Data |
Carnevale, Daniele | Univ. Di Roma , Tor Vergata |
Galeani, Sergio | Univ. Di Roma Tor Vergata |
Sassano, Mario | Univ. of Rome, Tor Vergata |
Serrani, Andrea | The Ohio State Univ |
Keywords: Data-based control, Regulation (linear case), Linear multivariable systems
Abstract: In this paper, we propose a novel, data-driven approach to external model-based regulation for uncertain plant and known exosystem models. At the core of the method lies a technique for least-square estimation of the gains of the plant model at the frequency of excitation, which is adopted for the construction of a hybrid external model of an equivalent disturbance acting at the plant input. Interestingly, in spite of residual errors on the estimates (arising from the use of finite estimation intervals), the reset mechanism employed in the hybrid external model ensures asymptotic regulation, instead of practical regulation. Furthermore, the method does not require a priori knowledge of the transfer matrix of the plant, and takes advantage of an external approach to robust regulation, where the ensuing stabilization problem may be simpler than the ones typically found in internal model-based design.
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11:00-11:20, Paper WeA21.4 | Add to My Program |
On Lyapunov Functions and Data-Driven Dissipativity |
Maupong, Thabiso Mphoobuile | Univ. of Southapton |
Mayo-Maldonado, Jonathan Carlos | Tecnologico De Monterrey |
Rapisarda, Paolo | Univ. of Southampton |
Keywords: Data-based control, Linear systems, Lyapunov methods
Abstract: Our contribution in this paper is twofold. In the first part, we study Lyapunov functions when a plant is interconnected with a dissipative stabilizing controller. In the second, we present results on data-driven approach to dissipative systems. In particular, we provide conditions under which an observed trajectory can be used to determine whether a system is dissipative with respect to a given supply rate. Our results are based on linear difference systems for which the use of quadratic difference forms play a central role for dissipativity and Lyapunov theory.
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11:20-11:40, Paper WeA21.5 | Add to My Program |
Determining Dissipation Inequalities from Input-Output Samples |
Romer, Anne | Univ. of Stuttgart |
Montenbruck, Jan Maximilian | Univ. of Stuttgart |
Allgower, Frank | Univ. of Stuttgart |
Keywords: Data-based control
Abstract: Knowledge of a dissipation inequality can disclose valuable system properties relevant for controller design. Therefore, we consider the problem of determining a dissipation inequality for an input-output system. In practice, yet, the core issue is that one would only know finitely many input-output samples while the input-output relationship would be undisclosed analytically. For such scenarios, we provide an approach for computing dissipation inequalities based upon knowledge of large amounts of input-output samples, as they arise in applications nowadays gathered under the term “big data”. Our approach will, under certain conditions, provide dissipation inequalities which remain satisfied for all input-output pairs that the system can produce, though only having been derived from finitely many of them.
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11:40-12:00, Paper WeA21.6 | Add to My Program |
Data-Driven Predictive Control with Nonlinear Compensation for Performance Management in Virtualized Software System |
Aryani, Dharma | RMIT Univ |
Wang, Liuping | RMIT Univ |
Patikirikorala, Tharindu | Swinburne Univ. of Tech |
Keywords: Data-based control, Modeling for control optimization
Abstract: This paper deals with data-driven predictive control for relative performance management in virtualized software system. The system dynamics are characterized in Hammerstein-Wiener structure to capture nonlinear and linear characteristics. The proposed control approach is the implementation of Subspace-based Predictive Control with the integration of nonlinear compensation. The compensator functions are inverse static input and output nonlinearity models from the Hammerstein-Wiener system identification. The subspace predictors are formulated from the linear model input and output of Wiener block. The experimental results from three scenarios of performance objectives show the reliability of Subspace-based Predictive Control to manage the virtualized software system.
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WeA22 Open Invited Session, Cordes |
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Control of Power Electronic Converters |
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Chair: Zhong, Qing-Chang | Illinois Inst. of Tech |
Co-Chair: Lee, Young Il | Seoul National Univ. of Science and Tech |
Organizer: Zhong, Qing-Chang | Illinois Inst. of Tech |
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10:00-10:20, Paper WeA22.1 | Add to My Program |
Finite Control Set-Model Predictive Speed Control of Induction Motors with Optimal Duration (I) |
Ahmed, Abdelsalam | Tanta Univ |
Koh, Byung Kwon | Seoul National Univ. of Science and Tech |
Lee, Young Il | Seoul National Univ. of Science and Tech |
Kim, Jung-Su | Seoul National Univ. of Tech |
Keywords: Control system design, Application of power electronics, Optimal operation and control of power systems
Abstract: This paper presents a new speed control method for the induction motor (IM) following the finite control set-model predictive control (FCS-MPC) strategy. It adopts the cascaded control scheme, which consists of an inner model predictive torque control (MPTC) loop and outer model predictive speed control (MPSC) loop using two individual cost functions. This control approach implements a maximum torque per ampere (MTPA) operation in a wide speed range, which includes flux-increased and flux-limited modes. The MPSC produces the required torque to drive the IM at the reference speed. This torque is taken as the input of the inner MPTC, which in turn generates the optimal finite set of control input voltage. The control signals of the two MPC are constrained with the maximum limits of the system. The state feedback is achieved with a standard Kalman Filter, which estimates the non-measured load torque. The proposed control system is implemented and validated in experimental environment. The behaviour of the control system is evaluated by applying reference and disturbance steps to the system in different operational modes.
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10:20-10:40, Paper WeA22.2 | Add to My Program |
Sliding-Mode Control of a Boost Converter Supplying a Constant Power Load (I) |
Martinez Treviño, Blanca Areli | Univ. Rovira I Virgili |
Jammes, Robin | Univ. Rovira I Virgili, Department D’enginyeria Electrònic |
El Aroudi, Abdelali | Univ. Rovira I Virgili |
Martinez-Salamero, Luis | Univ. Rovira Ivirgili |
Keywords: Application of power electronics, Modeling and simulation of power systems, Control system design
Abstract: The work here reported tackles the problem of controlling in sliding-mode (SM) a boost converter supplying a constant power load (CPL). A linear switching surface is proposed to overcome the intrinsic unstable behavior of the converter in both ON and OFF states, this resulting in a significant mitigation of the inrush current and a high degree of output voltage regulation. A detailed analysis showing the converter trajectories in the phase-plane and the conditions for the existence of sliding-mode is presented. The analytical predictions are in perfect agreement with PSIM and MATLAB simulations.
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10:40-11:00, Paper WeA22.3 | Add to My Program |
Generic Modeling of N-Level Pulse Width Modulation Voltage Source Inverters and Their Control (I) |
Vidal, Paul-Etienne | Lab. Génie De Production - ENIT |
Cailhol, Simon | Lab. Génie De Production, Univ. De Toulouse, INP - E |
Rotella, Frederic | ENIT |
Keywords: Modeling and simulation of power systems, Control system design, Application of power electronics
Abstract: A generic and mathematic tool is adapted and used for pulse width modulation inverter modelling and control. The model is developed on the elementary switching cell and finally extended to some N-level topologies and three-phase inverters. Based on the generalized inverses, the solution set of pulse width modulation carrier based scheme is highlighted. The degree of freedom highlighted for the modulation control are linked to the architecture described. A specific example is illustrated and based on a H-bridge 3 level topology.
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11:00-11:20, Paper WeA22.4 | Add to My Program |
A Fault Detection Method and a Tolerance Control in a Single-Phase Cascaded H-Bridge Multilevel Inverter (I) |
Lee, June-Hee | Ajou Univ |
Lee, Kyo-Beum | Ajou Univ |
Keywords: Applications of FDI and FTC, Analysis of reliability and safety, Application of power electronics
Abstract: This paper proposes a fault detection method and a tolerance control in a single-phase cascaded H-bridge multilevel inverter (CHBMI). In case of open-fault, the body diode of the fault switch provides a freewheeling current path. However, in case of short-fault, the freewheeling current path cannot be described by disconnecting of fuse and the distortion of output current is different from that of open-fault. Therefore, it is possible to separately detect the type of fault. When the open-fault or short-fault occurs, the output phase voltage has to limit because the single-phase CHBMI unable to compensate from another phase voltage like three-phase systems. Therefore, the reference voltage has to reconfigure, and the tolerance control is operated depending on the different fault types. In the proposed detection method, it is possible to detect not only the fault cell number but the fault location of switch accurately, and the quality of output current can improve through the proposed tolerance control when both open-fault and short-fault occur. The effectiveness and performance of proposed fault detection and tolerance control method are verified by simulation results.
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11:20-11:40, Paper WeA22.5 | Add to My Program |
Design of a UDE Frequency Selective Filter to Reject Periodical Disturbances (I) |
Gadelovits, Shlomo | Univ. of Sheffield |
Zhong, Qing-Chang | Illinois Inst. of Tech |
Kadirkamanathan, Visakan | The Univ. of Sheffield |
Konstantopoulos, George | Univ. of Sheffield |
Keywords: Application of power electronics, Control system design, Power systems stability
Abstract: In this paper a new filter design for the Uncertainty and Disturbance Estimator (UDE) is proposed to reject periodical disturbances when a limited bandwidth is required for the control output. The motivation comes from several applications where the system actuator may introduce a bandwidth limitation, as a result of internal delays, or when the actuator itself is a limited bandwidth closed-loop system. When the traditional UDE approach is applied in these systems, the stability requirements impose a limitation over the effective bandwidth of the UDE filter and therefore disturbances cannot be fully rejected by the filter. In the case where the expected disturbance is periodical with a known fundamental frequency, the proposed UDE filter is designed as a chain of filters to match selected bands of the expected disturbance spectrum and fully reject them while maintaining the desired stability margins. A design example of a power inverter application is investigated and extensive simulation results are provided to verify the proposed UDE filter design.
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11:40-12:00, Paper WeA22.6 | Add to My Program |
Impedance-Sum Stability Criterion for Cascaded Power Electronic Systems (I) |
Zhong, Qing-Chang | Illinois Inst. of Tech |
Zhang, Xin | Sheffield Univ |
Keywords: Analysis and control in deregulated power systems, Application of power electronics, Power systems stability
Abstract: The impedance-ratio criterion has been widely adopted to analyze the stability of cascaded power electronic systems. However, for different cascaded systems, the impedance ratio takes different forms. For cascaded systems with a voltage-controlled source, it is the ratio of the output impedance of the source converter to the input impedance of the load converter. For cascaded systems with a current-controlled source, it is the ratio of the input impedance of the load converter to the output impedance of the source converter. In this paper, a generic stability criterion in terms of the sum of the impedances of individual subsystems is proposed. A cascaded system with individually stable subsystems is stable if and only if the sum of the impedances of the subsystems does not encircle the origin clockwise or equivalently the impedance sum does not have right-half-plan (RHP) zeros. Real-time simulation results are presented to validate this generic stability criterion.
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WeA23 Open Invited Session, Lourdes |
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Powertrain Systems: Modeling, Control and Optimization 1 |
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Chair: Verdier, Damien | Continental Automotive France SAS |
Co-Chair: Eriksson, Lars | Linköping Univ |
Organizer: Onori, Simona | Clemson Univ |
Organizer: Eriksson, Lars | Linköping Univ |
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10:00-10:20, Paper WeA23.1 | Add to My Program |
Identification of Control-Relevant Diesel Engine Models Using a Local Linear Parametric Approach (I) |
van Keulen, Thijs Adriaan Cornelis | Tech. Univ. Eindhoven |
Huijben, Lars | Eindhoven Univ. of Tech |
Oomen, Tom | Eindhoven Univ. of Tech |
Keywords: Engine modelling and control, Automotive system identification and modelling, Automotive sensors and actuators
Abstract: Control is essential to meet future emission requirements in combustion engines. Accurate models are required to design a controller that achieves robust performance over a range of operating conditions. The aim of this paper is to develop a non-parametric and parametric identification procedure that is specifically tailored towards high performance diesel engine control, while minimizing measurement time. First, a non-parametric identification is proposed where the inputs are excited with multisines. A Local Rational Method (LRM) is employed to obtain multivariable Frequency Response Functions (FRFs) in a single experiment. Secondly, a parametric identification procedure uses the non-parametric estimates to obtain control-relevant parametric models. The identification procedure is demonstrated using a modern Heavy-Duty Diesel (HDD) engine providing highly accurate low order parametric models for a 2x2 plant using just 300s of measurement time at an engine operating point.
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10:40-11:00, Paper WeA23.3 | Add to My Program |
Optimal Powertrain Lock-Up Transients for a Heavy Duty Series Hybrid Electric Vehicle (I) |
Sivertsson, Martin | Volvo Cars |
Eriksson, Lars | Linköping Univ |
Keywords: Hybrid and alternative drive vehicles, Nonlinear and optimal automotive control, Engine modelling and control
Abstract: Fuel optimal lock-up transients for a heavy duty series hybrid electric vehicle are studied. A mean value engine model is used together with numerical optimal control to investigate the interplay between electric machine, gearbox and engine with its turbocharger dynamics in particular how they influence the manner and rate at which the engine should be controlled in order to reach a synchronized speed with the gear-box, enabling lock-up. This is studied both for prescribed gear-box speeds, simulating a mechanical transmission, and with gear-box speed an optimization variable, simulating a continuously variable transmission. The optimal engine transients and their duration are seen to be dictated by the stationary efficiency of the different drivetrain modes, showing that the ratio between the efficiencies of the electric and mechanical path dominates the dynamics and have a greater effect than the engine and turbocharger dynamics. In particular the transition between the modes is as fast as possible when the conventional powertrain is the most efficient and as slow as possible when the engine-generator set is more efficient. This points out that the stationary efficiency maps can be used in a central way for the control design of lock-up transients.
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11:00-11:20, Paper WeA23.4 | Add to My Program |
Optimizing a Hybrid Diesel Power Unit Using Extremum Seeking Control (I) |
Popp, Johannes | Univ. Erlangen-Nürnberg |
Deutscher, Joachim | Univ. Erlangen-Nürnberg |
Keywords: Adaptive and robust control of automotive systems, Hybrid and alternative drive vehicles
Abstract: In this paper the problem of online-optimizing the steady-state efficiency of a hybrid single-cylinder diesel power unit is considered. The special characteristic of the proposed concept is using the time path of the crankshaft position during one combustion cycle as an optimization variable. The problem can be stated in terms of an optimal control problem with free terminal time, which is solved by applying the model-free optimization scheme extremum seeking control. It is shown that by using a parameterization of the reference input based on trigonometric basis functions the evolution of the performance index can be modeled as a discrete-time nonlinear and multivariable system with a non-constant sampling interval. To this system the discretetime variant of ES can be directly applied. An advantage of the proposed method is that no modeling of the thermodynamic processes is required. The robustness and accuracy of the concept is at first studied through simulations. Furthermore, experimental results are presented demonstrating the need for a model-free optimization and the beneficial property of the concept’s adaptation capability.
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11:20-11:40, Paper WeA23.5 | Add to My Program |
Optimal Energy Control of a Dual Fuel Vehicle Fuelled by Natural Gas and E10 (I) |
Hall, Carrie | Illinois Inst. of Tech |
Pamminger, Michael | Argonne National Lab |
Sevik, James | Argonne National Lab |
Wallner, Thomas | Argonne National Lab |
Keywords: Modeling, supervision, control and diagnosis of automotive systems, Nonlinear and optimal automotive control, Engine modelling and control
Abstract: Due to the increasing availability of natural gas, there is growing interest in using this fuel for transportation. Utilizing natural gas along with gasoline can provide a way to leverage the high knock resistance of natural gas while avoiding some of the ignitability challenges of this fuel. This paper leverages experimental data for a single cylinder engine to model power production on a mid-size sedan. Using this model, an optimal energy management strategy is explored. Several weighting strategies are considered including techniques which consider fuel availability, fuel cost, and carbon emissions. The effectiveness of these methods are considered over the UDDS, HWY, and US06 cycles. While there is little benefit to such a fuel blending algorithm at low loads, at high loads (such as those encountered in the US06 cycle) blending can provide up to a 7% improvement in efficiency.
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11:40-12:00, Paper WeA23.6 | Add to My Program |
Model of a Hybrid Electrical System for Software and System V&V on Hardware in the Loop Test Bench (I) |
Verdier, Damien | Continental Automotive France SAS |
Lachaize, Jerome | Continental Automotive France SAS |
Lamamy, Romain | Continental Automotive France SAS |
Keywords: Modeling, supervision, control and diagnosis of automotive systems, Hybrid and alternative drive vehicles, System integration and supervision
Abstract: Pressure to reduce CO2 emissions is driving the automotive industry toward the electrification of powertrains. To support this trend Continental Automotive continues to develop components and advanced system control functionalities. To validate these new control functionalities, the existing Hardware In the Loop vehicle model was extended to include a model of the hybrid system. This paper describes the model requirements, the modelling methodology and the model validation process. Finally an insight is given into some typical use cases for this model during the verification & validation (V&V) phase.
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WeA24 Open Invited Session, Pic du Midi |
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Event-Triggered and Self-Triggered Control |
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Chair: Heemels, Maurice | Eindhoven Univ. of Tech |
Co-Chair: Hirche, Sandra | Tech. Univ. of Munich |
Organizer: Heemels, Maurice | Eindhoven Univ. of Tech |
Organizer: Hirche, Sandra | Tech. Univ. of Munich |
Organizer: Johansson, Karl H. | Royal Inst. of Tech |
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10:00-10:20, Paper WeA24.1 | Add to My Program |
H2 Optimization under Intermittent Sampling and Its Application to Event-Triggered Control (I) |
Braksmayer, Maor | Tech. - IIT |
Mirkin, Leonid | Tech |
Keywords: Event-based control, Optimal control of hybrid systems
Abstract: The paper studies the H2 optimal sampled-data control of linear time-invariant systems. The sampling pattern is assumed to be uniformly bounded but otherwise arbitrary and a priori unknown. The derived optimal solution is analytic, computationally simple, implementable, and transparent. Properties of the optimal controller also suggest novel event triggering mechanisms, which preserve stability and tolerant of measurement noise. Applying to the benchmark problem of (Cervin, 16), the proposed event generation mechanisms outperform several existing approaches.
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10:20-10:40, Paper WeA24.2 | Add to My Program |
Delay-Dependent Data Rate Bounds for Containability of Scalar Systems (I) |
Linsenmayer, Steffen | Univ. of Stuttgart |
Blind, Rainer | Univ. of Stuttgart |
Allgower, Frank | Univ. of Stuttgart |
Keywords: Event-based control, Quantized systems, Control under communication constraints
Abstract: This paper considers the problem of containability for a scalar linear unstable system where the communication from the sensor to the actuator is performed over a network with finite capacity. The possibilities of event-based sampling concepts in a setup with memoryless coding and decoding components acting together with a static controller are investigated. A robust controller is designed such that the finite communication control system employs an arbitrary, possibly vanishing, average data rate in a delay free setup while guaranteeing containability. The controller can be applied in the presence of delays as well, whereas the sampling mechanism needs to be adjusted. This leads to an increasing data rate and this increase is precisely quantified. Indications why the uncertainty in time rather than the pure delay causes the increasing data rate are given as well as considerations regarding the relation of transmitted bits and delay.
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10:40-11:00, Paper WeA24.3 | Add to My Program |
Self-Triggered Control for Sampled-Data Systems Using Reachability Analysis (I) |
Al Khatib, Mohammad | Lab. Des Signaux Et Systèmes |
Girard, Antoine | CNRS |
Dang, Thao | VERIMAG |
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11:00-11:20, Paper WeA24.4 | Add to My Program |
Design of Periodic Event-Triggered Control for Polynomial Systems: A Delay System Approach (I) |
Aranda Escolástico, Ernesto | UNED |
Abdelrahim, Mahmoud | Assiut Univ |
Guinaldo, Maria | UNED |
Dormido, Sebastián | UNED |
Heemels, Maurice | Eindhoven Univ. of Tech |
Keywords: Control over networks, Event-based control
Abstract: Event-triggered control is a control strategy which allows the savings of communication resources in networked control systems. In this paper, we are interested in periodic event-triggering mechanisms in the sense that the triggering condition is only verified at predefined periodic sampling instants, which automatically ensures that Zeno behavior does not occur. We consider the case where both the output measurement and the control input are transmitted asynchronously using two independent triggering conditions. The developed result is dedicated to a class of nonlinear systems, where both the plant model and the feedback law can be described by polynomial functions. The overall problem is modeled and analyzed in the framework of time-delay systems, which allows to derive sum-of-squares (SOS) conditions to guarantee the global asymptotic stability in terms of the sampling period and the parameters of the triggering conditions. The approach is illustrated on a nonlinear numerical example.
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11:20-11:40, Paper WeA24.5 | Add to My Program |
Observer-Based Event-Triggered Control for Linear Systems Subject to Cone-Bounded Nonlinearities (I) |
Tarbouriech, Sophie | LAAS-CNRS |
Seuret, Alexandre | Cnrs / Laas |
Moreira, Luciano | Univ. Federal Do Rio Grande Do Sul (UFRGS) |
Gomes Da Silva Jr, Joao Manoel | Univ. Federal Do Rio Grande Do Sul (UFRGS) |
Keywords: Event-based control, Control over networks, Control under communication constraints
Abstract: The paper presents an observer-based event-triggered control strategy for linear systems subject to input cone-bounded nonlinearities by using only available measurable variables. Sufficient conditions based on linear matrix inequalities are proposed to ensure the asymptotic stability of the closed loop and the avoidance of Zeno behavior in an emulation context. Based on these conditions, a convex optimization problem to compute the parameters of the event-trigger rule aiming at reducing the number of control updates is proposed. The approach is illustrated on a numerical example that considers the control of a linear system with a logarithmic input quantization constraint.
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11:40-12:00, Paper WeA24.6 | Add to My Program |
Robust Event-Triggered Control Subject to External Disturbance (I) |
Zhang, Pengpeng | Northeastern Univ |
Liu, Tengfei | Northeastern Univ |
Jiang, Zhong-Ping | Tandon School of Engineering, New York Univ |
Keywords: Event-based control
Abstract: This paper studies the event-triggered control problem for systems subject to both dynamic uncertainties and external disturbances. To overcome infinitely fast sampling caused by the disturbance, a new event-triggering mechanism is proposed, which uses not only the measurable system state but also an estimate of the unmeasurable state and the external disturbance. The inter-sampling intervals can be proved to be lower bounded by a positive constant, which is independent on the magnitudes of the unmeasurable state and the external disturbance. With the proposed design, the closed-loop event-triggered system can be input-to-state stabilized with the external disturbance as the input. Refined tools of input-to-state stability (ISS) and the small-gain theorem are employed in solving the problem.
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WeA25 Regular Session, Basketball |
Add to My Program |
Mechatronics, Robotics and Components - Robotics 6 |
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Chair: Werner, Herbert | Hamburg Univ. of Tech |
Co-Chair: Mojica-Nava, Eduardo | Univ. NACIONAL DE COLOMBIA |
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10:00-10:20, Paper WeA25.1 | Add to My Program |
USBL Integration and Assessment in a Multisensor Navigation Approach for AUVs |
Guerrero Font, Eric | Univ. of the Balearic Islands |
Bonin-Font, Francisco Jesus | Univ. of the Balearic Islands |
Negre Carrasco, Pep Lluis | Univ. of the Balearic Islands |
Massot Campos, Miquel | Univ. of the Balearic Islands |
Oliver, Gabriel | Univ. of the Balearic Islands |
Keywords: Autonomous robotic systems, Guidance navigation and control, Multi sensor systems
Abstract: This paper presents the design and assessment of an USBL-aided navigation approach for Autonomous Underwater Vehicles (AUV). The system integrates an Ultra-Short Base Line (USBL) acoustic modem and positioning device in a two-parallel Extended Kalman Filter (EKF) navigation schema, which also includes the measurements provided by an Inertial Measurement Unit (IMU), a Doppler Velocity Log (DVL), a Visual Odometer (VO), a pressure sensor, and a Global Positioning System (GPS). In order to be integrated in the estimation filter, the precision of the USBL measurements is derived experimentally. Moreover, the accuracy of the system is evaluated using a ground truth (GT) trajectory produced by a visual Simultaneous Localization and Mapping (SLAM) approach. Experimental results are obtained from marine datasets gathered in the north coast of Mallorca with an AUV, model SPARUS II.
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10:20-10:40, Paper WeA25.2 | Add to My Program |
Cooperative Source Seeking with Distance-Based Formation Control and Single-Integrator Agents |
Ahmadi Barogh, Siavash | Hamburg Univ. of Tech. Inst. of Control Systems |
Werner, Herbert | Hamburg Univ. of Tech |
Keywords: Mobile robots, Multi sensor systems, Autonomous robotic systems
Abstract: In this paper and its companion paper (Ahmadi Barogh and Werner, 2017), the problem of source seeking with a group of agents in a distance-based formation is considered. Each agent is equipped with appropriate sensors to detect the distance between itself and its neighbors and to measure the strength of a field signal. The task is to find a maximum point of the scalar field in the area. Each agent estimates the gradient of the scalar field cooperatively and moves in the gradient direction, by maintaining the specified formation in movement. In this paper, a distributed controller for navigation of single integrator agents is proposed. We use a distance-based formation controller to maintain a predefined formation when moving with collision avoidance. The center of formation converges to the region near the source and agents do not need access to a common coordinate system. Conditions are provided for the asymptotic stability of the system and for the formation center to converge a bounded region near the source. Simulation results are presented to illustrate the effectiveness of the proposed approach.
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10:40-11:00, Paper WeA25.3 | Add to My Program |
Cooperative Source Seeking with Distance-Based Formation Control and Non-Holonomic Agents |
Ahmadi Barogh, Siavash | Hamburg Univ. of Tech. Inst. of Control Systems |
Werner, Herbert | Hamburg Univ. of Tech |
Keywords: Mobile robots, Multi sensor systems, Autonomous robotic systems
Abstract: In this paper and its companion paper (Ahmadi Barogh and Werner, 2017), the problem of source seeking with a group of agents in a distance-based formation is considered. Agents are equipped with a suitable sensor set to measure the distances to other agent and the strength of a field signal. The main objective of source seeking is to locate the maximum value of a scalar field in space. Each agent cooperatively estimates the gradient of the scalar field with respect to its local coordinate system and moves in the gradient direction, by maintaining the predefined formation. In this paper, a distributed controller for navigation of non-holonomic agents based on a dynamic model is proposed. The formation strategy used in this paper is a distance-based method to maintain a predefined formation during movement with collision avoidance. In a distance-based formation, global position information for agents is not required. Conditions are proposed for the asymptotic stability of the whole system and for the formation center to converge to the source. Simulation results are presented to show the effectiveness of the proposed control laws.
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11:00-11:20, Paper WeA25.4 | Add to My Program |
Collision-Free Formation Control for Multiple Quadrotor-Manipulator Systems |
Qi, Yuhua | Beijing Inst. of Tech |
Wang, Jianan | Beijing Inst. of Tech |
Shan, Jiayuan | Beijing Inst. of Tech |
Keywords: Networked robotic system modeling and control, Flying robots, Robots manipulators
Abstract: In this paper, we develop a formation control law with collision avoidance for multiple quadrotor-manipulator systems that each quadrotor is equipped with a robotic manipulator. Firstly, the kinematic and dynamic models of a quadrotor with multi-DOF robotic manipulator are built together using Euler-Lagrange (EL) equations. Based on the aggregated dynamic model, we propose a control scheme consisting of position controller, attitude controller and manipulator controller, respectively. The desired formation is achieved by the proposed position controller and attitude controller, while the collision avoidance is guaranteed by an artificial potential function (APF) method. The robotic manipulators are able to perform cooperative missions by the proposed manipulator controller. The overall stability of the closed-loop system is proven by a Lyapunov method and Matrosov’s theorem. In the end, the proposed control scheme is demonstrated by a formation flying mission of four quadrotors with 2-DOF manipulators.
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11:20-11:40, Paper WeA25.5 | Add to My Program |
Space Robot Relative Navigation for Debris Removal |
Yazdkhasti, Setareh | Carleton Univ |
Sasiadek, Jurek Z | Carleton Univ |
Keywords: Guidance navigation and control, Autonomous robotic systems, Robotics technology
Abstract: The structure of a space target and estimates of its relative pose (position and orientation) and motion are the primary first tasks of any formation flight, including missions to remove space debris. Acquiring these estimates for high-speed tumbling objects is very challenging, due to the lack of prior information about the target's structure and motion. This paper proposes a method to estimate the relative position, linear and angular velocities, and attitude of space debris, based on vision measurements. The suggested approach employs a stereo camera to track a set of feature points on the target spacecraft, and an Unscented Kalman Filter (UKF) to perform the estimation procedure. The projection of tracked feature points on the two cameras creates an observation model of the filters and the structure of a non-cooperative spacecraft was determined by estimating the feature points' position. The relative attitude estimation is derived through the Modified Rodrigues Parameters (MRPs). A number of numerical simulations were conducted to validate the accuracy and stability of this solution, and the results indicated acceptable convergence of estimation errors for pose and motion estimation.
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11:40-12:00, Paper WeA25.6 | Add to My Program |
Exploration with Heterogeneous Robots Networks for Search and Rescue |
Yanguas-Rojas, David | Univ. Nacional De Colombia |
Mojica-Nava, Eduardo | Univ. NACIONAL DE COLOMBIA |
Keywords: Networked robotic system modeling and control, Mobile robots, Autonomous robotic systems
Abstract: This work is the first part of a project that is intended to develop a control strategy for multiple heterogeneous robots oriented to the assistance in situations of search and rescue. The project is presented from two perspectives that run simultaneously but in different time scales, the first is the real time heterogeneous robots control perspective in charge of the robots task execution studied mainly through the perspective of artificial potential functions and the second the task allocation problem in charge of the optimization of the number of people helped. This paper is intended to present the advance of the project in the area of real time control focused in the task of exploration considering the heterogeneity of the velocity of the robots, its limitations in communication range and the obstacles evasion. The algorithm presented allows the robots to explore a non-convex scene without losing the network connectivity, without presenting collisions between robots or between obstacles and introducing a simple network reconfiguration algorithm intended to make more flexible the network structure.
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WeA26 Open Invited Session, Rugby |
Add to My Program |
Intelligent Systems Supporting Supply Chains Decision Making |
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Chair: Frazzon, Enzo Morosini | Federal Univ. of Santa Catarina |
Co-Chair: Freitag, Michael | BIBA - Bremer Inst. Für Produktion Und Logistik GmbH at the Univ. of Bremen |
Organizer: Frazzon, Enzo Morosini | Federal Univ. of Santa Catarina |
Organizer: Freitag, Michael | BIBA - Bremer Inst. Für Produktion Und Logistik GmbH at the Univ. of Bremen |
Organizer: Pereira, Carlos Eduardo | Federal Univ. of Rio Grande Do Sul - UFRGS |
Organizer: Hellingrath, Bernd | Univ. of Muenster |
Organizer: Nof, Shimon Y. | Purdue Univ |
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10:00-10:20, Paper WeA26.1 | Add to My Program |
Cycles As a Solving Strategy for Matching Problems in Cooperative Full Truckload Networks (I) |
Nieberding, Bernd | Univ. of Applied Sciences Erfurt |
Apfelstädt, Andy | Univ. of Applied Sciences Erfurt |
Dashkovskiy, Sergey | Univ. of Würzburg |
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10:20-10:40, Paper WeA26.2 | Add to My Program |
On Exploitation of Supply Chain Properties by Sequential Distributed MPC (I) |
Köhler, Philipp N. | Univ. of Stuttgart |
Muller, Matthias A. | Univ. of Stuttgart |
Pannek, Juergen | Univ. of Bremen |
Allgower, Frank | Univ. of Stuttgart |
Keywords: Decentralized and distributed control, Modelling and decision making in complex systems, Complex logistic systems
Abstract: In this work, we propose a sequential distributed MPC algorithm for control of a linear supply chain. The algorithm is developed by closely taking into account supply chain specifics and requirements from practice, e.g., orders and leavings are both treated as decision variables at each stage and communication between stages is kept low. We present the rather surprising result that terminal equality constraints employed in the local MPC formulations are inherently satisfied for the overall system, despite the presence of bilateral dynamic couplings and solving the local MPC problems sequentially. This is due to the stock and flow nature of the problem. The proposed algorithm is shown to be recursively feasible, to asymptotically satisfy a constant customer demand and to achieve asymptotic convergence of the local stock and backlog to the desired levels. This is illustrated by numerical simulations.
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10:40-11:00, Paper WeA26.3 | Add to My Program |
Evaluating the Robustness of Production Schedules Using Discrete-Event Simulation (I) |
Vieira, Guilherme | Federal Univ. of Santa Catarina |
Kück, Mirko | BIBA - Bremer Inst. Für Produktion Und Logistik GmbH at the U |
Frazzon, Enzo Morosini | Federal Univ. of Santa Catarina |
Freitag, Michael | BIBA - Bremer Inst. Für Produktion Und Logistik GmbH at the U |
Keywords: Production planning and control, Flexible and reconfigurable manufacturing systems, Job and activity scheduling
Abstract: Complex stochastic job-shop scheduling problems can be handled by simulation-based optimization (SBO), combining the optimization capabilities of meta-heuristics with the system representativeness of simulation models. In order to explore the potential of coupling optimization and simulation techniques in different job shop scheduling scenarios, this paper presents some of the ideas on an ongoing research project developing an SBO strategy coupling genetic algorithm and discrete-event simulation. Furthermore, this paper describes an approach to aid in the analysis of computed schedule feasibility subject to stochastic behavior, which is the case for most of the real world industries. One of the research goals is to provide an efficient and effective way to evaluate schedule robustness and to find robust schedules. The research may significantly contribute to businesses where scheduling changes are expensive, like in airline and train companies and automakers industries and suppliers.
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11:00-11:20, Paper WeA26.4 | Add to My Program |
Reduction of Waiting Time in Logistics Centers by Trailer Yards (I) |
Dashkovskiy, Sergey | Univ. of Würzburg |
Suttner, Raik | Univ. of Wuerzburg |
Keywords: Complex logistic systems, Modelling and control of hybrid and discrete event systems, Modelling and decision making in complex systems
Abstract: This paper provides a mathematical model and a contribution to the discussion of the problem of queues and waiting times at loading/unloading ramps as a part of transportation networks. As a central point, the paper investigates how the waiting time can be reduced by adding additional empty trailers to the logistics system, and under the assumption that the trailers can be exchanged by the drivers. The proposed model can be used for further investigations and estimates in the cost benefit analysis, on the reduction of CO2 emission and other related issues.
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11:20-11:40, Paper WeA26.5 | Add to My Program |
A Networked Production System to Implement Virtual Enterprise and Product Lifecycle Information Loops (I) |
Pedrazzoli, Paolo | Univ. of Applied Sciences of Southern Switzerland (SUPSI) |
Silvestri, Marco | Univ. of Applied Sciences of Southern Switzerland (SUPSI) |
Avventuroso, Giuseppe | Univ. of Parma, Parco Area Delle Scienze 181/A – 43124 Parm |
Keywords: Life-cycle control, Flexible and reconfigurable manufacturing systems, Digital enterprise
Abstract: This paper is aimed at considering supply chain and related data management within an integrated vision of the product lifecycle management (PLM) implemented through the unified approach which is proper to the Industry 4.0 initiative. In particular, with the proposed manufacturing system architecture, decision support tools can use a unified repository fed by a factory replication application, powered by data from the field, even from remote production units. Such data allow to monitor the behaviour of the digital twin of the real machine and produces a digital twin of the real product, incorporating its actual characteristics measured by means of suitable acquiring systems (in the treated example: a 3D laser scanner). Moreover, it is provided a description of the plant technological subsystems that allow to share designing and manufacturing activities across multiple similar units located in remote areas. In this context of virtual enterprise, the supply chain management results as a key factor in enabling a cooperative approach.
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11:40-12:00, Paper WeA26.6 | Add to My Program |
Long-Term Production Planning Problem: Scheduling, Makespan Estimation and Bottleneck Analysis (I) |
Arkhipov, Dmitry | Inst. of Control Sciences of Russian Acad. of Sciences |
Battaïa, Olga | ISAE-SUPAERO |
Lazarev, Alexander | Inst. of Control Sciences, Russian Acad. of Sciences |
Keywords: Production planning and control, Job and activity scheduling, Modeling of manufacturing operations
Abstract: In this paper, a long-term production planning problem is considered with the objective criteria Cmax and Tmax and under resource capacity and precedence constraints. The case study presented is characterized by four years planning horizon, 3552 operations, 51 workers and 57 units of equipment. The solution method elaborated in this study is a heuristic algorithm. Its performances are evaluated in numerical experiments. New procedures for makespan and resource load estimation are developed in order to identify bottleneck resources. The makespan estimation algorithm is tested on the well-known PSPLIB benchmark library where the best known lower bounds are improved for 5 instances. This procedure can also be used for the estimation of the gap from optimal value of the makespan time provided by the heuristic algorithm.
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WeA27 Regular Session, Football |
Add to My Program |
Process Monitoring and Fault Detection/Identification |
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Chair: Chioua, Moncef | ABB Corp. Res. Germany |
Co-Chair: Krishnannair, Syamala | Univ. of Zululand |
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10:00-10:20, Paper WeA27.1 | Add to My Program |
A Delay Vector Variance Based Approach for Detecting and Isolating the Non-Linearity Induced Oscillations in Control Loops |
Aftab, Muhammad Faisal | NTNU |
Hovd, Morten | Norwegian Univ. of Tech. and Science |
Sivalingam, Selvanathan | Siemens AS |
Keywords: Monitoring and performance assessment
Abstract: Non-linear time series analysis based methods are a popular choice for industrial control loop data analysis. In this paper a delay vector variance (DVV) based approach is presented to analyze the source of oscillations in an industrial control loop. The method is capable of differentiating between the linear and non-linear causes of oscillations and can also help in isolating the source of non-linearity. The automatic determination of embedding dimensions is augmented with the DVV analysis to make it more robust and reliable. The efficacy of the proposed method is established using simulation as well as industrial case studies.
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10:20-10:40, Paper WeA27.2 | Add to My Program |
Automatic Damage Quantication Using Signal Based and Nonlinear Model Based Damage Sensitive Features |
Ghrib, Meriem | Arts Et Métiers ParisTech |
Rebillat, Marc | Arts Et Métiers ParisTech (ENSAM) Paris |
Mechbal, Nazih | Arts Et Métiers ParisTech |
Vermot des Roches, Guillaume | SDTools |
Keywords: Monitoring and performance assessment, Signal and identification-based methods, Artificial intelligence
Abstract: Structural Health Monitoring (SHM) can be dened as the process of acquiring and analyzing data from on-board sensors to evaluate the health of a structure. Classically, an SHM process can be performed in four steps: detection, localization, classication and quantication. This paper addresses damage quantication issue as a classication problem whereby each class corresponds to a certain damage extent. Starting from the assumption that damage causes a structure to exhibit nonlinear response, we investigate whether the use of nonlinear model based features increases classication performance. A support Vector Machine (SVM) is used to perform multi-class classication task. Two types of features are used as inputs to the SVM algorithm: Signal Based Features (SBF) and Nonlinear Model Based Features (NMBF). SBF are rooted in a direct use of response signals and do not consider any underlying model of the test structure. NMBF are computed based on parallel Hammerstein models which are identied with an Exponential Sine Sweep (ESS) signal. A study of the sensitivity of classication performance to the noise contained in output signals is also conducted. Dimension reduction of features vector using Principal Component Analysis (PCA) is carried out in order to nd out if it allows robustifying the quantication process suggested in this work. Simulation results on a cantilever beam with a bilinear torsion spring stiness are considered for demonstration. Results show that by introducing NMBF, classication performance is improved. Furthermore, PCA allows for higher recognition rates while reducing features vector dimension. However, classiers trained on NMBF or on principal components appear to be more sensitive to output noise than those trained on SBF.
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10:40-11:00, Paper WeA27.3 | Add to My Program |
Practical Methods for Detecting and Removing Transient Disturbances in Univariate Time Series |
Zhou, Baifan | Karlsruhe Inst. of Tech |
Chioua, Moncef | ABB Corp. Res. Germany |
Schlake, Jan-Christoph | ABB Corp. Res. Center |
Keywords: Estimation and fault detection, Statistical methods/signal analysis for FDI, Industrial applications of process control
Abstract: Oscillations occurring in industrial process plants are often indicators of severe disturbances affecting the process operation. An accurate detection of oscillations is therefore of great interest for the economic viability of the process operation. The use of standard established oscillation detection methods requires however that the analysed signals fulfil conditions that are not always met in practice. A typical example is the presence of transient changes superposed to the oscillation pattern. This paper proposes simple heuristic methods to effectively detect and remove two types of commonly encountered transient changes (step changes and spike changes) from oscillatory signals. The effectiveness of the approach is analysed and the subsequent performance improvements of a standard oscillation detection method: the auto-correlation function method (Thornhill et al., 2003) is demonstrated. The approach is carried out on a 1,3-Butadiene production process where several measurements showed an established oscillation occurring after a production level change.
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11:00-11:20, Paper WeA27.4 | Add to My Program |
Model-Plant Mismatch Detection with Support Vector Machines |
Lu, Qiugang | Univ. of British Columbia |
Gopaluni, Bhushan | Univ. of British Columbia |
Forbes, Michael Gregory | Honeywell |
Loewen, Philip D. | Univ. of British Columbia |
Backstrom, Johan | Honeywell |
Dumont, Guy | Univ. of British Columbia |
Keywords: Monitoring and performance assessment, Process control applications, Process performance monitoring/statistical process control
Abstract: We propose a model-plant mismatch (MPM) detection strategy based on a novel closed-loop identification approach and one-class support vector machine (SVM) learning technique. With this scheme we can monitor MPM and noise model change separately, thus discriminating the MPM from noise model change. Another advantage of this approach is that it is applicable to routine operating data that may lack any external excitations. Theoretical derivations on the closed-loop identification method are provided in this paper, showing that it can furnish a consistent parameter estimate for the process model even in the case where a priori knowledge about the true noise model structure is not available. We build an SVM model based on process and noise model estimates from training data to predict the occurrence of MPM in the testing data. An example on paper machine control is provided to verify the proposed MPM detection framework.
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11:20-11:40, Paper WeA27.5 | Add to My Program |
Concurrent Monitoring and Diagnosis of Process and Quality Faults with Canonical Correlation Analysis |
Zhu, Qinqin | Univ. of Southern California |
Liu, Qiang | Northeastern Univ |
Qin, S. Joe | Univ. of Southern California |
Keywords: Monitoring and performance assessment, Process modeling and identification, Process control applications
Abstract: Partial least squares and canonical correlation analysis are latent variable models suitable for quality-relevant monitoring based on process and quality data. Recently, concurrent monitoring schemes are also proposed to achieve comprehensive quality-relevant monitoring. This paper defines and analyzes quality-relevant monitoring based on these popular latent structure modeling methods, and the associated quality-relevant detection statistics are defined. Additionally, contribution plots and reconstruction-based contribution diagnosis methods are developed for concurrent CCA based fault diagnosis. Multi-dimensional quality-relevant faults can be diagnosed in the same reconstruction framework. Finally, a detailed case study on Tennessee Eastman process is shown to illustrate the diagnosis of process and quality faults and the prognosis of quality-relevant faults.
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11:40-12:00, Paper WeA27.6 | Add to My Program |
Fault Diagnosis of the Tennessee Eastman Benchmark Process with Nonlinear Singular Spectrum Analysis |
Krishnannair, Syamala | Univ. of Zululand |
Aldrich, Chris | Curtin Univ |
Keywords: Estimation and fault detection, Monitoring and performance assessment
Abstract: Multivariate statistical process monitoring methods aim at detecting and identifying faults in the performance of processes over time in order to keep the process under control. Singular spectrum analysis (SSA) is a promising tool for multivariate process monitoring. It allows the decomposition of dynamic process variables or time series into additive components that can be monitored separately to identify hidden faults that may otherwise not be detectable. However, SSA is a linear method and can give misleading information when it is applied to dynamic processes with strong nonlinearity. Therefore, in this paper, nonlinear versions of SSA based on the use of autoassociative neural networks or autoencoders and dissimilarity matrices are considered. This is done based on the benchmark Tennessee Eastman process that is widely used in the evaluation of statistical process monitoring methods
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WeA28 Open Invited Session, Hockey |
Add to My Program |
Cooperative Control and Navigation for UAVs |
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Chair: Tsourdos, Antonios | Cranfield Univ |
Co-Chair: Piet-Lahanier, Helene | ONERA |
Organizer: Tsourdos, Antonios | Cranfield Univ |
Organizer: Piet-Lahanier, Helene | ONERA |
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10:00-10:20, Paper WeA28.1 | Add to My Program |
Cooperative Control for a Flight Array of UAVs and an Application in Radar Jamming (I) |
Jang, Inmo | Cranfield Univ |
Jeong, Junho | Chungnam National Univ |
Shin, Hyo-Sang | Cranfield Univ |
Kim, Seungkeun | Chungnam National Univ |
Tsourdos, Antonios | Cranfield Univ |
Suk, Jinyoung | Chungnam National Univ |
Keywords: Control of systems in vehicles, Decentralized Control and Systems, Decision making and autonomy, sensor data fusion
Abstract: This paper proposes a flight array system and an integrated approach to cope with its operational issues raised in mission-planning level (i.e., task allocation) and control level (i.e., control allocation). The proposed flight array system consists of multiple ducted-fan UAVs that can assemble with each other to fly together, as well as dissemble themselves to fly individually for accomplishing a given mission. To address the task allocation problem, a game-theoretical framework is developed. This framework enables agents to converge into an agreed task allocation in a decentralised and scalable manner, while guaranteeing a certain level of global optimality. In addition, this paper suggests a cooperative control scheme based on sliding mode control and weighted pseudo-inverse techniques so that the system's non-linearity and control allocation issue are effectively handled. As a proof-of-concept, a prototype simulation program is developed and validated in a cooperative jamming mission. The numerical simulations manifest the feasibility of effectiveness of the proposed approach.
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10:20-10:40, Paper WeA28.2 | Add to My Program |
Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements (I) |
Russell, James Stanley | Australian National Univ |
Ye, Mengbin | Australian National Univ |
Anderson, Brian D.O. | Australian National Univ |
Hmam, Hatem | DSTO |
Sarunic, Peter William | Defence Science and Tech. Group |
Keywords: Localization, Multi-vehicle systems, Cooperative navigation
Abstract: This paper presents a novel approach for localising a GPS (Global Positioning System)-denied Unmanned Aerial Vehicle (UAV) with the aid of a GPS-equipped UAV in three-dimensional space. The GPS-equipped UAV makes discrete-time broadcasts of its global coordinates. The GPS-denied UAV receives the broadcast and in doing so takes a direction of arrival (DOA) measurement towards the origin of the broadcast in its local coordinate frame (obtained via an inertial navigation system (INS)). The aim is to determine the difference between the local and global frames, described by a rotation and a translation. In the noiseless case, global coordinates are recovered exactly by solving a system of linear equations. When DOA measurements are contaminated with noise, rank relaxed semidefinite programming (SDP) and the Orthogonal Procrustes algorithm are employed. Simulations are provided and factors affecting accuracy, such as noise levels and number of measurements, are explored.
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10:40-11:00, Paper WeA28.3 | Add to My Program |
Distributed Event-Triggered Control for Multi-Agent Formation Stabilization (I) |
Viel, Christophe | ONERA |
Bertrand, Sylvain | ONERA |
Kieffer, Michel | CNRS - Supélec - Univ. Paris-Sud, Inst |
Piet-Lahanier, Helene | ONERA |
Keywords: Multi-vehicle systems, Cooperative control, Cooperative navigation
Abstract: This paper addesses the problem of formation control in multi-agent systems. It is inspired by recent results by Qingkai et al. and adopts an event-triggered control strategy to reduce the number of communications between agents. For that purpose, to evaluate its control input, each agent maintains estimators of the states of the other agents. Communication is triggered when the discrepancy between the actual state of an agent and the corresponding estimate reaches some threshold. The impact of additive state perturbations on the formation control is studied. A condition for the convergence of the multi-agent system to a stable formation is studied. Simulations show the effectiveness of the proposed approach.
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11:00-11:20, Paper WeA28.4 | Add to My Program |
Fast Formation of Swarm of UAVs in Congested Urban Environment (I) |
Spanogianopoulos, Sotirios | Univ. of Kent |
Zhang, Qian | Liverpool John Moores Univ |
Spurgeon, Sarah K. | Univ. Coll. London |
Keywords: Flight dynamics identification, formation flying, Autonomous systems, Guidance, navigation and control of vehicles
Abstract: As Unmanned Aerial Vehicles (UAVs) become more readily available and reduce in cost, using multiple UAVs simultaneously to accomplish a task becomes increasingly attractive. Once swarms of UAVs share the same workspace (operational environment) it is necessary to have a means to rapidly adopt an optimal collision-free formation in the workspace. A popular approach for formation of an optimal swarm is to use Particle Swarm Optimization (PSO) techniques. A variant of PSO was recently introduced called nPSO which claims to exhibit more rapid convergence than other variants. In this paper nPSO is applied to the problem of finding optimal positions of UAVs forming a swarm in presence of large obstacles such as buildings in an urban environment. The experiments show that no more than 1000 iterations are required to obtain near optimal formation of swarm of UAVs for different maps, including maps relating to congested environments.
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11:20-11:40, Paper WeA28.5 | Add to My Program |
Use of Co-Operative UAVs to Support/Augment UGV Situational Awareness And/or Inter-Vehicle Communications (I) |
Quintin, Florian | Cranfield Univ |
Iovino, Serena | Cranfield Univ |
Savvaris, Al | Cranfield Univ |
Tsourdos, Antonios | Cranfield Univ |
Keywords: Trajectory and Path Planning, Multi-vehicle systems, Cooperative navigation
Abstract: This paper presents the development of a path-planning algorithm for Unmanned Aerial Vehicles (UAVs) in order to increase the situational awareness for platooning vehicles. The scenario considers a team of cooperative UAVs, initially docked on moving Unmanned Ground Vehicles (UGVs). In particular, the goal consists in finding the best routing plan for the UAVs in order to visit some designated targets in a wide search area to augment the UGVs’ situational awareness. Taking into account the maximal endurance constraint of the UAVs, this problem becomes equivalent to a time-constrained multiple depot vehicle routing problem with moving depots. To tackle this variant of the well-known vehicle routing problem, a methodology based on a TABU search meta-heuristic is implemented. While respecting the endurance constraint, this methodology tempts to optimize multiple objectives: the number of UAVs required, the total length of the routing and the balance of the lengths of the different routes within the routing plan. The proposed approach based on a meta-heuristic gives relevant results in a relatively short period of time.
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11:40-12:00, Paper WeA28.6 | Add to My Program |
Path Planning of Messenger UAV in Air-Ground Coordination |
Ding, Yulong | Beijing Inst. of Tech |
Xin, Bin | Beijing Inst. of Tech |
Chen, Jie | Beijing Inst. of Tech |
Fang, Hao | Beijing Inst. of Tech |
Zhu, Yangguang | Beijing Inst. of Tech |
Gao, Guanqiang | Beijing Inst. of Tech |
Dou, Li-Hua | Beijing Inst. of Tech |
Keywords: Trajectory and Path Planning, Multi-vehicle systems, Autonomous Mobile Robots
Abstract: This paper addresses a UAV path planning problem for a team of cooperating heterogeneous vehicles composed of one unmanned aerial vehicle (UAV) and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators while the UAV serves as a messenger to achieve information sharing among the UGVs. The UAV needs to fly over each UGV periodically to collect the information and then transmit the information to the other UGVs. The UAV path planning problem with messenger mechanism is formulated as a Dynamic Dubins Traveling Salesman Problem with Neighborhood (DDTSPN). The goal of this problem is to find the shortest route enabling the UAV to deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is introduced to sequentially determine the access sequence of UGVs for UAV and the access location of UAV in the communication neighborhood of each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on several randomly generated instances.
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WeM01 Interactive Session, Caravelle 1.2 |
Add to My Program |
GDR MACS - Modeling and Control |
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Chair: Cocquempot, Vincent | LILLE 1 Univ |
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13:30-15:30, Paper WeM01.1 | Add to My Program |
Health Management of Industrial Vehicles & Fleet Maintenance Optimization: Taking into Account Operation Constraints and Mission Planning (I) |
Robert, Elodie | Renault Trucks SAS |
Bouvard, Keomany | Renault Trucks SAS |
Tedie, Hoceane | Renault Trucks |
Lesobre, Romain | Renault Trucks Defense |
Berenguer, Christophe | Grenoble Inst. of Tech. & CNRS |
Keywords: Innovation (in development contexts), Service Engineering Applications
Abstract: This paper deals with fleet management and maintenance planning concepts for industrial vehicles by taking into account the operational constraints, the missions planning and the health state of each vehicle of the fleet. The objective is to schedule the different maintenance operations according to the vehicle availability to prevent them for failing during a mission. The joint planning between maintenance and missions has to optimize the profit of the hauler and reduce the maintenance costs. At the end, by knowing the vehicles health state, the missions’ characteristics and the conditions of use, each vehicle is allocated to a schedule to reach the objectives defined by the hauler. Each schedule corresponds to missions interspersed by maintenance operations. The industrial objectives and challenges regarding maintenance and fleet management are first detailed and actual present maintenance practice is assessed. Then, the latest developments on these two topics are presented, which allows the definition of our research perspectives.
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13:30-15:30, Paper WeM01.2 | Add to My Program |
A New Hybrid Approach for Fault Detection and Diagnosis (I) |
Tidriri, Khaoula | Univ. of Angers, ISTIA, LARIS |
Tiplica, Teodor | Univ. D'angers |
Chatti, Nizar | Univ. of Angers |
Verron, Sylvain | Univ. of Angers |
Keywords: Control and Automation Systems failure
Abstract: Fault detection and isolation based on hybrid approaches have been an active field of research over the last few years. From a practical point of view, the development of generic and unified approaches for industrial supervision systems design is a key challenge. The main methodological contribution of the present work is to develop a hybrid approach properly tailored for such challenge. The proposed approach uses the Bond Graph formalism to systematically develop computational models and algorithms for robust fault detection and isolation. The resulting outcomes are extended to a proposed data-driven approach which consists of transforming historical process data into a meaningful alphabetical model incorporated within a Bayesian network. This new hybrid methodology benefits from all the knowledge available on the system and provides a more comprehensive solution in order to increase the overall confidence in the diagnosis and the performances. The effectiveness of the developed hybrid approach is validated by the well-known Tennessee Eastman Benchmark process.
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13:30-15:30, Paper WeM01.4 | Add to My Program |
Diagnosis of Critical Faults in Large Solar Thermal Systems: An Overview of Relevant FDI Methods and Their Combination (I) |
Faure, Gaëlle | INES-CEA |
Vallée, Mathieu | Cea Ines |
Paulus, Cedric | Cea Ines |
Tran, Quoc Tuan | Cea Ines |
Keywords: Renewable Energy System Modeling and Integration
Abstract: All technical processes are subject to dysfunctions during their lifespan, and large solar thermal systems (LSTS) are no exception to this rule. The development of robust fault detection and isolation (FDI) methods is therefore a key issue. This paper presents a comparison between what can be used and what is currently used for FDI in LSTS. We show that there is a way for new developments and improvements of the detection and identication of faults in LSTS. Based on this observation, a scheme which combines several methods for feature generation and fault diagnosis is proposed. Future developments for each part of this scheme are presented regarding their utility.
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13:30-15:30, Paper WeM01.5 | Add to My Program |
Identification of Discrete-Event Systems (I) |
Lai, Aiwen | Univ. of Angers |
Lahaye, Sébastien | Univ. D'angers |
Keywords: Systems Theory
Abstract: In this extended abstract, a bibliography review about the identification of timed discrete-event systems (DES) is presented as part of the beginning of a PhD thesis. Some existing approaches for untimed DES, modeled by Petri nets (PNs) or automata, are first reviewed. Next, recent proposals are introduced for the identification of timed DES. This review leads us to formulate directions for our future work.
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13:30-15:30, Paper WeM01.7 | Add to My Program |
Biomathematics Modelling for the Study of Failures Propagation: Application to a Production Resource (I) |
Ongowe, Fredrick | Univ. of Nairobi |
Hennequin, Sophie | ENIM |
Wairimu Kagunda, Josephine | Univ. of Nairobi |
Nyoungue, Aimé | Univ. of Lorraine |
Keywords: Complexity modelling
Abstract: The objective of the PhD thesis is to adapt different human diseases propagation models (like Human HIV or Malaria, heart failure, kidney stones to give some examples) to production systems by: i) firstly, realize an analogy between biological and industrial systems; ii) secondly extend chosen research works in bio-mathematics models of diseases propagation phenomena to production systems; iii) based on the proposed model, analyse the production system dynamics and performances under disruptions events (like failures, pollutions, non- continuous electricity supply, etc.) and iv) propose optimal policies to improve the overall system in case of troublesome events. In a first step, described in this paper, we will consider a production resource. Then, we will generalize our results to more complex production systems (like transfer lines, assembling / disassembling lines, etc.). So, the main objective of this paper is to propose a disruptive phenomenon propagation model for a simple production resource which could be a special machining or device. For this, we define three kinds of components for the production machine: “susceptible”components which could fail easily if a disruptive phenomenon occurs (as a significant increase in temperature, an electrical overload, a failure of a crucial component of the production resource, etc.), “non- susceptible”components which are protected against the phenomenon and faulty components which are already affected by the phenomenon. Then, based on a SIR bio-mathematical model of HIV propagation, we propose a corresponding model for the considered production resource. Then, we observe the impact of this propagation model on the overall production system.
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13:30-15:30, Paper WeM01.8 | Add to My Program |
Fusion of Fault and Degradation Indicators for Predictive Maintenance Assistance of Wind Turbine Fleets Using SCADA Monitoring Data (I) |
Aziz, Usama | Univ. Grenoble Alpes, CNRS, GIPSA-Lab, Valemo S.A.S, 33323 |
Lebranchu, Alexis | VALEMO |
Charbonnier, Sylvie | Univ. Joseph Fourier/ Grenoble INP |
Berenguer, Christophe | Grenoble Inst. of Tech. & CNRS |
Prevost, Frédéric | VALEMO |
Keywords: Renewable Energy System Modeling and Integration
Abstract: Abstract: The extended abstract seeks to contribute towards the scientific arena of conditional and predictive wind turbine maintenance, in particular reference to the industrial context where the goal is to detect failures in advance in order to reduce maintenance costs. Modern industrial problems and challenges include huge maintenance costs and need for a better maintenance approach. Comparison of major monitoring and fault diagnosis approaches explain the problem statement while the state of the art, along with some implementation results give further insight to the limitations and research challenges. The industrial and scientific objectives of the proposed research work include diagnosis of the nature of the fault to adapt the maintenance strategy, generalization to other operating and environmental conditions (site / turbine), use of external data and merging of indicators created using developed algorithm.
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13:30-15:30, Paper WeM01.9 | Add to My Program |
Performance Assessment for Fault Detection of a Proton Exchange Membrane Fuel Cell in Automotive Condition (I) |
Jullian, Gauthier | CEA-Grenoble |
Rosini, Sébastien | Cea Liten |
Cadet, Catherine | GIPSA-Lab, Automatic Department |
Gerard, Mathias | CEA-LITEN |
Heiries, Vincent | Cea Leti |
Berenguer, Christophe | Grenoble Inst. of Tech. & CNRS |
Keywords: Urban Mobility
Abstract: This paper presents the development stages of a method to detect the faults occurring in a proton exchange membrane fuel cell (PEMFC) using a model based approach. After fitting the model, the generation and evaluation of a residual allows the detection of some faulty conditions of the fuel cell. The increase of the number of residuals using electrochemical spectroscopy will enable a better detection and identification of faults. The further steps of the methodology are the integration of the dynamic operating conditions of the fuel cell, moreover, the ageing of the fuel cell must be assessed to provide a diagnosis that takes into account the fuel cell degradations. Finally, the algorithm must work in real time for an instantaneous response of the control system, thus a fast-computing algorithm is needed.
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13:30-15:30, Paper WeM01.10 | Add to My Program |
Supervisory Control of Autonomous Trains: A Case Study of the Collision-Avoidance (I) |
Cazenave, Paul | Ec. Centrale Lille/CRIStAL |
Khlif Bouassida, Manel | Centrale Lille |
Toguyeni, Armand | Ec. Centrale De Lille |
Keywords: Intelligent Transportation
Abstract: We propose in this paper a methodological synthesis of discrete controllers needed for railway automation, especially to avoid collisions in railway nodes. The automation and the adoption of ERTMS (European Rail Traffic Management System) are two solutions for railway systems to increase the capacity of railway lines and to enhance their safety. In this study we use finite state machines for modeling and Supremica tool for the synthesis of controllers.
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13:30-15:30, Paper WeM01.11 | Add to My Program |
Distance Concept Based Filter Approach for Detection of Cyberattacks on Industrial Control Systems (I) |
Sicard, Franck | Univ. Alpes, CNRS, GSCOP |
Zamai, Eric | Inst. National Pol. De Grenoble |
Flaus, Jean-Marie | Grenoble-INP |
Keywords: Control and Automation Systems failure
Abstract: Industrial Control Systems (ICS) have become a new target of attackers since the beginning of the century. Computer worm Stuxnet proved the vulnerability of these systems to cyber-attacks. Control-command architecture is built to ensure the safety and the reliability of the system and the environment, however, several attacks or studies have underlined the lack of protection of components in an ICS. They equally proved the incomplete solutions proposed by the Information technology (IT). This paper presents an innovative approach for intrusion detection system in ICS based on the notions of states and distance between sets of states. Distance assessment over time between common and forbidden states of the system provides the prediction and discrimination of deviations. A proposed algorithm analyses orders sent to actuators continuously and enables to stop dangerous orders for the system. This study is supported by simulations inspired by classical ICS.
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13:30-15:30, Paper WeM01.12 | Add to My Program |
Testing Experiments for 1-Place-Unbounded Synchronized Petri Nets (I) |
Wu, Changshun | Aix-Marseille Univ |
Demongodin, Isabel | Aix-Marseille Univ |
Giua, Alessandro | Aix-Marseille Univ. France / Univ. of Cagliari, Italy |
Keywords: Systems Theory
Abstract: Testing is a fundamental technique for system design and verification, however its application to discrete event systems modeled by unbounded synchronized Petri nets challenges that there exists no finite faithful representation for the infinite state space of these models. In this paper, we consider a special class of 1-place-unbounded synchronized Petri nets, that contain a single unbounded place. We first develop an improved modified coverability graph that precisely represents the state space of such a model, then unfold the computation work of synchronizing sequences and homing sequences based on this new graph.
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13:30-15:30, Paper WeM01.13 | Add to My Program |
Safety for Real-Time Ethernet in IEC 61508 and IEC 61784 (I) |
Soury, Ayoub | Univ. Grenoble Alpes |
Keywords: Intelligent Transportation
Abstract: The real-time Ethernet in deterministic networks is far from being safe, it guarantees perfect synchronization among devices, and meets the real-time requirements but not the safety ones. To ensure these requirements, we need to identify the errors in the digital communication. In order to add safety measures in the communication system, this paper describes an analysis of IEC 61508 and IEC 61784. Furthermore, we propose to implement a safety layer over Real-Time Ethernet (at the top of the application layer) in the embedded real-time systems.
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13:30-15:30, Paper WeM01.14 | Add to My Program |
Through Optimal Decision Moments in Multistrategies Based Bayesian Evolutionary Algorithm (I) |
Ghoumari, Asmaa | UPEC |
Keywords: Evoluationary computing in business and social systems, Descriptive Analytics
Abstract: This paper is dedicated to the study of the performance of the Bayesian based Evolutionary Algorithm (BEA) regarding the quantity of the archive needed to have an efficient selection strategy process. Indeed, BEA is based on the use of a dynamic mechanism to change the search strategy (crossover and mutation) during its evolution. To do so, it selects the most probable strategy from those possible ones based on the Bayes rule periodically. Experiments were performed on classical continuous optimization problems and benchmarks. Obtained results showed that for a given class of problems a fixed archive size is suited to do Bayes based selection strategy.
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WeM02 Interactive Session, Caravelle 1.3 |
Add to My Program |
Fractional Systems |
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Chair: Melchior, Pierre | Univ. Bordeaux 1 - IPB/ENSEIRB-MATMECA |
Co-Chair: Victor, Stephane | Univ. De Bordeaux, IMS |
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13:30-15:30, Paper WeM02.1 | Add to My Program |
Temperature Control of a Finite Diffusive Interface Medium Using the Third Generation CRONE Controller |
Abi Zeid Daou, Roy | Lebanese German Univ. Faculty of Public Health |
Moreau, Xavier | Univ. of Bordeaux |
Christophy, Fady | Univ. of Bordeaux |
Keywords: Fractional systems
Abstract: Controlling of the temperature of a thermal medium remains of a great importance because of the economic cost that it may engender. Thus, one effective way to reduce heating/cooling cost is by providing a good control system that limits power needed to run these tasks. For this purpose, we will present in this paper the control of a finite homogeneous diffusive interface using the third generation CRONE controller and control its behavior to the PID controller. The novelty of this work exists in the use of a fractional order controller (the CRONE controller) applied to a fractional order plant and the use of a complex controller (the third generation) which is not so familiar in the controllers domain. The results show that the behavior and the robustness of the CRONE controller are better than the PID controller.
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13:30-15:30, Paper WeM02.2 | Add to My Program |
Pinning Synchronization of Fractional General Complex Dynamical Networks with Time Delay |
Ren, Guojian | Beijing Jiaotong Univ |
Yu, Yongguang | Beijing Jiaotong Univ |
Keywords: Fractional systems, Delay systems, Adaptive control
Abstract: In this paper, pinning synchronization of fractional general complex dynamical networks with time delay is investigated. Based on the stability theory of fractional systems and the inequality of the fractional derivative, some pinning synchronization criteria are abtained for both directed and undirected complex networks. Moreover, an adaptive pinning controller is designed to achieve synchronization of fractional general complex networks with time delay. Finally, some numerical examples are given to verify the proposed theoretical analysis.
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13:30-15:30, Paper WeM02.3 | Add to My Program |
Variable Order Differential Models of Bone Remodelling (I) |
Neto, Joana Pinheiro | Inst. Superior T´Ec. Univ. De Lisboa |
Coelho, Rui Moura | IDMEC, Inst. Superior T´Ec. Univ. De Lisboa |
Valério, Duarte Pedro Mata de Oliveira | IDMEC/IST, Tech. Univ. of Lisbon |
Vinga, Susana | IDMEC/LAETA |
Sierociuk, Dominik | Warsaw Univ. of Tech. (ISEP) |
Malesza, Wiktor | Warsaw Univ. of Tech |
Macias, Michal | Inst. of Control and Industrial Electronics, Warsaw Univ |
Dzielinski, Andrzej | Warsaw Univ. of Tech |
Keywords: Fractional systems, Control in system biology, Systems biology
Abstract: Bone is a living tissue undergoing a constant remodeling process that involves different cell types, in particular osteoclasts and osteoblasts. This process can be modeled using differential equations, accounting for the biochemical coupling between the referred bone cells. These models have also been extended to include the effects of bone diseases in its dynamics, such as tumor metastizations. Due to the high number of parameters involved in the existing physiological models for bone remodeling, a new approach to this system is here presented. Variable order derivatives are introduced as a method to simplify its structure, providing more compact models that lead to similar results to those of the original formulations. These new models also allow for anomalous diffusion to be accounted for. These models are expected to serve in clinical decision systems such as personalized therapy schemes.
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13:30-15:30, Paper WeM02.4 | Add to My Program |
Positive Fractional Variable Order Discrete-Time Systems (I) |
Malesza, Wiktor | Warsaw Univ. of Tech |
Keywords: Fractional systems, Positive systems, Linear systems
Abstract: This paper introduces and characterizes linear positive fractional variable order discrete-time systems described in pseudo state-space form for different types of fractional variable order differences. The verifiable necessary and sufficient conditions of positivity are also given.
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13:30-15:30, Paper WeM02.5 | Add to My Program |
Design and Analysis of Fractional Order PD-Type Iterative Learning Control |
Zhao, Yang | Shandong Univ |
Zhou, Fengyu | Shandong Univ |
Wang, Da | Shandong Normal Univ |
Li, Yan | Shandong Univ |
Keywords: Fractional systems, Linear systems, Time-varying systems
Abstract: This paper is concerned with fractional-order iterative learning control (ILC) for the tracking problems of a class of linear time-varying systems. Both open-loop and closed-loop PD-type iterative learning updating laws are considered. Sufficient conditions for the convergence of the tracking errors are obtained. Finally, the efficiency of the methods are verified by numerical simulations.
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13:30-15:30, Paper WeM02.6 | Add to My Program |
Optimal Tuning of Fractional Order PIλ DµA Controller Using Particle Swarm Optimization Algorithm |
Bettou, Khalfa | Univ. Mentouri De Constantine |
Charef, Abdelfatah | Univ. Mentouri De Constantine |
Keywords: Fractional systems, Optimal control theory, Output regulation
Abstract: In this paper an optimal design method for the tuning of the fractional order proportional-integral-derivative-acceleration (PIλDµA) controller parameters is presented. The fractional order PIλDµA controller is a conventional proportional-integral-derivative-acceleration (PIDA) controller whose integration action order λ and differentiation action order μ are real rather than integer. The two more parameters λ and μ will provide a better flexibility in controller design for a wide range of dynamical systems. The six parameters of the fractional order PIλDµA controller are tuned through the optimization of the Integral Time Absolute Error (ITAE) performance criteria using the Particle Swarm Optimization (PSO) algorithm. The fractional order PIλDµA controller design for two real world system models of a feedback control system have been proposed to illustrate its benefits and effectiveness. The simulation results show that the proposed fractional PIλDµA controller exhibits dynamical performances improvements compared to the conventional PIDA controller of the feedback control system.
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13:30-15:30, Paper WeM02.7 | Add to My Program |
Reverse Ishikawa-Nesterov Learning Scheme for Fractional Mean-Field Games |
Tembine, Hamidou | New York Univ |
Keywords: Fractional systems, Large scale optimization problems, Differential or dynamic games
Abstract: Reverse Ishikawa-Nesterov's algorithm is one of the speedup techniques for finding best response set in mean-field games. However, the convergence rate was not examined so far. In this work, we evaluate the convergence rate and convergence time of reverse Ishikawa-Nesterov learning scheme for a deterministic fractional mean-field games. The fractional mean-field game problem given by a fractional controlled state dynamics and payoff that measures the gap between a mean-field term and the fractional integral of the state. First, we prove that the problem is well-posed and has a unique best response to mean-field. Second, we derive conditions for convergence of the reverse Ishikawa-based learning scheme and provide the error gap. Finally, we show that the reverse Ishikawa-Nesterov's technique outperforms the standard descent methods.
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13:30-15:30, Paper WeM02.8 | Add to My Program |
An Application of the Seasonal Fractional ARIMA Model to the Semiconductor Manufacturing (I) |
Liu, Kai | China Univ. of Mining and Tech. Beijing |
Chen, YangQuan | Univ. of California, Merced |
Zhang, Xi | China Univ. of Mining and Tech. Beijing |
Keywords: Fractional systems, Process control, Complex systems
Abstract: In semiconductor manufacturing industry, run to run (R2R) model based process control (MBPC), which is based on the exponentially weighted moving-average (EWMA) filter, has been widely applied to chemical-mechanical planarization (CMP), chemical vapor deposition (CVD) processes in order to provide the ability to track and compensate for process drifts without a priori assumptions on magnitude or consistency. However, once human interactions and periodic components are added to the R2R process, overall system becomes complex. Therefore a fractional autoregressive integrated moving average (FARIMA) model is proposed to maintain an accurate estimation of how the etching rate changes from R2R or even chamber to chamber (C2C).
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13:30-15:30, Paper WeM02.9 | Add to My Program |
Two Strategies for Fractional Sliding Mode Control of Integer Order Systems by System Augmentation: Application to a Servomotor (I) |
Tejado, Inés | Univ. of Extremadura |
Djari, Abdelhamid | NDT Lab. Automatic Department, Univ. of Jijel |
Vinagre, B. M. | Univ. De Extremadura |
Keywords: Fractional systems, Sliding mode control
Abstract: This paper investigates new alternatives of sliding mode control (SMC) derived by introducing fractional dynamics into integer order systems. This is based on system augmentation, that is, the denition of pseudo-states for the integer order system corresponding to fractional (in fact, rational) order derivatives of the system states. Two strategies to design the fractional sliding mode controller are proposed: 1) particle swarm optimization (PSO), and 2) pole placement (PP) for ideal sliding motion. For illustration purposes, both the speed and the position control of a servomotor are considered. Simulation results are given to show the applicability of the proposed strategies.
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13:30-15:30, Paper WeM02.10 | Add to My Program |
Fractional-Order Extreme Learning Machine with Levy Flight (I) |
Zhang, Shuo | BJTU |
Chen, YangQuan | Univ. of California, Merced |
Yu, Yongguang | Beijing Jiaotong Univ |
Keywords: Fractional systems, Randomized algorithms, fractional-order systems
Abstract: Fractional-order extreme learning machine is presented for a regression problem in this paper. The objective optimization function is designed as a fractional-order one, which can obtain better optimization results in training and testing errors. Moveover, Levy flight which is a class of fractional-order continuous random walk owing a heavy-tailed distribution, is used to search the related weight and threshold parameters. The connection between the order of Levy flight and the error result is discussed. Some given examples are provided to verify the better performance of the proposed methods.
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13:30-15:30, Paper WeM02.11 | Add to My Program |
Stability of Discrete Fractional Linear Systems with Positive Orders (I) |
Mozyrska, Dorota | Bialystok Univ. of Tech |
Wyrwas, Malgorzata | Bialystok Univ. of Tech. (BUT) |
Keywords: Fractional systems, Linear systems, stability of delay systems
Abstract: The problem of the stability of the Caputo-, Riemann-Liouville- and Grunwald-Letnikov-type linear discrete-time systems with fractional positive orders is discussed. We present the method of reducing the fractional order of the considered systems by transforming them to the multi-order linear systems with the partial orders from the interval (0,1].
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WeM03 Interactive Session, Caravelle 2.1 |
Add to My Program |
Non-Linear Control Systems IV |
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Chair: Lozano, Rogelio | Univ. De Tech. De Compiegne |
Co-Chair: Gazzino, Clément | LAAS-CNRS |
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13:30-15:30, Paper WeM03.1 | Add to My Program |
Improved Transparency for Haptic Systems with Complex Environments |
Forbrigger, Shane Thomas | Dalhousie Univ |
Pan, Ya-Jun | Dalhousie Univ |
Keywords: Lyapunov methods, Stability of nonlinear systems, Parameter-varying systems
Abstract: Haptic systems in surgical training applications require highly accurate force feedback. However, high-resolution models of the virtual environment (VE) can be very computationally intensive, lowering the force feedback update rate. The objective of this work is to improve transparency by developing a predictor that approximates the complex nonlinear VE as a linear VE with a much higher update rate. By using feedback from the more accurate but slower VE, the predictor can provide increased transparency to the operator. The full control design of the predictor and haptic controller is considered for a nonlinear haptic device. The predictor is designed using Lyapunov-based methods, by numerical solution of a linear matrix inequality. The predictor uses a projection-type adaptation law to estimate the unknown VE parameters. Simulation results are shown to demonstrate the effectiveness of the method assuming unknown and time-varying VE parameters.
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13:30-15:30, Paper WeM03.2 | Add to My Program |
Observer Design for an Electrochemical Model of Lithium Ion Batteries Based on a Polytopic Approach |
Blondel, Pierre Goustan | CRAN, CNRS, Univ. De Lorraine |
Postoyan, Romain | CRAN, CNRS, Univ. De Lorraine |
Raël, Stéphane | GREEN, Univ. De Lorraine |
Benjamin, Sébastien | SAFT, Direction De La Recherche |
Desprez, Philippe | SAFT, Direction De La Recherche |
Keywords: Energy systems, Lyapunov methods, Nonlinear observers and filter design
Abstract: Smart battery management systems require reliable state information, which is unavailable through direct measurements. Electrochemical models are relevant in this context as these describe the internal phenomena, which govern the battery. These models can thus be used to design observers and hence to estimate the state variables on-line. We propose an electrochemical model of a lithium ion battery given by a set of ordinary differential equations built from the spatial discretisation of partial differential equations that locally describe mass and charge transport of the lithium. We then design an observer and analyse its stability via a polytopic approach, which relies on the satisfaction of linear matrix inequalities. The latter are shown to be verified for standard model parameters values. Simulation results on the original infinite-dimensional model are presented, which show the good performance of the observer.
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13:30-15:30, Paper WeM03.3 | Add to My Program |
Zero Finding Via Feedback Stabilisation |
Mylvaganam, Thulasi | Imperial Coll. London |
Astolfi, Alessandro | Imperial Col. London & Univ. of Rome Tor Vergata |
Keywords: Stability of nonlinear systems, Asymptotic stabilization, Lyapunov methods
Abstract: Two iterative algorithms for solving systems of linear and nonlinear equations are proposed. For linear problems the algorithm is based on a control theoretic approach and it is guaranteed to yield a converging sequence for any initial condition provided a solution exists. Systems of nonlinear equations are then considered and a generalised algorithm, again taking inspiration from control theory, is proposed. Local convergence is guaranteed in the nonlinear setting. Both the linear and the nonlinear algorithms are demonstrated on a series of numerical examples.
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13:30-15:30, Paper WeM03.4 | Add to My Program |
Estimation of the Attraction Domain for Nonlinear Single-Input System with Constrained Control |
Pesterev, Alexander | Inst. of Control Sciences, Russian Acad. of Sciences |
Rapoport, Lev | Inst. for Control Sciences RAS |
Keywords: Stability of nonlinear systems, Constrained control, Systems with saturation
Abstract: Nonlinear single-input affine systems represented in a canonical (normal) form are considered. The control resource is assumed to be constrained. For a closed-loop system obtained by applying a linearizing feedback, the problem of construction of an estimate of the attraction domain of zero solution is studied. A method for constructing an ellipsoidal estimate that is based on results of the absolute stability theory is suggested. Construction of the estimate reduces to solving a system of linear matrix inequalities. The discussion is illustrated by numerical examples.
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13:30-15:30, Paper WeM03.5 | Add to My Program |
Singular Perturbation for Sampled-Data Systems with Fast Subsystems |
Yun, Hyeonjun | Seoul National Univ |
Shim, Hyungbo | Seoul National Univ |
Chang, H.J. | Kookmin Univ |
Keywords: Stability of nonlinear systems, Digital implementation, Asymptotic stabilization
Abstract: We present a sampled-data version of the well-known Tikhonov's theorem on singular perturbation theory. In particular, we claim that the nonlinear sampled-data systems with fast subsystems can be treated as a singularly perturbed system in a discrete-time sense. In this case, we show that the sampling period can be considered as a singular perturbation parameter. Following the nomenclature of the singular perturbation theory, we define the degenerate (DG) system and the boundary-layer (BL) system and obtain the solution of the sampled-data system as an approximation of the solutions of the lower-order subsystems. Finally, a simple example, sampled-data implementation of disturbance observer, is included to validate the theory.
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13:30-15:30, Paper WeM03.6 | Add to My Program |
Enhanced Bounded Integral Control of Input-To-State Stable Nonlinear Systems |
Konstantopoulos, George | Univ. of Sheffield |
Keywords: Stability of nonlinear systems, Input-to-State Stability, Lyapunov methods
Abstract: The bounded integral controller (BIC) was recently proposed to replace the traditional integral controller (IC) for the regulation of any input-to-state stable (ISS) nonlinear system and guarantee closed-loop system stability with a bounded control output. In this paper, an enhanced version of the BIC is presented to provide a better approximation of the traditional IC in the entire bounded range of the control output and relax the assumption on the selection of the initial conditions of the original BIC. Using Lyapunov methods, it is analytically proven that the enhanced BIC maintains the zero-gain property and guarantees closed-loop stability of any nonlinear ISS plant with a given bound at the control output, without suffering from integrator windup issues. The plant dynamics and structure can be unkown as long as the plant is ISS. Hence, the proposed enhanced version of the BIC can replace the traditional IC in many applications where closed-loop stability cannot be proven, without changing the controller operation. A practical example is simulated to verify the performance of the proposed enhanced BIC compared to the original version and the traditional IC.
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13:30-15:30, Paper WeM03.7 | Add to My Program |
Popov-Like Criterion for the Complex-Variable Systems |
Lipkovich, Mikhail | Saint Petersburg State Univ |
Fradkov, Alexander L. | Russian Acad. of Sciences |
Keywords: Stability of nonlinear systems, Lyapunov methods
Abstract: A frequency-domain absolute stability conditions for complex-valued Lurie systems with several nonholonomic nonlinearities is given. Graphs of nonlinearities belong to the complex analog of sector. Obtained conditions are sufficient for existence of a Popov-like Lyapunov function from the class "quadratic form plus real part of integral of nonlinearity". Conditions can be viewed as a generalization of Popov criterion to the complex case. The proof is based on the seminal Kalman-Yakobovich-Popov lemma (KYP-lemma) which also holds for the complex case. Obtained stability criterion applied to stability analysis of complex-valued convolutional neural network
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13:30-15:30, Paper WeM03.9 | Add to My Program |
Parameter Varying Flutter Suppression Control for the BAH Jet Transport Wing |
Patartics, Bálint | Inst. for Computer Science and Control, Hungarian Acad. Of |
Luspay, Tamás | Inst. for Computer Science and Control |
Peni, Tamas | Inst. for Computer Science and Control (MTA-SZTAKI) |
Takarics, Bela | Hungarian Acad. of Sciences, Inst. for Computer Science An |
Vanek, Balint | Mta Sztaki |
Kier, Thiemo | DLR |
Keywords: Aerospace, Linear parameter-varying systems, Robust control
Abstract: The aeroelastic flutter is an undamped oscillation that occurs on flexible structures placed into an airflow. It is caused by the interaction of the structural dynamics and the aerodynamics. Since it generally leads to structural failure, it has to be avoided. The paper proposes a complete framework for handling the aeroservoelastic behavior of aerospace applications, addressing the high dimensional problem in a tractable manner. The applicability of the proposed methodology is demonstrated by designing a flutter suppression controller for the BAH jet transport wing.
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13:30-15:30, Paper WeM03.10 | Add to My Program |
Integer Programming for Optimal Control of Geostationary Station Keeping of Low-Thrust Satellites |
Gazzino, Clément | LAAS-CNRS |
Louembet, Christophe | Univ. De Toulouse |
Arzelier, Denis | LAAS-CNRS |
Jozefowiez, Nicolas | INSA |
Losa, Damiana | Thales Alenia Space |
Pittet, Christelle | CNES |
Cerri, Luca | CNES |
Keywords: Aerospace, Modeling for control optimization, Industrial applications of optimal control
Abstract: In this paper, a control scheme is elaborated to perform the station keeping of a geostationary satellite equipped with electric propulsion. The use of electric thrusters imposes to take into account some additional mutually exclusive constraints that can be reformulated as logical constraints. The optimal station keeping problem is thus not solved with classical methods, either direct or indirect, but is transformed into a linear integer programming problem. The linearised relative velocity of the satellite is computed and some constraints on this velocity are added to the station keeping problem . Simulation results validate the efficiency of the optimal control thrusts obtained with these methods.
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13:30-15:30, Paper WeM03.11 | Add to My Program |
PI(D) Tuning for Flight Control Systems Via Incremental Nonlinear Dynamic Inversion |
Acquatella B., Paul | DLR, German Aerospace Center |
van Ekeren, Wim | Delft Univ. of Tech |
Chu, Qiping | Delft Univ. of Tech. Faculty of AerospaceEngineering |
Keywords: Aerospace, Tracking, Application of nonlinear analysis and design
Abstract: Previous results reported in the robotics literature show the relationship between time-delay control (TDC) and proportional-integral-derivative control (PID). In this paper, we show that incremental nonlinear dynamic inversion (INDI) -more familiar in the aerospace community- are in fact equivalent to TDC. This leads to a meaningful and systematic method for PI(D)-control tuning of robust nonlinear flight control systems via INDI. We considered a reformulation of the plant dynamics inversion which removes effector blending models from the resulting control law, resulting in robust model-free control laws like PI(D)-control.
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13:30-15:30, Paper WeM03.12 | Add to My Program |
Robust Generalized Dynamic Inversion Quadrotor Control |
Ansari, Uzair | King Abdulaziz Univ |
Bajodah, Abdulrahman H. | King Abdulaziz Univ |
Keywords: Control of constrained systems, UAVs, Tracking
Abstract: This paper presents the two-loops Robust Generalized Dynamic Inversion (RGDI) Quadrotor control system design. The outer loop of the system provides pitch and roll attitude commands to the inner loop, which in turns generates the tilting angles that are required to control the quadrotor position in the horizontal inertial plane in addition to the required reaction torque and thrust for yaw attitude and altitude tracking, respectively. The generalized inversion singularity is avoided by augmenting dynamic scaling factors within the Moore-Penrose Generalized Inverses (MPGIs) in both loops, resulting in stable generalized inversions and position/attitude tracking. Additionally, Sliding Mode Control elements are augmented in both loops to robustify the system against instability and tracking performance deterioration due to dynamic scaling and parametric uncertainties. Numerical simulations are conducted on a six DOFs Quadrotor mathematical model under nominal and perturbed flight conditions, demonstrating the efficacy of RGDI Control in Quadrotor control applications.
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13:30-15:30, Paper WeM03.13 | Add to My Program |
Nonlinear Feedback Control of Quadrotors Exploiting First-Order Drag Effects |
Kai, Jean-Marie | I3S CNRS Univ. Côte D'azur |
Allibert, Guillaume | Cnrs / Unsa |
Hua, Minh-Duc | I3s Uns-Cnrs Umr7271 |
Hamel, Tarek | Univ. De Nice Sophia Antipolis |
Keywords: UAVs, Lyapunov methods, Application of nonlinear analysis and design
Abstract: We exploit the first-order aerodynamic effects for the feedback control of quadrotors in order to enhance the performance of the closed-loop system. We describe first the origin of these forces and then we show how the complexity of the system dynamics can be transformed by a change of control input into a simpler form, for which the classical hierarchical control approach (slightly modified here) can be applied. The simulation results illustrate the soundness of the proposed drag-augmented control scheme.
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13:30-15:30, Paper WeM03.14 | Add to My Program |
Towards 4D Trajectory Tracking for Transport Aircraft |
Escamilla Nunez, Hector | Ec. Nationale De L'aviation Civile |
Mora-Camino, Felix | Ec. Nationale De L'aviation Civile |
Bouadi, Hakim | EMP |
Keywords: Tracking, Controller constraints and structure, Output feedback control
Abstract: This paper presents a new approach to perform 4D trajectory tracking for transportation aircraft. As current systems are extensions of 3D guidance with overfly time constraints at some given points and no general control framework has been developed for 4D guidance of a transport aircraft; the main goal of the proposed approach is to introduce a new method based on the inversion of the flight dynamics while avoiding numerical issues. A six degree of freedom model for a wide body transportation aircraft was developed in Matlab to provide a numerical simulation of the proposed approach, showing satisfying results.
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WeM04 Interactive Session, Caravelle 2.2 |
Add to My Program |
Non-Linear Control Systems V |
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Chair: Isidori, Alberto | Univ. of Rome "La Sapienza" |
Co-Chair: Spurgeon, Sarah K. | Univ. Coll. London |
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13:30-15:30, Paper WeM04.1 | Add to My Program |
An Internal Model Based Semi-Global Output Feedback Control for Nonlinear Multi-Agent Systems |
Su, Youfeng | Fuzhou Univ |
Keywords: Nonlinear cooperative control, Output regulation, Output feedback control
Abstract: In this paper, we present an internal model based output feedback control for the cooperative semi-global output regulation of nonlinear strict-feedback multi-agent systems with arbitrary non-identical relative degrees. The problem is first converted into a cooperative semi-global stabilization problem by introducing a distributed internal model. We then propose a distributed output feedback stabilizer that is determined by a distributed high-gain observer. It is shown that this novel observer is capable of estimating the states of nonlinear subsystems with arbitrary non-identical relative degrees.
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13:30-15:30, Paper WeM04.2 | Add to My Program |
Robust Control for Robot Manipulators: Support Vector Regression Based Command Filtered Adaptive Backstepping Approach |
Mvogo Ahanda, Joseph Jean-Baptiste | Department of Physics, Faculty of Science, Univ. of Yaounde |
Mbede, Jean Bosco | Univ. of Yaoundé 1 |
Melingui, Achille | Univ. of LIlle1 |
Essimbi Zobo, Bernard | Department of Physics, Faculty of Science, Univ. of Yaounde |
Lakhal, Othman | Univ. Lille 1, CRIStAL, CNRS-UMR 9189, |
Merzouki, Rochdi | Ec. Pol. Univ. De Lille |
Keywords: Robust control, Adaptive control, Lyapunov methods
Abstract: This study derives a robust adaptive control for electrically driven robot manipulators using support vector regression (SVR) based command filtered adaptive backstepping approach. The robot system is supposed to be subject to model uncertainties, neglected dynamics, and external disturbances. Command filtered backstepping algorithm is extended to the case of robot manipulators. A robust term is added to the common adaptive support vector regression algorithm, to mitigate the effects of SVR approximation error on the path tracking performance. The stability analysis of the closed loop system using the Lyapunov theory permits to highlight adaptation laws and to prove that all signals of the closed loop system are bounded. Simulations show the effectiveness of the proposed control strategy.
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13:30-15:30, Paper WeM04.3 | Add to My Program |
Stability Analysis of Output Regulated Rational Nonlinear Systems |
Castro, Rafael | PUCRS |
Flores, Jeferson Vieira | UFRGS |
Salton, Aurelio Tergolina | Pontifícia Univ. Católica Do Rio Grande Do Sul (PUCRS) |
Keywords: Stability of nonlinear systems, Output regulation
Abstract: This paper proposes a systematic methodology able to analyze the stability and estimate the domain of attraction of output regulated systems with rational nonlinearities. The fundamental idea is to represent the system's equations in the differential-algebraic form and subsequently address the stability problem by semidefinite optimization. The analysis of a nonlinear plant with sinusoidal output tracking control is provided to numerically exemplify our proposed method.
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13:30-15:30, Paper WeM04.4 | Add to My Program |
Maximising the Guaranteed Feasible Set for Stochastic MPC with Chance Constraints |
Schaich, Rainer Manuel | Univ. of Oxford |
Cannon, Mark | Univ. of Oxford |
Keywords: Robust control, Control of constrained systems, Stochastic optimal control problems
Abstract: This paper proposes a method of approximating positively invariant sets and n-step controllable sets of uncertain linear systems that are subject to chance constraints. The computed sets are robustly invariant and are guaranteed to satisfy the probabilistic constraints of the control problem. In contrast, existing methods based on random sampling are only able to satisfy such constraints with a fixed level of confidence. The proposed approach uses explicitly parametrised auxiliary disturbance sets, which are optimised subject to a constraint on their probability measure so as to maximise the relevant positively invariant or n-step controllable set. The results are illustrated by numerical examples.
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13:30-15:30, Paper WeM04.5 | Add to My Program |
On Existence of Separable Contraction Metrics for Monotone Nonlinear Systems |
Manchester, Ian | Univ. of Sydney |
Slotine, Jean-Jacques E. | Massachusetts Inst. of Tech |
Keywords: Distributed nonlinear control, Networked systems, Convex optimization
Abstract: Finding separable certificates of stability is important for tractability of analysis methods for large-scale networked systems. In this paper we consider the question of when a nonlinear system which is contracting, i.e. all solutions are exponentially stable, can have that property verified by a separable metric. Making use of recent results in the theory of positive linear systems and separable Lyapunov functions, we prove several new results showing when this is possible, and discuss the application of to nonlinear distributed control design via convex optimization.
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13:30-15:30, Paper WeM04.6 | Add to My Program |
A Scalable Moment Matching-Based Model Reduction Technique of Linear Networks |
Ionescu, Tudor C. | Pol. Uni. of Bucharest & Romanian Acad |
Necoara, Ion | Univ. Pol. Bucharest |
Keywords: Model reduction, Networked systems, Linear systems
Abstract: In this paper we address the problem of model order reduction of linear network systems. Using Sylvester equation-based moment matching techniques, we propose a framework to compute families of parametrized reduced order models that achieve moment matching and preserve the structure of the to-be-reduced model of the network. Further, using balanced truncation techniques we also reduce the number of subsystems in the network. The result is a low-order approximation of the linear network system with a reduced number of subsystems that exhibit properties similar to the given network. This approach leads to a scalable modeling algorithm for large-scale networks, using specific features of the system, such as the dynamical interactions between subsystems and the concepts from the model order reduction field.
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13:30-15:30, Paper WeM04.7 | Add to My Program |
An Agent-Based Framework for Bio-Inspired Value-Sensitive Collective Decision-Making |
Gray, Rebecca A. L. | Princeton Univ |
Franci, Alessio | Department of Mathematics, UNAM |
Srivastava, Vaibhav | Princeton Univ |
Leonard, Naomi Ehrich | Princeton Univ |
Keywords: Networked systems, Application of nonlinear analysis and design, Control of bifurcation and chaos
Abstract: We propose a generalizable framework that uses tools of nonlinear dynamics to rigorously connect model-based investigation of the mechanisms of animal group decision-making dynamics to systematic, bio-inspired design of coordinated control of multi-agent systems. We focus on the design of networked multi-agent system dynamics that inherit the remarkable features of value-sensitive decision-making observed in house-hunting honeybees. These features include robustness, adaptability, and efficiency in decision-making, all of which are critical for performance in complex, changing environments.
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13:30-15:30, Paper WeM04.8 | Add to My Program |
Optimized Thermal-Aware Job Scheduling and Control of Data Centers |
Van Damme, Tobias | Univ. of Groningen |
De Persis, Claudio | Univ. of Groningen |
Tesi, Pietro | Univ. of Groningen |
Keywords: Networked systems, Large scale optimization problems, Lyapunov methods
Abstract: Analyzing data centers with thermal-aware optimization techniques is a viable approach to reduce energy consumption of data centers. By taking into account thermal consequences of job placements among the servers of a data center, it is possible to reduce the amount of cooling necessary to keep the servers below a given safe temperature threshold. We set up an optimization problem to analyze and characterize the optimal setpoints for the workload distribution and the supply temperature of the cooling equipment. Furthermore under mild assumptions we design and analyze controllers that drive the data center to the optimal state without knowledge of the current total workload to be handled by the data center. The response of our controller is validated by simulations and convergence to the optimal setpoints is achieved under varying workload conditions.
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13:30-15:30, Paper WeM04.9 | Add to My Program |
Flatness Based Control and Tracking Control Based on Nonlinearity Measures |
Broecker, Markus | Heilbronn Univ |
Herrmann, Lukas | Heilbronn Univ |
Keywords: Tracking, Output feedback control, Disturbance rejection
Abstract: This paper deals with the derivation and the simulation of flatness based control and tracking control for a ball in tube system. Flatness based control is a control loop with a two-degree-of-freedom structure in terms of a feedforward (precontrol) and a feedback control path. Tracking control is characterized as a control loop in terms of a feedback control path only where the state vector needs to be measured or estimated. The control laws for both methods are computed for the nonlinear and the linearized system. The reference trajectory for the flat system output, the ball position, is defined as a polynomial transition between two stationary setpoints. The control quality of the closed-loop system is evaluated with the given reference trajectory in a simulation study. The disturbance rejection of the ball in tube system is examined by an external force impulse. In the literature nonlinearity measures are defined in order to answer the question how nonlinear a nonlinear system is. The nonlinearity measure gives therefore a decision if it is a mildly or a highly nonlinear system. The introduced nonlinearity measure is valid for nonlinear input-affine systems represented as a state space model and is calculated for the ball in tube system.
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13:30-15:30, Paper WeM04.10 | Add to My Program |
Tracking Control of Fully-Actuated Port-Hamiltonian Mechanical Systems Via Sliding Manifolds and Contraction Analysis |
Reyes-Báez, Rodolfo | Univ. of Groningen |
van der Schaft, Arjan J. | Univ. of Groningen |
Jayawardhana, Bayu | Univ. of Groningen |
Keywords: Tracking, Lagrangian and Hamiltonian systems, Lyapunov methods
Abstract: In this paper, we propose a trajectory tracking controller for fully-actuated port-Hamiltonian (pH) mechanical systems, which is based on recent advances in contraction analysis and differential Lyapunov theory. The tracking problem is solved by defining a suitable invariant sliding manifold which provides a desired steady state behavior. The manifold is then made attractive via contraction techniques. Finally, we present numerical simulation results where a SCARA robot is commanded by the proposed tracking control law.
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13:30-15:30, Paper WeM04.11 | Add to My Program |
Robust Controller Design for the Uncertainty and Disturbance Estimator (UDE) (I) |
Castillo, Alberto | Univ. Pol. De Valencia |
Sanz, Ricardo | Univ. Pol. De Valencia |
Garcia Gil, Pedro José | Univ. Pol. De Valencia |
Albertos, Pedro | Univ. Pol. De Valencia |
Keywords: Disturbance rejection, Robust linear matrix inequalities, Robust control
Abstract: In this paper, the design problem of the robust control technique known as the Uncertainty and Disturbance Estimator is tackled for a class of (possible) nonlinear systems. This strategy combines state-feedback control with a reduced-order disturbance observer. The design procedure is derived in the state-space framework, in contrast to frequency-based design methodologies, which are already studied in the literature. Based on Lyapunov theory, sucient conditions to ensure closed-loop stability are given in terms of Linear Matrix Inequalities. Furthermore, a computable criterion is derived in order to obtain both the feedback gain matrix and the observer tuning ensuring robust asymptotic stability.
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13:30-15:30, Paper WeM04.12 | Add to My Program |
Circular Path Following for the Spherical Pendulum on a Cart |
Greco, Luca | CentraleSupélec |
Mason, Paolo | L2S CentraleSupélec, CNRS |
Maggiore, Manfredi | Univ. of Toronto |
Keywords: Tracking, Lagrangian and Hamiltonian systems, Asymptotic stabilization
Abstract: This paper investigates the problem of making the cart of a spherical pendulum follow a circular path with constant speed, while guaranteeing that the pendulum does not fall over. A solution methodology is presented which is hierarchical in nature. First, one of the two control inputs is used to stabilize the angle of the pendulum from the vertical axis at a constant value. The remaining control input is used to make the cart converge to the circular path with a desired speed.
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WeM05 Regular Session, Latécoère |
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Spacecraft Navigation and Guidance |
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Chair: Capolupo, Francesco | Airbus Defence and Space |
Co-Chair: Hajiyev, Chingiz | Istanbul Tech. Univ |
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13:30-13:50, Paper WeM05.1 | Add to My Program |
Q-Adaptation of SVD-Aided UKF Algorithm for Nanosatellite Attitude Estimation |
Hajiyev, Chingiz | Istanbul Tech. Univ |
Soken, Halil Ersin | The Graduate Univ. for Advanced Studies |
Cilden, Demet | Istanbul Tech. Univ |
Keywords: Micro-nano-aerospace vehicles/satellites, Guidance, navigation and control of vehicles, Decision making and autonomy, sensor data fusion
Abstract: In this study, we propose process noise covariance matrix adaptation (Q-adaptation) for the Singular Value Decomposition (SVD) aided Unscented Kalman Filter (UKF) algorithm. The main aim is to make the algorithm adaptive against the changes in the process noise covariance. The SVD-aided Adaptive UKF (SaAUKF) estimates the attitude and attitude rate of a nanosatellite. We implement the SVD method in the algorithm’s first phase using magnetometer and sun sensor measurements. It estimates the attitude of the nanosatellite giving one estimate at a single-frame. Then these estimated attitude terms are fed into the Adaptive UKF. The SaAUKF algorithm estimates the spacecraft attitude rates and provides finer attitude estimations. We investigate the performance of the algorithm when the process noise increases, which is very likely as a result of changes in the spacecraft dynamics in different environments. The results are compared with those of a non-Q-adaptive version of the algorithm.
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14:10-14:30, Paper WeM05.3 | Add to My Program |
Heuristic Guidance Techniques for the Exploration of Small Celestial Bodies |
Capolupo, Francesco | Airbus Defence and Space |
Simeon, Thierry | LAAS-CNRS |
Berges, Jean-Claude | Centre National D'etudes Spatiales |
Keywords: Guidance, navigation and control of vehicles, Space exploration and transportation, Trajectory and Path Planning
Abstract: Sampling Based Motion Planning (SBMP) techniques are widely used in robotics to plan feasible trajectories of a vehicle/robot evolving in a complex and constrained environment. Algorithms such as Rapidly Exploring Random Trees (RRT) and Sampling Based Model Predictive Optimization (SBMPO) allow for an efficient exploration of the state space, and the construction of a feasible sequence of maneuvers and trajectories that respect the kinodynamic and path constraints of the system. Proximity operations around small bodies are characterized by complex dynamics and constraints that can be easily and autonomously handled by motion planning techniques. This paper presents two motion planning algorithms designed to solve two different guidance problems: the landing on a small body and its observation. The mission scenarios considered to test the algorithms are the landing of Rosetta on the comet 67P/Churyumov-–Gerasimenko and the observation of Didymain in the Didymos binary asteroid system. To conclude, the applicability of SBMP techniques to small body proximity operations are discussed. In particular, the advantages of implementing SBMP algorithms to solve complex high-level planning problems or to guide a spacecraft in a cluttered environment are highlighted.
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14:30-14:50, Paper WeM05.4 | Add to My Program |
Generalization of Linearly Parametrized Trajectory Shaping Guidance Laws |
Cho, Namhoon | Seoul National Univ |
Kim, Youdan | Seoul National Univ |
Shin, Hyo-Sang | Cranfield Univ |
Keywords: Guidance, navigation and control of vehicles, Navigation, Guidance and Control
Abstract: A class of trajectory shaping guidance laws is extended, unified, and generalized. Various existing guidance laws based on linear or linearized formulation, in which desired terminal conditions are considered as fixed terminal output constraints, usually have linear-in-parameter structure. From this observation, the supposition made in this study is that a guidance law can be designed by representing the command as a product of a basis function vector and a constant coefficient vector. The design can be diversified by the ways of formulation and the choices of basis function vector. Flexibility of tuning is introduced into the proposed design framework through the tuning of basis function vector. After formulating a linear system equation and selecting an appropriate basis function vector, the constant coefficient vector can be determined to satisfy the terminal constraints by considering them as the boundary conditions. Various existing guidance laws can be unified in the proposed framework, and the design can be extended to a more general form. New guidance laws can be designed using the proposed framework by taking different way of formulation or basis function vector.
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14:50-15:10, Paper WeM05.5 | Add to My Program |
Trajectory Optimization for Planetary Multi-Point Powered Landing |
Ma, Lin | Zhejiang Univ |
Wang, Kexin | Zhejiang Univ |
Shao, Zhijiang | Zhejiang Univ |
Song, Zhengyu | Chinese Society of Astronautics |
Biegler, Lorenz T. | Carnegie Mellon Univ |
Keywords: Guidance, navigation and control of vehicles, Autonomous systems, Decision making and autonomy, sensor data fusion
Abstract: Next-generation powered landing guidance for planetary soft landing needs multi-point-guidance capabilities. A novel trajectory optimization framework for planetary multi-point powered landing is presented in this study. First, the powered landing trajectory optimization problem with three-dimensional dynamics model, boundary conditions, and path constraints is formulated. The finite-element collocation approach with collocation based on Radau points is chosen to transcribe the formulated trajectory optimization problem into a nonlinear programming problem solved by Interior Point OPTimizer (IPOPT). The proposed trajectory optimization framework utilizes optimal sensitivity based on IPOPT to select the fuel-optimal landing aim point from candidate landing aim points by one optimization computation. Then, the optimal trajectory to the best landing aim point can be efficiently obtained based on the good initial value guess provided by the sensitivity analysis. Numerical results show that the proposed algorithm effectively and efficiently addresses the planetary multi-point powered landing problem and has potential for onboard implementation.
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WeM06 Open Invited Session, Mermoz |
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Analysis and Control of Large-Scale Complex Networked Systems 1 |
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Chair: Wang, Xiaofan | Shanghai JiaoTong Univ |
Co-Chair: di Bernardo, Mario | Univ. of Naples Federico II |
Organizer: Wang, Xiaofan | Shanghai JiaoTong Univ |
Organizer: Ren, Wei | Univ. of California, Riverside |
Organizer: di Bernardo, Mario | Univ. of Naples Federico II |
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13:30-13:50, Paper WeM06.1 | Add to My Program |
Discrete-Time Dynamical Networks with Diagonal Controllability Gramian (I) |
Zhao, Shiyu | Univ. of Sheffield |
Pasqualetti, Fabio | Univ. of California, Riverside |
Keywords: Optimization and control of large-scale network systems, Multiagent systems, Efficient strategies for large scale complex systems
Abstract: The controllability Gramian of a dynamical network carries rich information of the fundamental properties of the network. How to identify the connections from these fundamental properties to the network topology and weights is of great interest. It is, however, very challenging to do that because the Gramian is an extremely complicated function of the network topology and weights. In this paper, we consider the simplest case where the Gramian is diagonal. One of the main contributions of this paper is to prove the necessary and sufficient graphical conditions for a discrete-time dynamical network to feature a diagonal Gramian. The explicit relations between the values of the diagonal entries of the Gramian and the network weights are also established. The proposed results may be used to design networks with desired control energy and robustness performance.
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13:50-14:10, Paper WeM06.2 | Add to My Program |
Robust Semi-Global Coordinated Tracking of Saturated Networked Systems (I) |
Wang, Xiaoling | Shanghai Jiao Tong Univ |
Su, Housheng | Huazhong Univ. of Science and Tech |
Wang, Xiao Fan | Shanghai Jiao Tong Univ |
Cai, Yunze | Shanghai Jiaotong Univ |
Keywords: Decentralized and distributed control, Multiagent systems, Efficient strategies for large scale complex systems
Abstract: This paper focuses on the robust semi-global coordinated tracking of general linear systems subject to input saturation together with input additive disturbance and dead zone. A fully distributed algorithm which relating only with the number of the following agents and the relative state information of its neighbors is first constructed, and then sufficient conditions guaranteeing the robust semi-global consensus tracking and the robust semi-global swarm tracking are provided, respectively, on the basis of the low-and-high feedback technique. Finally, numerical simulations are performed to illustrate the effectiveness of the theoretical results.
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14:10-14:30, Paper WeM06.3 | Add to My Program |
A Driver Node Selection Strategy for Minimizing the Control Energy in Complex Networks (I) |
Lindmark, Gustav | Linköping Univ |
Altafini, Claudio | Linkoping Univ |
Keywords: Optimization and control of large-scale network systems, Multiagent systems, Modelling and decision making in complex systems
Abstract: This paper deals with the problem of controlling linear complex networks in an efficient way, i.e., with limited control energy. A general principle is provided, based on the eigenvalues of the network. It is shown numerically that the cost of controlling a network grows with the (absolute value of the) real part of the eigenvalues of the adjacency matrix. Constructive rules for driver node selection are also provided, based on the (weighted) topology of the network. In particular, we show that the key to have an energetically efficient driver node placement strategy is to use the skewness of the outdegree versus indegree distributions of the network, a topological property not associated before to controllability.
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14:30-14:50, Paper WeM06.4 | Add to My Program |
Topological Aspects of Controlling Large Scale Networks with Unilateral Inputs (I) |
Lindmark, Gustav | Linköping Univ |
Altafini, Claudio | Linkoping Univ |
Keywords: Optimization and control of large-scale network systems
Abstract: In this paper, we study the problem of controlling complex networks with unilateral controls, i.e., controls which can assume only positive or negative values, not both. Given a network with linear dynamics represented by the adjacency matrix A, we seek to understand the minimal number of unilateral controls that renders the network controllable. This problem has structural properties that for instance allows us to establish theoretical bounds and identify key topological properties that makes a network relatively easy to control with unilateral controls as compared to unrestricted controls. We find that the structure of the left null space of A is particularly important to this end. In a computational study we find that the network topology largely determines the number of unilateral controls and that the derived lower bounds often are achieved with heuristic methods.
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14:50-15:10, Paper WeM06.5 | Add to My Program |
Minimum Energy Control for Networks of Coupled Harmonic Oscillators (I) |
Lindmark, Gustav | Linköping Univ |
Altafini, Claudio | Linkoping Univ |
Keywords: Optimization and control of large-scale network systems, Decentralized and distributed control, Modelling and decision making in complex systems
Abstract: The aim of this paper is to investigate the problem of selecting driver nodes enabling the control of a network with minimal control energy. The networks we are interested in are coupled harmonic oscillators, i.e., networks in which the eigenvalues are all purely imaginary. For them, several criteria for driver node selection are presented, based on the different measures of control energy considered in this context. The constructive algorithms we develop for these criteria are normally solving the problem in a heuristic way, although in one case the exact solution can be computed efficiently regardless of size.
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15:10-15:30, Paper WeM06.6 | Add to My Program |
Pinning Controllability of Complex Stochastic Networks (I) |
Burbano Lombana, Daniel Alberto | Univ. of Naples Federico II |
di Bernardo, Mario | Univ. of Naples Federico II |
Russo, Giovanni | IBM Res. Ireland |
Keywords: Decentralized and distributed control, Multiagent systems
Abstract: In this paper we study the pinning controllability of networks when noise affects either the node dynamics, or the communication links or the connections through which pinning control itself is being exerted. By using appropriate Lyapunov functions and the notion of almost sure exponential stability, we provide simple algebraic conditions depending on the node dynamics, networks structure, noise intensity and control parameters to guarantee that the network states converge toward the desired trajectory. Rather than observing noise to be detrimental for achieving control of the network collective behaviour, we find that under some specific conditions noise can enhance the pinning controllability of the network, making it easier to drive all network nodes towards the desired collective evolution of interest. Throughout the paper, theoretical results are illustrated via representative numerical examples showing the effectiveness of the proposed approach.
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WeM07 Regular Session, Spot |
Add to My Program |
Nonlinear System Identification |
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Chair: Schoukens, Maarten | Vrije Univ. Brussel |
Co-Chair: Aguero, Juan C | Univ. Santa Maria |
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13:30-13:50, Paper WeM07.1 | Add to My Program |
Approximate Inference of Nonparametric Hammerstein Models |
Risuleo, Riccardo Sven | KTH Royal Inst. of Tech |
Bottegal, Giulio | TU Eindhoven |
Hjalmarsson, Håkan | KTH |
Keywords: Nonlinear system identification, Bayesian methods, Nonparametric methods
Abstract: We propose a method for nonparametric identification of Hammerstein models with Gaussian-process models for the impulse response of the linear block and for the input nonlinearity. Interpreting the Gaussian-processes as prior distributions, we can estimate the unknowns using the posterior means given the data. To estimate the hyperparameters we set up an iterative scheme, reminiscent of the expectation-maximization method, where the posterior expectation of the complete likelihood is iteratively maximized. In the Hammerstein case, the posterior density is intractable because, in general, it does not admit a closed form expression. In this work, we propose two approximation approaches to estimate the posterior mean. In the first, we make a particle approximation of the posterior using Markov Chain Monte Carlo. In the second, we use a variational Bayes approach with a mean-field hypothesis. We validate the proposed methods on synthetic datasets of Hammerstein systems.
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13:50-14:10, Paper WeM07.2 | Add to My Program |
Discrete Time Approximation of Continuous Time Nonlinear State Space Models |
Schoukens, Johan | Vrije Univ. Brussel |
Relan, Rishi | Vrije Univ. Brussel (VUB) |
Schoukens, Maarten | Vrije Univ. Brussel |
Keywords: Nonlinear system identification, Continuous time system estimation
Abstract: In this paper we discuss the problem of approximating a continuous time nonlinear state space model with an explicit discrete time state space model. Two steps are made to do so. The first one is to replace the classical zero-order-hold (ZOH) excitation signal assumption by a more general concept of low pass (LP) signals. It will be shown that opposed to the ZOH-property, the LP-property is maintained for a wide class of (non)linear systems, including cascaded and closed loop systems. The second step is based on a result from the signal processing theory that states that a BL-signal can be exactly predicted from its past samples by a fixed causal linear filter. This result is generalized to the discrete time integration of LP-signals by introducing an error bound that can be made arbitrarily small by increasing the sample frequency. Both ideas are then combined to bound the approximation errors of an explicit discrete time nonlinear state space approximation for a continuous time nonlinear state space model. The order of the decay of the approximation error as a function of the sample frequency is given. It is shown that eventually the aliasing error is the dominating error, at a cost of a (slightly) increased model complexity. These results are directly applicable to nonlinear system identification, and will be experimentally verified on the identification of a closed loop nonlinear system (the silverbox) using a discrete time nonlinear state space model.
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14:10-14:30, Paper WeM07.3 | Add to My Program |
Applying Measures of Dependence Based on the Symmetric Rényi Divergence to the Statistical Linearization |
Chernyshov, Kirill | V.A. Trapeznikov Inst. of Control Sciences |
Keywords: Nonlinear system identification, Grey box modelling, Nonparametric methods
Abstract: The paper presents an approach to the statistical linearization of input/output mappings of stochastic systems, with emphasizing the significance of applying consistent (in accordance to the A.N. Kolmogorov terminology) measures of dependence of random values. Within such a problem statement, the criterion function is constructed by applying the Rényi symmetric divergence leading to the corre-sponding consistent measure of dependence, the Rényi symmetric mutual information, which combines both properties of the Kullback-Leibler divergence (expansion on the sum of corresponding summands) and the Rényi entropy (logarithm of integral instead of integral of logarithm), what is of particular im-portance, from the system identification point of view, under constructing sample estimates, especially those of based on observation of dependent data.
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14:30-14:50, Paper WeM07.4 | Add to My Program |
LPV Model Order Selection from Noise-Corrupted Output and Scheduling Signal Measurements |
Mejari, Manas | IMT School for Advanced Studies Lucca |
Piga, Dario | IMT Inst. for Advanced Studies Lucca |
Bemporad, Alberto | IMT Inst. for Advanced Studies Lucca |
Keywords: Nonlinear system identification, Linear parametrically varying (LPV) methodologies
Abstract: In parametric identification of Linear Parameter-Varying (LPV) systems, it is important to achieve a low variance of the model estimate by limiting the number of parameters to be identified. This is the well known ``model order selection'' problem, which consists of selecting the number of input and output delays and the basis functions characterizing the dependence of the LPV model parameters on the scheduling signal. Ignoring the effect of noise on the observations of the scheduling signals may lead to a bias in the final estimate and, as a consequence, also to an incorrect selection of the model order. In this paper, we introduce a ``bias-corrected cost function'' for the identification of LPV systems from noise-corrupted observations of the output and scheduling variable. The introduced cost function provides a bias-free parameter estimation along with model order selection. The proposed identification approach has two main advantages: (i) the problem of model order selection can be handled by adding a LASSO-like penalty term to the bias-corrected cost function; (ii) it provides a bias-free cost function as a criterion to tune some hyper-parameters influencing the final parameter estimate via cross-validation.
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14:50-15:10, Paper WeM07.5 | Add to My Program |
Robust Target Location Estimation for Possibly Unknown Signal Propagating Models |
Bai, Er-Wei | Univ. of Iowa |
Ding, Li | Wuhan Univ |
Keywords: Nonlinear system identification, Nonparametric methods, Recursive identification
Abstract: This paper considers a problem of target localization. No explicit signal propagation model, neither the structure nor the mathematical description, is assumed. The only assumption is monotonic of the received signal strength with the distance. It is shown that this mere knowledge of monotonicity suffices robustly in locating the unknown target.
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15:10-15:30, Paper WeM07.6 | Add to My Program |
EM-Based Identification of ARX Systems Having Quantized Output Data |
Aguero, Juan C | The Univ. of Newcastle |
Gonzalez, Karen | Univ. Santa Maria |
Carvajal, Rodrigo | Univ. Tecnica Federico Santa Maria |
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WeM08 Open Invited Session, Diamant |
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Security and Privacy for Networked Multi-Agent Cyber-Physical Systems II |
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Chair: Chen, Jianqi | City Univ. of Hong Kong |
Co-Chair: Dey, Subhrakanti | Uppsala Univ |
Organizer: Dey, Subhrakanti | Uppsala Univ |
Organizer: Shi, Ling | Hong Kong Univ. of Science and Tech |
Organizer: Pappas, George J. | Univ. of Pennsylvania |
Organizer: Sinopoli, Bruno | Carnegie Mellon Univ |
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13:30-13:50, Paper WeM08.1 | Add to My Program |
Protecting Positive and Second-Order Systems against Undetectable Attacks (I) |
Chen, Jianqi | City Univ. of Hong Kong |
Wei, Jieqiang | Royal Inst. of Tech. Sweden |
Chen, Wei | The Royal Inst. of Tech. (KTH) |
Sandberg, Henrik | KTH Royal Inst. of Tech |
Johansson, Karl H. | Royal Inst. of Tech |
Chen, Jie | City Univ. of Hong Kong |
Keywords: Cooperative systems, Control over networks, Multi-agent systems
Abstract: Undetectable attacks in security studies of cyber-physical systems render the measurements of the system equal to a possible physical response. In this paper, we investigate defense strategies against the undetectable single-attack for positive systems and second-order systems, which both can be reinterpreted in terms of graphs with nodes and edges, while the undetectable attack is added through one of the nodes. We show that an arbitrary placement of a sensor prevents undetectable single-attack for these classes of systems. It's worth emphasising that we do not need to measure at the corrupted node to prevent the undetectable single-attack, but can measure at any node. The defense strategy is of a low complexity and can be readily implemented.
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13:50-14:10, Paper WeM08.2 | Add to My Program |
Voltage Control in Distributed Generation under Measurement Falsification Attacks (I) |
Ma, Mingxiao | Delft Univ. of Tech |
Teixeira, André M.H. | Delft Univ. of Tech |
van den Berg, Jan | Delft Univ. of Tech |
Palensky, Peter | Delft Univ. of Tech |
Keywords: Control over networks, Distributed control and estimation
Abstract: Low-voltage distribution grids experience a rising penetration of inverter-based, distributed generation. In order to not only contribute to but also solve voltage problems, these inverters are increasingly asked to participate in intelligent grid controls. Communicating inverters implement distributed voltage droop controls. The impact of cyber-attacks to the stability of such distributed grid controls is poorly researched and therefore addressed in this article. We characterize the potential impact of several attack scenarios by employing the positivity and diagonal dominance properties. In particular, we discuss measurement falsification scenarios where the attacker corrupts voltage measurement data received by the voltage droop controllers. Analytical, control-theoretic methods for assessing the impact on system stability and voltage magnitude are presented and validated via simulation.
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14:10-14:30, Paper WeM08.3 | Add to My Program |
State Estimation with Secrecy against Eavesdroppers (I) |
Tsiamis, Anastasios | Univ. of Pennsylvania |
Gatsis, Konstantinos | Univ. of Pennsylvania |
Pappas, George J. | Univ. of Pennsylvania |
Keywords: Control and estimation with data loss
Abstract: We study the problem of remote state estimation, in the presence of an eavesdropper. An authorized user estimates the state of a linear plant, based on the data received from a sensor, while the data may also be intercepted by the eavesdropper. To maintain confidentiality with respect to state, we introduce a novel control-theoretic definition of perfect secrecy requiring that the user's expected error remains bounded while the eavesdropper's expected error grows unbounded. We propose a secrecy mechanism which guarantees perfect secrecy by randomly withholding sensor information, under the condition that the user's packet reception rate is larger than the eavesdropper's interception rate. Given this mechanism, we also explore the tradeoff between user's utility and confidentiality with respect to the eavesdropper, via an optimization problem. Finally, some examples are studied to provide insights about this tradeoff.
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14:30-14:50, Paper WeM08.4 | Add to My Program |
Analysis and Mitigation of Bias Injection Attacks against Kalman Filter (I) |
Milosevic, Jezdimir | KTH Royal Inst. of Tech |
Tanaka, Takashi | KTH Royal Inst. of Tech |
Sandberg, Henrik | KTH Royal Inst. of Tech |
Johansson, Karl H. | Royal Inst. of Tech |
Keywords: Sensor networks
Abstract: In this paper, we consider a state estimation problem for stochastic linear systems in the presence of bias injection attacks. The Kalman filter is used as an estimator, and a chi-square test is used to detect anomalies. We first show that the impact of the worst-case bias injection attack in stochastic settings can be analyzed by a deterministic quadratically constrained quadratic program, which has an analytical solution. Based on this result, we propose a criterion for selecting sensors to secure in order to mitigate the attack impact. Furthermore, we derive a condition on the necessary number of sensors to secure in order for the bias attack impact to be less then a desired threshold.
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14:50-15:10, Paper WeM08.5 | Add to My Program |
Consequence Analysis of Innovation-Based Integrity Attacks with Side Information on Remote State Estimation (I) |
Guo, Ziyang | Hong Kong Univ. of Science and Tech |
Shi, Dawei | Harvard Univ |
Johansson, Karl H. | Royal Inst. of Tech |
Shi, Ling | Hong Kong Univ. of Science and Tech |
Keywords: Control under communication constraints, Control over networks, Sensor networks
Abstract: In this work, we study the worst-case consequence of innovation-based integrity attacks with side information in a remote state estimation scenario. A new type of linear attack strategy based on both intercepted and sensing data is proposed and a corresponding stealthiness constraint is characterized. The evolution of the remote estimation error covariance is derived in the presence of the proposed malicious attack, based on which the worst-case attack policy is obtained in closed form. Furthermore, the system estimation performance under the proposed attack is compared with that under the existing attack strategy to determine which attack is more critical in deteriorating system functionality. Simulation examples are provided to illustrate the developed results.
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15:10-15:30, Paper WeM08.6 | Add to My Program |
Wireless Control under Jamming Attacks with Bounded Average Interference Power (I) |
Cetinkaya, Ahmet | Tokyo Inst. of Tech |
Ishii, Hideaki | Tokyo Inst. of Tech |
Hayakawa, Tomohisa | Tokyo Inst. of Tech |
Keywords: Control over networks, Control under communication constraints, Control and estimation with data loss
Abstract: The effect of jamming attacks on the stability of a networked control system is explored. In this networked system, control input packets are assumed to be transmitted on a wireless channel that faces jamming attacks by a malicious agent. Probability of transmission failures on this channel depends on the power of the interference signals emitted by the jamming attacker. We investigate the case where the attacker's interference power is time-varying but bounded in average. We obtain almost sure asymptotic stability conditions for the closed-loop system. For obtaining these stability conditions, we utilize nondecreasing and concave functions of the attacker's interference power that upper-bound the transmission failure probability. We present a numerical example to demonstrate the efficacy of our results.
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WeM09 Regular Session, Argos |
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Large Scale Optimization |
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Chair: Bourdais, Romain | CentraleSupelec - IETR |
Co-Chair: Peaucelle, Dimitri | LAAS-CNRS |
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13:30-13:50, Paper WeM09.1 | Add to My Program |
Fast ADMM for Homogeneous Self-Dual Embedding of Sparse SDPs |
Zheng, Yang | Univ. of Oxford |
Fantuzzi, Giovanni | Imperial Coll. London |
Papachristodoulou, Antonis | Univ. of Oxford |
Goulart, Paul J. | Univ. of Oxford |
Wynn, Andrew | Imperial Coll. London |
Keywords: Large scale optimization problems, Convex optimization, Static optimization problems
Abstract: We propose an efficient first-order method, based on the alternating direction method of multipliers (ADMM), to solve the homogeneous self-dual embedding problem for a primal-dual pair of semidefinite programs (SDPs) with chordal sparsity. Using a series of block eliminations, the per-iteration cost of our method is the same as applying a splitting method to the primal or dual alone. Moreover, our approach is more efficient than other first-order methods for generic sparse conic programs since we work with smaller semidefinite cones. In contrast to previous first-order methods that exploit chordal sparsity, our algorithm returns both primal and dual solutions when available, and a certificate of infeasibility otherwise. Our techniques are implemented in the open-source MATLAB solver CDCS. Numerical experiments on three sets of benchmark problems from the library SDPLIB show speed-ups compared to some common state-of-the-art software packages
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13:50-14:10, Paper WeM09.2 | Add to My Program |
Distributed Resource Allocation among a Subset of Nodes of a Graph |
Obando, Germán | Univ. De Los Andes |
Quijano, Nicanor | Univ. De Los Andes |
Gauthier, Alain | Univ. De Los Andes |
Keywords: Large scale optimization problems, Decentralized control, Static optimization problems
Abstract: A weakness of most distributed resource allocation algorithms proposed in the literature is that they assume that all nodes of the underlying graph are involved in the resource allocation problem. Such assumption does not hold in some applications. This manuscript deals with the problem of resource allocation among a subset of nodes of a graph. We propose a fully distributed algorithm based on consensus that provably reaches the optimal solution of a class of resource allocation problem that only involves certain nodes of a graph. Usefulness of the proposed algorithm is illustrated by means of two applications: distributed computation of a minimum-covariance estimate in sensor networks under failures, and distributed node counting.
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14:10-14:30, Paper WeM09.3 | Add to My Program |
Projected Alternating Direction Method of Multipliers for Hybrid Systems |
Feng, Chengang | CentraleSupélec |
Bourdais, Romain | CentraleSupelec - IETR |
Keywords: Large scale optimization problems, Distributed nonlinear control
Abstract: In large-scale control optimization problems, a decentralized control structure can offer great scalability and rapidity advantages over a centralized implantation. Alternating Direction Method of Multipliers (ADMM) is a decentralized optimization algorithm which has the important benefit of being quite general in its scope and applicability in continuous systems. In this paper, a new projected ADMM algorithm is defined and it can work in hybrid systems. The key point is to add a convexification and a projection process during each iteration of ADMM algorithm. We have applied it to a charging control problem of electric vehicles. Simulation results show that the proposed algorithm can converge to a similar result as a centralized control within a limited iteration time. Due to its availability, simplicity and scalability, the projected ADMM algorithm may be attractive in some practical engineering application.
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14:30-14:50, Paper WeM09.4 | Add to My Program |
Computing Monotone Policies for Markov Decision Processes: A Nearly-Isotonic Penalty Approach |
Mattila, Robert | KTH Royal Inst. of Tech |
Rojas, Cristian R. | KTH Royal Inst. of Tech |
Krishnamurthy, Vikram | Univ. of British Columbia |
Wahlberg, Bo | KTH Royal Inst. of Tech |
Keywords: Stochastic optimal control problems, Large scale optimization problems, Optimal control theory
Abstract: This paper discusses algorithms for solving Markov decision processes (MDPs) that have monotone optimal policies. We propose a two-stage alternating convex optimization scheme that can accelerate the search for an optimal policy by exploiting the monotone property. The first stage is a linear program formulated in terms of the joint state-action probabilities. The second stage is a regularized problem formulated in terms of the conditional probabilities of actions given states. The regularization uses techniques from nearly-isotonic regression. While a variety of iterative method can be used in the first formulation of the problem, we show in numerical simulations that, in particular, the alternating method of multipliers (ADMM) can be significantly accelerated using the regularization step.
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14:50-15:10, Paper WeM09.5 | Add to My Program |
A Consensus Approach to Dynamic Programming |
Laurini, Mattia | Univ. Degli Studi Di Parma |
Consolini, Luca | Univ. of Parma |
Locatelli, Marco | Univ. Degli Studi Di Parma |
Keywords: Large scale optimization problems, Networked systems, Generalized solutions of Hamilton-Jacobi equations
Abstract: Motivated by the finite element formulation of the Hamilton-Jacobi-Bellman (HJB) equation, we introduce a consensus algorithm to compute the solution of a class of optimization problems that can be solved with a fixed point iteration. The proposed algorithm reduces the computational cost in terms of elementary operations with respect to a complete fixed point iteration. We provide theoretical results on maximum error rate and on the convergence of the algorithm. As an application, we compute the minimum-time solution for a parking maneuver of a car-like vehicle, comparing the fixed point iteration with the consensus iteration.
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15:10-15:30, Paper WeM09.6 | Add to My Program |
Formation Control of Mobile Robots Based on Interconnected Positive Systems |
Ichihara, Hiroyuki | Meiji Univ |
Kajihara, Shinya | Meiji Univ |
Ebihara, Yoshio | Kyoto Univ |
Peaucelle, Dimitri | LAAS-CNRS |
Keywords: Large scale optimization problems, Robust control applications, Decentralized control
Abstract: This paper deals with formation control of mobile robots based on interconnected positive systems with SISO subsystems where each robot has a nonlinear dynamics of a MIMO subsystem. To linearize the dynamics, this paper introduces a virtual vehicle of the robot. Then a feedback linearization and a local feedback law transform each dynamics of the virtual vehicle into two SISO positive and stable linear systems. Consequently, the dynamics of the virtual vehicles satisfy the properties of the interconnected positive systems. Experimental results as well as numerical examples including leader-follower formation control for the mobile robots are illustrated.
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WeM10 Regular Session, Cassiopée |
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Stability of Nonlinear Systems II |
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Chair: Scherer, Carsten W. | Department of Mathematics, Univ. of Stuttgart |
Co-Chair: Proskurnikov, Anton V. | Delft Univ. of Tech |
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13:30-13:50, Paper WeM10.1 | Add to My Program |
Absolute Stability Analysis of Discrete Time Feedback Interconnections |
Fetzer, Matthias | Univ. of Stuttgart |
Scherer, Carsten W. | Department of Mathematics, Univ. of Stuttgart |
Keywords: Stability of nonlinear systems, Robustness analysis, Uncertainty descriptions
Abstract: The problem of absolute stability of a discrete time feedback interconnection is revisited. For the case of a slope-restricted nonlinearity in feedback with a linear time-invariant system it is shown that several of the recently proposed stability tests are special cases of the Zames-Falb criterion. Moreover a new computationally tractable stability test is proposed that simultaneously employs full-block circle, Yakubovich and Zames-Falb multipliers.
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13:50-14:10, Paper WeM10.2 | Add to My Program |
Singular Perturbations of Volterra Equations with Periodic Nonlinearities. Stability and Oscillatory Properties |
Smirnova, Vera | St.Petersburg State Univ. of Architecture and Civil Enginee |
Proskurnikov, Anton V. | Delft Univ. of Tech |
Keywords: Stability of nonlinear systems, stability of distributed parameter systems, Robust control
Abstract: Singularly perturbed integro-differential Volterra equations with MIMO periodic nonlinearities are considered, which describe synchronization circuits (such as phase- and frequency-locked loops) and many other pendulum-like systems. Similar to the usual pendulum equation, such systems are typically featured by infinite sequences of equilibria points, and none of which can be globally asymptotically stable. A natural extension of the global asymptotic stability is the gradient-like behavior, that is, convergence of any solution to one of the equilibria. In this paper, we offer an efficient frequency-domain criterion for gradient- like behavior. This criterion is not only applicable to a broad class of infinite-dimensional systems with periodic nonlinearities, but in fact ensures the equilibria set stability under singular perturbation. In particular, the proposed criterion guarantees the absence of periodic solutions ("hidden oscillations") that are considered to be undesirable in synchronization systems. In this paper we also discuss a relaxed version of this criterion, which guarantees the absence of "high-frequency" periodic solutions, whose frequencies lie beyond a certain bounded interval.
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14:10-14:30, Paper WeM10.3 | Add to My Program |
Convergence Properties of an Isospectral Saddle-Point Dynamics |
Gharesifard, Bahman | Queens Univ. Canada |
Ebenbauer, Christian | Stuttgart Univ |
Keywords: Stability of nonlinear systems, Static optimization problems
Abstract: We introduce a saddle-point dynamics, evolving isospectrally on the product of two homogeneous space of symmetric matrices, each orthogonally equivalent to a positive diagonal matrix. This dynamics is a saddle-point version of the so-called double-bracket flow and corresponds to a minimax version of the Frobenius norm minimization problem considered in Brockett, 1989, 1991. We study the set of equilibria of this dynamics and prove its asymptotic convergence properties under suitable conditions. We also demonstrate how, under appropriate conditions, this dynamics provides a learning strategy for a two-player zero-sum game, where the players strategy set is the set of permutations.
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14:30-14:50, Paper WeM10.4 | Add to My Program |
Nested Saturation Based Control of Ultra-Compliant Cantilever with Tip Mass Mounted on a Cart |
Shenoy, Rahul | Indian Inst. of Tech. Bombay |
Gandhi, Prasanna | Indian Inst. of Tech. Bombay |
Keywords: Stability of nonlinear systems, Systems with saturation, Lyapunov methods
Abstract: Ultra-compliant mechanical systems are widely deployed in flexible link robots, compliant mechanisms, antenna structures, and so on for their advantages such as lower inertia, low energy requirement, and high speeds. Mathematically however, they represent a class underactuated of systems with both compliant and distributed parameters and pose challenges for control. A representative system in this class: a vertical inverted ultra-flexible beam with tip mass on cart, exhibiting highly nonlinear dynamics, is considered here. Control task is defined to be stabilization of central unstable equilibrium along with regulation of cart to a desired position. Two coordinate transformations are proposed to obtain a mathematical structure suitable to employ nested saturation based control. Asymptotic stability of the unstable equilibrium is established with the proposed controller and is demonstrated in simulation as well as in the experimental implementation. Nested saturation based controller is found to be relatively robust in experiments although system dynamics is very sensitive to parametric uncertainities.
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14:50-15:10, Paper WeM10.5 | Add to My Program |
Local Stabilization of Nonlinear Discrete-Time Systems Subject to Amplitude Bounded Disturbances |
Klug, Michael | Federal Inst. of Santa Catarina |
Castelan, Eugenio B. | Univ. Federal De Santa Catarina |
Coutinho, Daniel | Univ. Federal De Santa Catarina |
Keywords: Disturbance rejection, Stability of nonlinear systems, Lyapunov methods
Abstract: The stabilization problem of nonlinear discrete-time systems subject to amplitude bounded disturbances by means of Takagi-Sugeno (T-S) fuzzy models is considered in this paper. The linear matrix inequality (LMI) approach is applied to design a state feedback fuzzy controller such that the system trajectories are ultimately bounded, that is, the state trajectory starting in a set of admissible initial conditions is guaranteed to converge in finite time to a nearby region of the state space origin. Numerical examples are considered to illustrate the approach demonstrating the effectiveness of the proposed technique for the control synthesis of nonlinear discrete-time systems.
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15:10-15:30, Paper WeM10.6 | Add to My Program |
Scattering Transformation for Non-Planar Conic Systems |
Usova, Anastasiia | Univ. of Western Ontario |
Polushin, Ilia G. | Univ. of Western Ontario |
Patel, Rajni | Univ. of Western Ontario |
Keywords: Control of interconnected systems, Stability of nonlinear systems
Abstract: A new generalized version of the scattering transformation is developed which is applicable to non-planar conic systems. The new scattering transformation allows for rendering the input-output characteristics of a non-planar conic system into an arbitrarily prescribed dynamic cone. Based on the above property, a scattering-based technique for finite L2-gain stabilization of feedback interconnections of non-planar conic systems is developed.
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WeM11 Open Invited Session, Ariane 1 |
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Sliding Mode Control Design: Fundamental Concepts and New Challenges I |
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Chair: Utkin, Vadim I. | Ohio State Univ |
Co-Chair: Spurgeon, Sarah K. | Univ. Coll. London |
Organizer: Utkin, Vadim I. | Ohio State Univ |
Organizer: Orlov, Yury | CICESE |
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13:30-13:50, Paper WeM11.1 | Add to My Program |
Sliding Mode-Based Speed-Gradient Control of the String Energy (I) |
Orlov, Yury | CICESE |
Fradkov, Alexander L. | Russian Acad. of Sciences |
Andrievsky, Boris | Inst. for Problems of Mechanical Engineering of the RAS |
Keywords: Discontinuous control, Distributed nonlinear control, control of hyperbolic systems and conservation laws
Abstract: An energy control problem is analyzed in the PDE (partial differential equation) setting. As opposed to the existing literature, the present control goal addresses not only decreasing the plant energy but also its increasing what is important, e.g.,in vibrational technologies, in studying wave motion, etc. A benchmark linear wave equation, governing 1-D (one-dimensional) string oscillations, is chosen for exposition. A distributed control input, independently enforcing the underlying string over its entire spatial location, is assumed to be available. The speed-gradient method (Fradkov, 1996) that has already successfully been applied to numerous nonlinear and adaptive control problems is presently developed and justified in the above PDE setting. The applicability of the Krasovskii-LaSalle principle is established for the resulting sliding-mode closed-loop system in the infinite-dimensional setting. By applying this principle, all the closed-loop trajectories, initialized beyond the origin, are shown to approach the desired energy level set. Capabilities of the proposed speed-gradient algorithm of reaching the energy goal are supported by numerical simulations.
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13:50-14:10, Paper WeM11.2 | Add to My Program |
Time-Varying Sliding Mode Control for ABS Control of an Electric Car (I) |
Rajendran, Sulakshan | Univ. of Leicester |
Spurgeon, Sarah K. | Univ. Coll. London |
Tsampardoukas, Georgios | Jaguar Land Rover |
Hampson, Ric | Jaguar Land Rover |
Keywords: Sliding mode control, Robust control applications, Application of nonlinear analysis and design
Abstract: Controller design for the Anti-Lock Braking System (ABS) of a wheeled vehicle is a challenging task because of the complex and nonlinear nature of the tyre-road interaction. An efficient ABS controller should be capable of maintaining the wheel slip at an optimal value, which is suitable for the particular road conditions experienced at a given instant in time, preventing the wheel from locking while braking. Many controller designs in the literature track either an optimal slip which is assumed constant or are not supported by experimental validation or simulation testing with higher order models. This paper first presents an ABS system based on a conventional Sliding Mode Control (SMC). The performance of this controller is tested on an experimental vehicle. The results are compared with simulation results obtained with both a quarter car model and a full-car model built in the Matlab/Simulink environment. The performance of this controller is improved by effective state estimation using a Sliding Mode Differentiator (SMD) where the results are benchmarked with an implementation using an Extended Kalman Filter (EKF). The paper then presents a controller based on Time-Varying Sliding Mode Control (TV-SMC) which tracks an optimal slip trajectory.
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14:10-14:30, Paper WeM11.3 | Add to My Program |
Simplex Sliding Mode Control Strategies for Spacecraft Rendezvous Maneuvers (I) |
Capello, Elisa | Pol. Di Torino, CNR-IEIIT |
Punta, Elisabetta | National Res. Council of Italy - CNR |
Bartolini, Giorgio | Univ. of Cagliari |
Keywords: Sliding mode control, Robust control applications, Aerospace
Abstract: Space systems are subject to strict requirements in terms of relative position between two spacecraft and are controlled by actuators, which can perform limited output levels at low frequency. The aim of this work is the design of a sliding mode controller, which suitably combines simplex and super-twisting algorithms. This controller permits to reduce the number of thrusters required to control the spacecraft, the fuel consumption and the switching frequency at which the mono-directional actuators are turned on. The proposed control strategy can be easily converted in an on-board algorithm, with a minimum computational effort. Extensive simulations are carried out to validate the performance of the proposed sliding mode design.
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14:30-14:50, Paper WeM11.4 | Add to My Program |
On Average Real Sliding Dynamics in Linear Systems (I) |
Olm, Josep M. | Univ. Pol. De Catalunya |
Repecho Del Corral, Víctor | Univ. Pol. De Catalunya (UPC) |
Biel, Domingo | Univ. Pol. De Catalunya |
Shtessel, Yuri B. | Univ. of Alabama at Huntsville |
Keywords: Sliding mode control, Linear systems
Abstract: It is well known that in implementations of sliding mode controllers using hysteresis comparators, when the hysteresis band amplitude tends to zero the real dynamics tends to the ideal sliding dynamics. However, in real systems physical limitations do not allow to effectively lower this value at will, and a steady state error is likely to appear. In this paper we relate this error with a non zero average value of the switching function in each switching period: it is shown that, in linear systems, when the controller has a constant switching frequency and the switching function is periodic, the average value of the difference between real and ideal steady state dynamics is proportional to the average value of the switching function. Hence, when this average value is non zero an average steady state error appears, while a zero average value for the switching function entails no average steady state error. The proof is carried out using a regular form approach, and the result is exemplified in a buck converter. Simulation results show that when the switching function is periodic and shows a piecewise linear behavior within the hysteresis band, thus guaranteeing zero average value, the average state error disappears. In turn, when this piecewise linear character is lost and the switching function has non zero mean value, an average steady state error arises.
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14:50-15:10, Paper WeM11.5 | Add to My Program |
Sliding Mode Observer for Stochastic Mechanical Models of Ito-Type with Unknown Dynamics (I) |
Pelaez, Edgar | CINVESTAV |
Poznyak, Alexander S. | CINVESTAV-IPN |
Keywords: Sliding mode control, Robust estimation, Probabilistic robustness
Abstract: The paper deals with the problem of state estimation of "two-component" systems where the second vector-component may have unknown nonlinear Lipschitz-type dynamics and is subjected to stochastic perturbations of additive and multiplicative types. Both vector components governed by a system of stochastic differential equations with state dependent diffusion. The system is supposed to be quadratically stable in the mean-squared sense. We consider a sliding mode observer with the gain parameter linearly depending on the norm of the output estimation error which is available during the process. The theoretical results are supported by numerical simulations.
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15:10-15:30, Paper WeM11.6 | Add to My Program |
Sliding Mode Control Design for Linear Evolution Equations with Uncertain Measurements and Exogenous Perturbations (I) |
Zhuk, Sergiy | IBM Res |
Polyakov, Andrey | INRIA Lille Nord-Europe |
Nakonechnyi, Olexander | Taras Shevchenko National Univ |
Keywords: Sliding mode control, Distributed robust controller synthesis, output regulation for distributed parameter systems
Abstract: The paper studies the problem of sliding mode control design for linear evolution equations with incomplete and noisy measurements of the output and additive exogenous disturbances. The key result of the paper is an algorithm, generating an output-based feedback, which steers the state as close as possible to a given sliding hyperplane in a finite time. The optimality of the designed feedbacks is proven. The efficacy of the proposed algorithm is illustrated by a numerical example.
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WeM12 Regular Session, Ariane 2 |
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Traffic Control |
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Chair: Mihaita, Adriana Simona | DATA61|CSIRO |
Co-Chair: Aaslund, Jan | Linköping Univ |
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13:30-13:50, Paper WeM12.1 | Add to My Program |
Event-Triggered Control for Improving the Positioning Accuracy of Connected Vehicles Equipped with DSRC |
Mihaita, Adriana Simona | DATA61|CSIRO |
Cai, Chen | DATA61|CSIRO |
Chen, Fang | DATA61 |
Keywords: Intelligent transportation systems, Navigation, Automatic control, optimization, real-time operations in transportation
Abstract: Vehicle-to-Vehicle communication and Dedicated Short Range Communication (DSRC) systems have gained an increasing popularity in building vehicular applications for improving road safety, but the high level of positioning accuracy at the centimetre level is still far from being achieved. Various outages in transmitting the positioning information between neighbouring vehicles and errors in broadcasting their current locations can lead to a fail in generating accurate collision alerts that would affect the road safety. The goal of this paper is to propose a modelling framework for applying an event-triggered control when the location transmitted by connected vehicles equipped with DSRC is lost due to unforeseen events. Firstly, we model the evolution of the DSRC transmitted positioning as a multi-state stochastic switching system by taking into consideration the distance from the transmitted location to the road center. A control interval is defined for the evolution of the positioning signal by using the road width to define the boundaries. Secondly, we propose an analytic method for determining the exit probabilities from the control interval, with the scope of anticipating any position anomalies and help applying the event triggered control in advance rather than when the control boundaries have been already reached. Thirdly, we apply a cooperative location estimation method for improving the broadcast position information by using the accumulating trajectory segments from the moment of the anomaly alert.
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13:50-14:10, Paper WeM12.2 | Add to My Program |
String Stability Preserving Adaptive Spacing Policy for Handling Saturation in Heterogeneous Vehicle Platoons |
Tóth, János | Budapest Univ. of Tech. and Ec |
Rödönyi, Gábor | Inst. for Computer Science and Control |
Keywords: Intelligent transportation systems, Autonomous Vehicles, Multi-vehicle systems
Abstract: The saturation problem in heterogeneous vehicle platoons is considered. With leader and predecessor following control architecture, actuator saturation in a vehicle causes its followers to collide due to their link with the faster leader vehicle. A modification of the actual leader and predecessor following control method is proposed that automatically detects the saturation of other vehicles ahead, and reconfigures the tracking strategy to avoid collisions. The method is based on the construction of a virtual spacing policy for a virtual predecessor vehicle model. The proposed controller does not require additional measurements or extra communication, and is designed to satisfy string stability requirements. The results are verified by simulation examples.
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14:10-14:30, Paper WeM12.3 | Add to My Program |
Distributed Model Predictive Control for Highway Maneuvers |
Mohseni, Fatemeh | Amirkabir Univ. of Tech. (Tehran Pol |
Frisk, Erik | Linköping Univ |
Aaslund, Jan | Linköping Univ |
Nielsen, Lars | Linköping Univ |
Keywords: autonomic transport systems, Autonomous Vehicles, Intelligent transportation systems
Abstract: This paper describes a cooperative control method for autonomous vehicles, in order to perform different traffic maneuvers. The problem is formulated as a distributed optimal control problem for a system of multiple autonomous vehicles with an identified model and then solved using nonlinear Model Predictive Control (MPC). The distributed approach has been used in order to make the problem computationally feasible to be solved in real-time. In the proposed method, each vehicle computes its own control inputs using estimated states of neighboring vehicles. The constraints on the control inputs ensure the comfort of passengers. The method allows us to construct a cost function for several different scenarios in which safety and performing the maneuver constitute two terms of the integrated cost of the finite horizon optimization problem. To provide safety, a potential function is introduced for collision avoidance. Simulation results show that the distributed algorithm scales well with increasing number of vehicles.
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14:30-14:50, Paper WeM12.4 | Add to My Program |
Nonlinear Robust Traffic Flow Control in Urban Networks |
Aalipour, Ali | School of Electrical Engineering, Univ. of Tehran, Iran |
Kebriaei, Hamed | Univ. of Tehran |
Ramezani, Mohsen | The Univ. of Sydney |
Keywords: Automatic control, optimization, real-time operations in transportation, Intelligent transportation systems, Modeling and simulation of transportation systems
Abstract: Perimeter traffic flow control, based on Macroscopic Fundamental Diagram (MFD) has been developed for traffic congestion control in heterogeneously congested cities. The perimeter control can be realized based on a set of traffic signals on the border between the urban regions that manipulates transferring flows between the regions to regulate the overall urban traffic system states towards a desirable condition considering disturbances and uncertainties in the modeling and state observability. This paper presents robust control of the two-region MFD system with perimeter control addressing different sources of uncertainties. In this paper two types of controller, sliding mode control (SMC) and linear quadratic regulator (LQR) control, are designed based on nonlinear and linearized system dynamics, respectively. The SMC is designed to assure robustness against all type of uncertainty. A simulation study is performed to evaluate the effectiveness of the proposed control approaches.
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14:50-15:10, Paper WeM12.5 | Add to My Program |
A Linear Formulation for Model Predictive Perimeter Traffic Control in Cities |
Kouvelas, Anastasios | École Pol. Fédérale De Lausanne |
Saeedmanesh, Mohammadreza | EPFL |
Geroliminis, Nikolas | Ec. Pol. FEDERALE DE LAUSANNE (EPFL) |
Keywords: Modeling and simulation of transportation systems, Automatic control, optimization, real-time operations in transportation, Intelligent transportation systems
Abstract: An alternative approach for real-time network-wide traffic control in cities that has recently gained a lot of interest is perimeter flow control. The basic concept of such an approach is to partition heterogeneous cities into a small number of homogeneous regions (zones) and apply perimeter control to the inter-regional flows along the boundaries between regions. The transferring flows are controlled at the traffic intersections located at the borders between regions, so as to distribute the congestion in an optimal way and minimize the total delay of the system. The focus of the current work is to study three aspects that are not covered in the perimeter control literature, which are: (a) the treatment of some model parameters that are not measurable in real life implementations and can affect the performance of the controller (e.g. advanced online estimation schemes can be developed for this purpose), (b) integration of appropriate external demand information that has been considered system disturbance in the derivation of feedback control laws in previous works, and (c) mathematical formulation of the original nonlinear problem in a linear form, so that optimal control can be applied in a (rolling horizon) model predictive concept. This work presents the mathematical analysis of the optimal control problem, as well as the approximations and simplifications that are assumed in order to derive the formulation of a linear optimization problem. Preliminary simulation results for the case of a macroscopic environment (plant) are presented, in order to demonstrate the efficiency of the proposed approach. Results for the closed-loop model predictive control scheme are presented for the nonlinear case, which is used as "benchmark", as well as the linear case.
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15:10-15:30, Paper WeM12.6 | Add to My Program |
A Robust and Fault Tolerant Approach for Automatic Train Stop Control System Design |
Aguiar, Braulio | Univ. of Valenciennes Hainaut-Cambresis |
Berdjag, Denis | Univ. of Valenciennes |
Demaya, Bernard | ALSTOM Transport |
Guerra, Thierry Marie | Univ. of Valenciennes Hainaut-Cambresis |
Keywords: Modeling and simulation of transportation systems, Simulation, Safety
Abstract: This paper is about an advanced braking control strategy for rail transportation systems. The motivation is to improve the efficiency of the control in real-world conditions taking into account modeling errors, unknown perturbations and occurring failures. This will allow traffic frequency improvement along with overall safety and security enhancement. The strategy is based on an integrated approach, including a fault tolerant control strategy along with perturbation estimation and compensation, and a fault detection module. Fault detection, if positive, will be used to switch the controller into a “safe mode” avoiding the fault and improving control precision with respect to stopping position requirements. Simulations are provided to prove the efficiency of the proposed approach.
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WeM14 Open Invited Session, Guillaumet 1 |
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Advances in Fractional Calculus. Theory and Applications |
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Chair: Copot, Dana | Ghent Univ |
Co-Chair: Maione, Guido | Pol. Di Bari |
Organizer: Muresan, Cristina Ioana | Tech. Univ. of Cluj Napoca |
Organizer: Markowski, Konrad Andrzej | Warsaw Univ. of Tech |
Organizer: Copot, Dana | Ghent Univ |
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13:30-13:50, Paper WeM14.1 | Add to My Program |
On Fractional Predictive PID Controller Design Method (I) |
Edet, Emmanuel | Univ. of Strathclyde |
Katebi, Reza | Univ. of Strathclyde |
Keywords: Fractional systems, Analytic design, Linear systems
Abstract: A new method of designing fractional-order predictive PID controller with similar features to model based predictive controllers (MPC) is considered. A general state space model of plant is assumed to be available and the model is augmented for prediction of future output. Thereafter, a structured cost function is defined which retains the design objective of fractional-order predictive PI controller. The resultant controller retains inherent benefits of model-based predictive control but with better performance. Simulations results are presented to show improved benefits of the proposed design method over dynamic matrix control (DMC) algorithm. One major contribution is that the new controller structure, which is a fractional-order predictive PI controller, retains combined benefits of conventional predictive control algorithm and robust features of fractional-order PID controller.
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13:50-14:10, Paper WeM14.2 | Add to My Program |
Tuning of Fractional Order PID Controllers Based on Integral Performance Criteria Using Fourier Series Method (I) |
Deniz, Furkan Nur | Inonu Univ |
Yuce, Ali | Inonu Univ |
Tan, Nusret | Inonu Univ |
Atherton, Derek P. | Univ. of Sussex |
Keywords: fractional-order systems, Parametric optimization
Abstract: This paper presents a time domain tuning technique for a fractional order PID controller based on optimizing an integral performance criterion. A Fourier series based method (FSM) is used to calculate accurately the step response of the closed loop control systems so as to determine the exact value of the error function performance criterion. The initial guesses for the FOPID controller parameters to be optimized are found using the analytical solution for integral squared error optimization for an integer order PID controller. The proposed method is used for two test plant transfer functions by comparing different optimal FOPID controllers. The results show that the design technique based on optimization of different integral performance criteria give good step responses for FOPID controller.
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14:10-14:30, Paper WeM14.3 | Add to My Program |
Improved Initialization of Fractional Order Systems |
Maamri, Nezha | Ec. Supérieure D'ingénieurs De Poitiers |
Trigeassou, Jean-Claude | Univ. of Bordeaux, IMS-LAPS |
Keywords: Fractional systems, Linear systems
Abstract: A practical approach to the initialization of fractional systems is presented. Whereas direct estimation of initial conditions by a fractional observer is not an appropriate solution for the lower frequency modes, a technique based on an initialized observer performs a confident estimation for all the modes.
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14:30-14:50, Paper WeM14.4 | Add to My Program |
Misconceptions in Using Riemann-Liouville’s and Caputo’s Definitions for the Description and Initialization of Fractional Partial Differential Equations (I) |
Sabatier, Jocelyn | Univ. Bordeaux1 |
Farges, Christophe | IMS |
Keywords: Fractional systems, Structural properties, Infinite-dimensional systems
Abstract: In this paper, it is shown that neither Riemann-Liouville’s nor Caputo’s definitions can be used to properly take into account initial conditions in the description of a fractional partial differential equation. This demonstration is done on a counterexample. Some suggestions are made to address this problem.
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14:50-15:10, Paper WeM14.5 | Add to My Program |
Realization of New Robust Digital Fractional-Order Compensators (I) |
Lino, Paolo | Pol. Di Bari |
Maione, Guido | Pol. Di Bari |
Keywords: Fractional systems, Linear systems, Infinite-dimensional systems
Abstract: The efficient and robust realization of fractional-order compensators is fundamental for digital control applications. The main task is to approximate these devices with an efficiently computed rational transfer function with limited negative effects due to quantization and other implementation issues. This paper proposes new closed-form expressions to easily determine the coefficients of the discrete transfer functions. Moreover, a realization with low sensitivity is obtained by the serial structure of a multiple compensator that employs adjacent, shifted sections, each dominating on a different frequency interval and contributing to a flat Bode phase diagram. The achieved features are useful for designing robust controllers.
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15:10-15:30, Paper WeM14.6 | Add to My Program |
Combined Fractional Adaptive Control (I) |
Aguila-Camacho, Norelys | Univ. of Chile |
Duarte-Mermoud, Manuel | Univ. of Chile |
Keywords: Fractional systems, Adaptive control, Stability of nonlinear systems
Abstract: This paper presents the design of a fractional order combined model reference adaptive control scheme. This approach is based on the estimates of the plant unknown parameters and the adjusted controller parameters, which are obtained from adaptive laws using the identification error, the control error and the so called closed loop estimation errors. Fractional order indirect algebraic model reference adaptive control and fractional order indirect dynamic model reference adaptive control schemes are also proposed in this paper, which are used for comparison purposes with the combined approach. Boundedness of all the signals in the control schemes is analytically proved, as well as the convergence to zero of the mean values of the control, identification and closed loop estimation errors. Simulation results are presented to show the effectiveness of the proposed control strategies.
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WeM15 Open Invited Session, Guillaumet 2 |
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Linear Parameter Varying Systems: Modelling, Analysis, Observation,
Control, Diagnosis and Applications II |
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Chair: Tóth, Roland | Eindhoven Univ. of Tech |
Co-Chair: Sename, Olivier | Grenoble Inst. of Tech. / GIPSA-Lab |
Organizer: Tóth, Roland | Eindhoven Univ. of Tech |
Organizer: Sename, Olivier | Grenoble Inst. of Tech. / GIPSA-Lab |
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13:30-13:50, Paper WeM15.1 | Add to My Program |
Damper Fault-Tolerant Linear Parameter-Varying Semi-Active Suspension Control (I) |
Fleps-Dezasse, Michael | Dlr - Sr Faz |
Svaricek, Ferdinand | Univ. of the German Armed Forces, Munich |
Brembeck, Jonathan | Dlr - Sr Faz |
Keywords: Parameter-varying systems, Fault-tolerant, Control of constrained systems
Abstract: This paper addresses the design of a fault-tolerant semi-active suspension controller. The fault-tolerant properties of the controller are realized by an LPV anti-windup approach using saturation indicator scheduling parameters. The saturation indicators model the force limitations of the semi-active dampers in the LPV framework and thus allow for the synthesis of semi-active suspension controllers with guaranteed closed-loop stability and performance. Additionally, the saturation indicators readily describe damper failures like e.g. oil leakage which extends the controller validity from normal operation to faulty operation modes. This property of the saturation indicator concept is exploited by augmenting the LPV controller by a damper force reconfiguration which explores the weak input redundancy provided by four semi-active dampers. The damper force reconfiguration aims at a maximization of ride comfort performance in the presence of damper failures. The achievable ride comfort improvement is illustrated by a simulation study with a full-vehicle model excited by sine sweeps.
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13:50-14:10, Paper WeM15.2 | Add to My Program |
A Time-Domain LPV H− /H∞ Fault Detection Filter (I) |
Chen, Lejun | Univ. of Exeter |
Patton, Ron J. | Univ. of Hull |
Keywords: Fault-tolerant, Diagnosis, Linear parameter-varying systems
Abstract: In this paper, a time-domain linear parameter-varying H_/H_∞ residual generator or fault detection filter is proposed, which allows a trade-off to be established, between sensitivity and robustness of the residual against the fault and disturbance, respectively. Also, the proposed fault detection filter fits well with the time-domain property of the linear parameter-varying system. A special case when the performance of the residual generator approximates one of the fault estimators is also discussed. A turboshaft engine example is used to demonstrate the effectiveness of the proposed method.
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14:10-14:30, Paper WeM15.3 | Add to My Program |
Multiple Fault-Tolerant In-Wheel Vehicle Control Based on High-Level Control Reconfiguration (I) |
Mihaly, Andras | MTA-SZTAKI |
Gaspar, Peter | Mta Sztaki |
Nemeth, Balazs | Mta Sztaki |
Keywords: Linear parameter-varying systems, Robust control applications, Fault-tolerant
Abstract: The paper deals with the fault-tolerant reconfigurable control design of a four-wheel independently-actuated (4WIA) electric vehicle. The purpose of the proposed method is to ensure the velocity and path tracking of the 4WIA vehicle in the event of a fault or performance degradation in one or even several in-wheel electric motors. The novelty of the presented method is the high-level control reallocation method based on the Linear Parameter Varying (LPV) control framework, by which the torque vectoring and steering of the vehicle are modified in order to deal with the impact of faulty in-wheel motors. The operation of the designed fault-tolerant method is validated in CarSim simulation environment.
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14:30-14:50, Paper WeM15.4 | Add to My Program |
Tube-Based LPV Constant Output Reference Tracking MPC with Error Bound (I) |
Hanema, Jurre | Eindhoven Univ. of Tech |
Lazar, Mircea | Eindhoven Univ. of Tech |
Tóth, Roland | Eindhoven Univ. of Tech |
Keywords: Constrained control, Linear parameter-varying systems, Output regulation
Abstract: We address the constrained output tracking of constant references for linear parameter-varying systems. In model predictive control based on linear parameter-varying state-space representations, offset-free output tracking is generally not possible due to the variations in the scheduling signal. Therefore, we aim instead to guarantee a pre-specified tracking error bound which is achievable for all admissible variations of the scheduling variable. The construction of an invariant set in which such a bound can be satisfied is described. Subsequently a tube-based model predictive controller is designed which brings the state of the system inside this set in finite time. The properties of the approach are demonstrated on numerical examples.
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14:50-15:10, Paper WeM15.5 | Add to My Program |
H-Infinity Output-Feedback Gain-Scheduled Control for Discrete-Time Linear Systems Affected by Time-Varying Parameters (I) |
Rosa, Tábitha E. | Univ. of Campinas |
Morais, Cecília F. | Univ. of Campinas |
Oliveira, Ricardo C. L. F. | Univ. of Campinas |
Keywords: Time-varying systems, Output feedback control (linear case), Robust linear matrix inequalities
Abstract: This paper deals with the problem of H-infinity reduced order dynamic output feedback control for discrete-time linear systems affected by time-varying parameters with polynomial dependency and norm-bounded terms. The main motivation comes from recent discretization methods for uncertain systems, that produce polynomially parameter-dependent discretized systems of arbitrary degree with norm-bounded terms. The design conditions are provided in terms of sufficient parameter-dependent LMI conditions combined with scalar searches, being capable to synthesize robust or gain-scheduled controllers. The approach is also particularized to handle the popular class of time-varying polytopic systems, having as novelty no requirement of special treatment for the output measured matrix. Numerical examples are provided to illustrate the potentialities of the approach to cope with discretized systems and the efficiency of the relaxations when compared with the existing methods for gain-scheduled or robust stabilization of polytopic time-invariant and time-varying systems.
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15:10-15:30, Paper WeM15.6 | Add to My Program |
Quadratic and Poly-Quadratic Discrete-Time Stabilizability of Linear Parameter-Varying Systems (I) |
Pandey, Amit Prakash | Univ. of California San Diego |
de Oliveira, Mauricio C. | Univ. of California, San Diego |
Keywords: Linear parameter-varying systems, Time-varying systems, Convex optimization
Abstract: We introduce a new condition for the stabilizability of discrete-time Linear Parameter Varying (LPV) systems in the form of Linear Matrix Inequalities (LMIs). A distinctive feature of the proposed condition is the ability to handle variation in both the dynamics as well as in the input matrix without resorting to dynamic augmentation or iterative procedures. We show that this new condition contains the existing poly-quadratic stabilizability result as a particular case. We also derive a corollary which shows improvement with respect to stabilizability even in the stronger case of quadratic stabilizability. A numerical example illustrates the results.
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WeM16 Regular Session, Daurat |
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Mechatronic System - II |
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Chair: Dilmen, Erdem | Pamukkale Univ |
Co-Chair: Kozek, Martin | Vienna Univ. of Tech |
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13:30-13:50, Paper WeM16.1 | Add to My Program |
Fuzzy Model Based Stability Analysis of the Metamorphic Robotic Palm |
Yang, Xiaozhan | King's Coll. London |
Sun, Jie | King's Coll. London |
Lam, H. K. | King's Coll. London |
Dai, J. S. | King's Coll. Llondon |
Keywords: Mechatronic systems, Modeling, Design methodologies
Abstract: The metamorphic hand can flexibly relocate fingers by a reconfigurable palm. A precondition for the successful hand operation would be a stable palm control system. Following this concern, this paper presents the stability analysis of the reconfigurable palm control system based on the Takagi-Sugeno (T-S) fuzzy model. The dynamic model of the metamorphic palm is developed by using the Euler Lagrangian theory and the closed-chain kinematic constraints. To further reduce the conservativeness in stability analysis and ensure a wider range of stable dynamic performance, a membership-dependent fuzzy modeling approach is also applied. Simulation is provided to demonstrate the achieved improvement of analysis results.
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13:50-14:10, Paper WeM16.2 | Add to My Program |
Realtime-Capable FE-Based Railway Catenary Emulation Via Pantograph Test Rig Impedance Control |
Aschauer, Guilherme | Vienna Univ. of Tech |
Schirrer, Alexander | Vienna Univ. of Tech |
Kozek, Martin | Vienna Univ. of Tech |
Jakubek, Stefan M. | Tech. Univ. of Vienna/Austria |
Keywords: Hardware-in-the-loop simulation, Modeling, telepresence
Abstract: This work shows novel results of emulating railway catenary dynamics on a test rig for pantograph testing in order to provide for virtual test rides of railway pantograph current collectors under laboratory conditions. A realtime-capable finite-element model of a railway catenary is formulated efficiently in moving coordinates. An advanced test rig impedance control architecture is adopted for the finite-element model structure, and detailed simulations of an existing full-size pantograph test rig are carried out. The high fidelity of the realtime catenary model as well as the emulation performance of the closed-loop test rig setup in contact with a pantograph model provides promising results for the future implementation of the simulation/control architecture on the test rig hardware.
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14:10-14:30, Paper WeM16.3 | Add to My Program |
A Novel Online LS-SVM Approach for Regression and Classification |
Dilmen, Erdem | Pamukkale Univ |
Beyhan, Selami | Pamukkale Univ |
Keywords: Identification and control methods, Modeling
Abstract: In this paper, a novel online least squares support vector machine approach is proposed for classification and regression problems. Gaussian kernel function is used due to its strong generalization capability. The contribution of the paper is twofold. As the first novelty, all parameters of the SVM including the kernel width parameter sigma are trained simultaneously when a new sample arrives. Unscented Kalman filter is adopted to train the parameters since it avoids the sub-optimal solutions caused by linearization in contrast to extended Kalman filter. The second novelty is the variable size moving window by an intelligent update strategy for the support vector set. This provides that SVM model captures the dynamics of data quickly while not letting it become clumsy due to the big amount of useless or out-of-date support vector data. Simultaneous training of the kernel parameter by unscented Kalman filter and intelligent update of support vector set provide significant performance using small amount of support vector data for both classification and system identification application results.
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14:30-14:50, Paper WeM16.4 | Add to My Program |
A Micro Coordinate Measuring Machine Using an Active Stereovision Technique for Measuring 3D Micro Parts |
Khan, Muneeb Ullah | Univ. DE Tech. DE COMPIEGNE |
Dupont, Erwan | Univ. DE Tech. DE COMPIEGNE |
Al-Hajjar, Hani | Univ. DE Tech. DE COMPIEGNE |
Mattar, Charbel | Univ. DE Tech. DE COMPIEGNE |
Prelle, Christine | Univ. DE Tech. DE COMPIEGNE |
Lamarque, Frederic | Univ. DE Tech. DE COMPIEGNE |
Keywords: Mechatronic systems, Micro and Nano Mechatronic Systems, Motion Control Systems
Abstract: This paper presents a micro coordinate measuring machine capable to measure and reconstruct three dimensional surfaces of micro parts. The uniqueness of the proposed machine lies in its small foot print with ability to displace micro objects beneath the measuring probe for continuous surface characterisation with micrometer level resolution. Its miniature measuring probe enables its easy integration in to several micro applications. In addition, the multiple surface stitching algorithm used in the micro-coordinate measuring machines enhances its capability to reconstruct and measure large 3D surfaces.
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14:50-15:10, Paper WeM16.5 | Add to My Program |
Modeling of Cantilever Beam under Dissipative and Nonlinear Forces with Application to Multi-Resonant Atomic Force Microscopy |
Belikov, Sergey | SPM Labs |
Magonov, Sergei | SPM Labs |
Keywords: Modeling, Vibration control, Micro and Nano Mechatronic Systems
Abstract: Dynamic modes of Atomic Force Microscope (AFM) can be modeled as a cantilever beam excited near one or several resonant frequencies described by Euler-Bernoulli PDE with additional damping and controlled excitation. The PDE is equivalent to a series of coupled nonlinear ODEs; each ODE defines its resonant frequency. Using Krylov-Bogoliubov-Mitropolsky (KBM) averaging technique, the ODEs can be approximated by asymptotic amplitude-phase multi-resonant dynamics. We present the PDE with parameters estimated by AFM measurements, derive the asymptotic multi-resonant dynamics and discuss perspective nomenclature of AFM multi-resonant modes, their control and implementation that extends the single-resonant modes.-resonance modes.
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15:10-15:30, Paper WeM16.6 | Add to My Program |
Experimental Scanning Laser Lithography with Exposure Optimization |
Fleming, Andrew John | Univ. of Newcastle |
T. Ghalehbeygi, Omid | Univ. of Newcastle |
Routley, Ben S. | Univ. of Newcastle |
Wills, Adrian George | Univ. of Newcastle |
Keywords: Micro and Nano Mechatronic Systems, Motion Control Systems, Mechatronic systems
Abstract: Laser scanning lithography is a maskless method for exposing films of photoresist during semiconductor manufacturing. In this method a focused beam is scanned over a surface with varying intensity to create features in the photoresist. Given the shape of a desired feature, an exposure pattern must be found that approximates this shape in the developed photoresist. This can be cast as an optimization problem, which is complicated by the non-negative nature of the exposure function and the non-linear photochemistry of the film. In this article, a nonlinear programming approach is described that results in a tractable optimization problem which accounts for all of the practical constraints encountered in laser scanning lithography. This method is demonstrated to create a sub-wavelength feature which is verified by optical finite element simulation with a resolution of 20nm.
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WeM17 Open Invited Session, Servanty |
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Nonlinear Model Predictive Control for Mechatronic Systems and Motion
Control |
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Chair: Faulwasser, Timm | KIT |
Co-Chair: Pannek, Juergen | Univ. of Bremen |
Organizer: Faulwasser, Timm | KIT |
Organizer: Pannek, Juergen | Univ. of Bremen |
Organizer: Alessandretti, Andrea | Faculty of Engineering, Univ. of Porto (FEUP) |
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13:30-13:50, Paper WeM17.1 | Add to My Program |
Spline-Based Motion Planning in an Obstructed 3D Environment (I) |
Van Parys, Ruben | KU Leuven |
Pipeleers, Goele | Katholieke Univ. Leuven |
Keywords: Guidance navigation and control, Motion Control Systems, Autonomous robotic systems
Abstract: This paper presents a motion planning approach that steers systems in an optimal way through an obstructed 3D environment. The motion trajectories are parameterized as polynomial splines and by exploiting the properties of B-spline basis functions, constraints on the trajectories are efficiently enforced. The approach is applied on two relevant cases. The first one elaborates a pick and place task for a Cartesian robot which is validated experimentally on an industrial plate transportation system. Depending on the task, the proposed method can reduce the motion time with 10 - 30% with respect to the currently applied trajectories. In a second case the approach is applied on the navigation of Unmanned Aerial Vehicles (UAVs) flying in an uncertain dynamic environment. This problem is formulated in a receding-horizon fashion which can update trajectories with a rate of 2.5 Hz. A supporting software toolbox is provided that implements the proposed approach and facilitates its use.
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13:50-14:10, Paper WeM17.2 | Add to My Program |
A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles (I) |
Peitz, Sebastian | Paderborn Univ |
Schäfer, Kai | Univ. of Bremen |
Ober-Blöbaum, Sina | Univ. of Oxford |
Eckstein, Julian | Hella KGaA Hueck & Co |
Köhler, Ulrich | Hella KGaA Hueck & Co |
Dellnitz, Michael | Univ. of Paderborn |
Keywords: Intelligent controllers, Motion Control Systems, Guidance navigation and control
Abstract: We present a new algorithm for model predictive control of non-linear systems with respect to multiple, conflicting objectives. The idea is to provide a possibility to change the objective in real-time, e.g.~as a reaction to changes in the environment or the system state itself. The algorithm utilises elements from various well-established concepts, namely multiobjective optimal control, economic as well as explicit model predictive control and motion planning with motion primitives. In order to realise real-time applicability, we split the computation into an online and an offline phase and we utilise symmetries in the open-loop optimal control problem to reduce the number of multiobjective optimal control problems that need to be solved in the offline phase. The results are illustrated using the example of an electric vehicle where the longitudinal dynamics are controlled with respect to the concurrent objectives arrival time and energy consumption.
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14:10-14:30, Paper WeM17.3 | Add to My Program |
Towards Dynamic Optimization with Partially Updated Sensitivities (I) |
van Duijkeren, Niels | KU Leuven |
Pipeleers, Goele | Katholieke Univ. Leuven |
Swevers, Jan | K. U. Leuven |
Diehl, Moritz | Univ. of Freiburg |
Keywords: Mechatronic systems, Motion Control Systems
Abstract: In nonlinear model predictive control (NMPC), a control task is approached by repeatedly solving an optimal control problem (OCP) over a receding horizon. Popularly, the OCP is approximated with a finite-dimensional nonlinear program (NLP). Since computing the solution of an NLP can be a complex and time-consuming task, tailored optimization algorithms have emerged to (approximately) solve the NLPs. Most methods rely on repeatedly solving a quadratic approximation of the NLP. Since computing this approximation is generally computationally demanding, it can form a bottelenck in obtaining a real-time applicable control law. This paper proposes DOPUS, a novel update scheme for the quadratic approximation of the NLP. DOPUS exploits the structure of the NLP and the repeated nature at which it is solved, to reduce the number of computations at the price of a small reduction of the convergence speed. Foreseen application areas include (economic) NMPC for fast-changing control tasks and fast time-varying systems. The convergence properties of DOPUS are studied and the performance is illustrated in a numerical case study considering a control task for a planar robot arm.
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14:30-14:50, Paper WeM17.4 | Add to My Program |
A Dynamic Programming MPC Approach for Automatic Driving Along Tracks and Its Realization with Online Steering Controllers (I) |
Huber, Andreas | Univ. of the German Federal Armed Forces Munich |
Gerdts, Matthias | Univ. of the Federal Armed Forces Munich |
Keywords: Motion Control Systems, Modeling
Abstract: The paper is concerned with the computation of trajectories along a given track for automatic cars using a dynamic programming approach in combination with a model predictive control strategy, which leads to a feedback control law providing a local reference trajectory. In addition, the setup of a testing environment using scale RC cars is described, which allows to verify and test control strategies in realtime. Results of experiments are presented that show the ability of the online controllers to track the reference paths at a good precision.
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14:50-15:10, Paper WeM17.5 | Add to My Program |
A Distributed Model Predictive Control Scheme for Coordinated Output Regulation (I) |
Alessandretti, Andrea | Faculty of Engineering, Univ. of Porto (FEUP) |
Aguiar, A. Pedro | Faculty of Engineering, Univ. of Porto (FEUP) |
Keywords: Networked robotic system modeling and control, Autonomous robotic systems, Guidance navigation and control
Abstract: This paper addresses the coordinated output regulation control problem. Consider a network of agents with associated output equations, where the latter is a function of the state of the agent and a coordination vector. Each agent can access its state, its coordination vector, and the coordination vectors of the neighboring agents. We wish to design a distributed control law that steers the output signals to the origin, while simultaneously driving the coordination vectors of the agents of the network to consensus. The proposed model predictive control scheme builds on a pre-existing auxiliary consensus control law to design a performance index that combines the output regulation objective with the consensus objective. A numerical simulation shows the effectiveness of the proposed scheme to solve the cooperative path following control problem for a network of under-actuated vehicles.
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15:10-15:30, Paper WeM17.6 | Add to My Program |
Experimental Speedup and Stability Validation for Multi-Step MPC (I) |
Mehrez, Mohamed W. | Memorial Univ. of Newfoundland |
Worthmann, Karl | Tech. Univ. Ilmenau |
Mann, George K. I. | Memorial Univ. of Newfoundland |
Gosine, Raymond G. | Memorial Univ. of Newfoundland |
Pannek, Juergen | Univ. of Bremen |
Keywords: Motion Control Systems, Mobile robots, Autonomous robotic systems
Abstract: In this paper, we propose a multi-step model predictive control (MPC) scheme without stabilizing constraints and/or costs. Within this work, a relaxed Lyapunov inequality is employed to verify asymptotic stability of the MPC closed loop. To this end, prior work is adapted to a trajectory based setting. The approach works for shorter prediction horizons in comparison to single-step MPC, but requires to stay in open loop for longer periods of time. We propose a technique to mitigate this drawback during runtime of the algorithm such that we benefit from the inherent robustness of single-step MPC. Then, we present a prime experimental validation of the proposed control scheme on a skid-steering mobile robot and show that the computational effort is significantly reduced.
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WeM18 Open Invited Session, De Marnier |
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Optimal Control of Bioprocesses |
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Chair: Harmand, Jérome | INRA |
Co-Chair: Rapaport, Alain | INRA |
Organizer: Harmand, Jérome | INRA |
Organizer: Rapaport, Alain | INRA |
Organizer: Bayen, Terence | Univ. of Montpellier 2 |
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13:30-13:50, Paper WeM18.1 | Add to My Program |
Optimal Control of a Membrane filtration System (I) |
Kalboussi, Nesrine | El Manar Univ. National Inst. of Applied Sciences And |
Rapaport, Alain | INRA |
Bayen, Terence | Univ. of Montpellier 2 |
Benamar, Nihel | Univ. El Manar |
Ellouze, Fatma | El Manar Univ |
Harmand, Jérome | INRA |
Keywords: Dynamics and control, Water quality and quantity management, Modeling and identification of environmental systems
Abstract: This paper presents an optimal control strategy allowing the maximization of the total production of a membrane filtration system over a finite time horizon. A simple mathematical model of membrane fouling is used to capture the dynamic behavior of the process which consists in the attachment of matter onto the membrane during the filtration period and the detachment of matter during the cleaning period. The control variable is the sequence of filtration/relaxation cycles over the time. Based on the maximum principle, we provide an optimal control strategy involving a singular arc and a switching curve. The proposed optimal control strategy is then compared to a classical control sequence published in the literature.
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13:50-14:10, Paper WeM18.2 | Add to My Program |
Analysis of an Optimal Control Problem Connected to Microorganisms Selection (I) |
Bayen, Terence | Univ. of Montpellier 2 |
Mairet, Francis | Inria |
Keywords: Dynamics and control, Microbial technology, Bioenergy production
Abstract: In this work, we consider a minimal time control problem governed by a system describing a continuous bioreactor with one substrate, n species, and a mutation factor. Our aim is to select in minimal time the fastest species i.e. the one for which the half saturation constant is the lowest. In the case of two species, it has been shown that the optimal feeding strategy consists of a most rapid approach to a singular arc. The aim of this paper is to study the more general case of n species. Thanks to the Pontryagin Maximum Principle and numerical simulations, we provide a sub-optimal strategy based on a most rapid approach to a singular arc that depends on the initial condition.
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14:10-14:30, Paper WeM18.3 | Add to My Program |
A Sampling-Based Stochastic Optimal Experiment Design Formulation with Application to the Williams-Otto Reactor (I) |
Nimmegeers, Philippe | KU Leuven |
Telen, Dries | Katholieke Univ. Leuven |
Van Impe, Jan F.M. | KU Leuven |
Keywords: Model formulation, experiment design, Parameter and state estimation, Dynamics and control
Abstract: Governmental pressure and an industrially competitive climate force chemical companies to strive for a sustainable design and operation. Model-based optimization has been proven to be an indispensable tool to achieve these goals. For the development and maintenance of process models, experimental data with a high information content are required. Model-based optimal experiment design techniques have been developed to obtain experiments that yield a high information content for estimating the model parameters. Since the true parameter values are unknown, these experiment designs start from the current best guesses. In practice, this can result in a lower information content than originally expected. In addition, the experiment design can become practically infeasible (e.g., in terms of safety), due to the violation of operational constraints. In this work a sampling-based stochastic optimal experiment design formulation is employed to address these problems. If the uncertainty on the model parameters can be considered to be a priori known, the parametric uncertainty can be propagated towards the states, which makes the experiment design more robust with respect to information content. The presented approach is based on polynomial chaos expansion and is compared with the sigma points approach. As a practical case study of this formulation, the optimal experiment design of a Williams-Otto fed-batch reactor is made robust with respect to information content and reactor temperature state constraint violations. The novelty in this contribution is twofold: (i) polynomial chaos expansion and sigma points approach are compared for stochastic experiment design and (ii) the presented approach based on polynomial chaos expansion is analyzed for robustness with respect to state constraint violations considering dierent parametric uncertainty distributions.
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14:30-14:50, Paper WeM18.4 | Add to My Program |
Multi-Objective Optimization of a Plug Flow Reactor Using a Divide and Conquer Approach (I) |
Hashem, Ihab | KU Leuven |
Telen, Dries | Katholieke Univ. Leuven |
Nimmegeers, Philippe | KU Leuven |
Logist, Filip | Katholieke Univ. Leuven |
Van Impe, Jan F.M. | KU Leuven |
Keywords: Decision support and control, Dynamics and control
Abstract: Lower profit margins and tighter environmental constraints push chemical companies to search for sustainable development and operation. To ensure sustainable development and operation in practice, multiple and conflicting objectives (e.g., maximize production vs. minimize energy consumption) typically have to be optimized simultaneously. The frame of multi-objective optimization allows to systematically propose improvements and evaluate trade-offs between different objectives. Solving a multi-objective optimization problem yields a set of solutions called the Pareto front, in which no improvement can be made in one objective without worsening another objective. The posteriori analysis of this set by a smart filter aims to keep only the significant solutions for the decision maker who is interested in a specific level of trade-offs. However, this strategy suffers from the large overhead of insignificant solutions produced in the original set. This situation makes applying this strategy to the complex multi-objective optimal control problems time consuming. In this paper, the smart filter by Mattson et al. (2004) is compared to a novel Divide and Conquer (D&C) algorithm to obtain a Pareto front with adaptive resolution for a case study of a plug flow reactor. The new algorithm depends on obtaining the Pareto front recursively while terminating the exploration of a Pareto front segment as soon as an insignificant point is found. It is shown that the D&C algorithm produces representations with similar quality to the smart filter with higher speed and a more intuitive trade-off oriented solution procedure.
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14:50-15:10, Paper WeM18.5 | Add to My Program |
Guaranteed Value Strategy for the Optimal Control of Biogas Production in Continuous Bio-Reactors (I) |
Haddon, Antoine | Univ. De Chile |
Harmand, Jérome | INRA |
Ramirez, Hector | Univ. De Chile |
Rapaport, Alain | INRA |
Keywords: Bioenergy production, Dynamics and control, Wastewater treatment processes
Abstract: In this work, we revisit a problem of optimal control for the maximization of biogas production in a continuous bioreactor, for which the analytical determination of the optimal synthesis is an open problem. We consider two kinds of growth rates: substrate dependent or substrate and biomass dependent. We propose a sub-optimal controller, as a most rapid approach path strategy, and moreover we provide guaranteed bounds for the unknown value function of the original optimal control problem. This controller has the property to be a stationary state feedback for the substrate dependent case, even though the original optimal control is with fixed finite terminal time.
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15:10-15:30, Paper WeM18.6 | Add to My Program |
Maximizing Microalgae Productivity by Shading Outdoor Cultures (I) |
Martinez, Carlos | INRIA Sophia Antipolis |
Bernard, Olivier | INRIA |
Mairet, Francis | Inria |
Keywords: Dynamics and control, Industrial biotechnology
Abstract: Outdoor microalgae cultures can undergo a photoinhibitory process that can result in a loss in biomass productivity. This loss can be reduced by shading the culture such that the incident photon flux decreases. Based on a simple model of light-limited growth, we look for a control strategy to shadow the culture in order to maximize the biomass productivity. The strategy results in a feedback control that depends on the microalgae strain, the microalgae concentration, and the incident light. In the case that the incident light and the loss rate vary periodically in time, we give conditions for the existence of a positive periodic solution that is globally stable. We show the performance of the feedback control by means of numerical simulations.
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WeM19 Regular Session, Gavarnie |
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Wind Power Systems 1 |
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Chair: Abel, Dirk | RWTH-Aachen Univ |
Co-Chair: Rodriguez-Ayerbe, Pedro | Supelec |
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13:30-13:50, Paper WeM19.1 | Add to My Program |
Mitigation of Sub-Synchronous Control Interaction in Wind Power Systems with GA-SA Tuned Damping Controller |
Zhang, Xu | Tsinghua Univ |
Xie, Xiaorong | Tsinghua Univ |
Liu, Huakun | Tsinghua Univ |
Liu, Hui | North China Electric Power Res. Inst |
Li, Yunhong | North China Electric Power Res. Inst |
Zhang, Chuanyu | Tsinghua Univ |
Keywords: Optimal operation and control of power systems, Power systems stability, Control of renewable energy resources
Abstract: Sub-synchronous control interaction (SSCI) is a stability problem caused by the interaction between the control system of doubly fed induction generator and a series-capacitor compensated electrical network. It, if not properly handled, could lead to system instability. Therefore, effective control measures must be taken to solve this problem. However, a practical control should be capable of depressing SSCI under varied operating conditions with different SSCI frequency. In this paper, the basic modeling and general characteristic of SSCI in Guyuan wind power system is firstly introduced. And the control-design task is formulated into a complex nonlinear optimization problem with many operation conditions. Then, a combination of genetic algorithm and simulated annealing, namely GA-SA, is proposed to solve the nonlinear optimization problem for multi-operation state. Next, simulations using RT-LAB are presented to demonstrate the effectiveness of our proposed control-design method. Finally, a brief conclusion is drawn that GA-SA offers an excellent approach to the optimal design of SSCI controllers.
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13:50-14:10, Paper WeM19.2 | Add to My Program |
Robust Model Predictive Control for Collective Pitch in Wind Energy Conversion Systems |
Lasheen, Ahmed | Cairo Univ. Faculty of Engineering |
Saad, Mohamed Shawky | Res. Assistant |
Emara, Hassan M. | Faculty of Engineering Cairo Univ |
Elshafei, Abdel Latif | Cairo Univ |
Keywords: Control of renewable energy resources, Control system design
Abstract: When wind speeds exceed the rated values, wind turbines operate in region 3. In region 3, collective pitch control (CPC) is the main tool to regulate the turbine’s speed and generated power. The main challenges that face a CPC design are the modeling uncertainties, constraints on the control actions, and immeasurable system states. A tube-based model-predictive output-feedback controller is proposed here to design a CPC. The proposed controller is an optimal controller that respects constraints and accommodates uncertainties without a need to measure all states. Applications to a typical 5-MW offshore wind turbine show through simulations the superiority of the proposed controller
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14:10-14:30, Paper WeM19.3 | Add to My Program |
Model Predictive Direct Power Control of Doubly Fed Induction Generator with Dead-Time Compensation |
Ngo, Van Quang Binh | CentraleSupélec |
Rodriguez-Ayerbe, Pedro | Supelec |
Olaru, Sorin | CentraleSupelec |
Niculescu, Silviu-Iulian | Lab. of Signals and Systems (L2S) |
Keywords: Control of renewable energy resources, Optimal operation and control of power systems, Intelligent control of power systems
Abstract: The paper presents the control of a doubly fed induction generator connected with a three-level neutral point clamped inverter with compensation of dead-time effects. Model Predictive Direct Power Control is synthesized using a dynamical model of the doubly fed induction generator and three-level neutral point clamped inverter. The principle of the proposed control scheme is to use the dynamical model to compute predictions of the future values of the stator fux, rotor current and DC-link capacitor voltages for all possible congurations of voltage vectors. However, the dead-time to avoid the short circuit in the inverter also causes the modeling errors. Thus, by taking into account the dead-time in the model, it is possible compensate the dead-time effect of the switching devices. The active and reactive powers can be estimated based on the stator fux and the rotor current. The cost function considers the error between the active, reactive powers and their references, balance the DC-link capacitor voltage and reduce the switching frequency and common-mode voltage. The optimal switching state that minimizes the cost function is selected and applied to the inverter. The simulation results were carried out with Matlab under different conditions of wind speed and verifying the effectiveness of the proposed method.
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14:30-14:50, Paper WeM19.4 | Add to My Program |
A Coordinated LVRT Control for a PMSG Wind Turbine |
Kim, Chunghun | Hanyang Univ |
Gui, Yonghao | Aalborg Univ |
Chung, Chung Choo | Hanyang Univ |
Keywords: Control system design, Control of renewable energy resources
Abstract: This paper proposes a coordinated controller for a permanent-magnet synchronous generator wind turbine to enhance its low voltage ride through capability. In the proposed method, both rotor side and grid side converters are cooperatively controlled to regulate the DC link voltage during the grid fault. Moreover, at the fault clearance, the grid side converter produces the previous power value which is the maximum power in normal operation. It prevents excessive power production at the fault clearance in order to reduce the rotor load. From the proposed method, better transient response of the DC link voltage could be obtained with less rotor acceleration. We validated the proposed method using MATLAB/Simulink SimPowerSystems and compared the performances of with and without the coordinated control.
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14:50-15:10, Paper WeM19.5 | Add to My Program |
Dynamic Matrix Control of an Airfoil for Wind Turbine Application |
Aguiar da Franca, Aline | RWTH Aachen Univ |
Abel, Dirk | RWTH-Aachen Univ |
Keywords: Modeling and simulation of power systems, Control of renewable energy resources, Optimal operation and control of power systems
Abstract: This paper presents a model based concept for controlling the lift force of an airfoil, which depends on the angle of attack. This dependency holds a nonlinear behavior for angles of attack with separated flow. Such nonlinearity is modeled as a Wiener model. In order to output constant lift force, the Dynamic Matrix Controller using linearizing pre-compensation method is implemented. The control simulations performed in closed-loop with the software Ansys Fluent presented here significant results. The long term goal of this concept is to be used to control wind turbines airfoils, in order to increase the energy captured.
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15:10-15:30, Paper WeM19.6 | Add to My Program |
Fuzzy Empirical Mode Decomposition for Smoothing Wind Power with Battery Energy Storage System |
Yang, Xiyun | North China Electric Power Univ |
Yue, Hong | Univ. of Strathclyde |
Ren, Jie | North China Electric Power Univ |
Keywords: Smart grids, Control of renewable energy resources, Power systems stability
Abstract: The intermittency and fluctuations of wind power cause problems in integration of wind energy systems into the grid. To smooth the fluctuations of wind power, a control scheme based on fuzzy empirical mode decomposition (EMD) is proposed with the use of battery energy storage system (BESS). With this idea, the wind power signal is decomposed via EMD and filtered into two parts: the low-frequency part is taken as the target smooth wind power for grid connection, and the high-frequency part is stored by BESS before connecting to the grid to compensate for the fluctuations in the original wind power signal. A fuzzy EMD filter is developed by considering constraints on both the power fluctuation rate and the state of charge (SOC) of the BESS. The performance of the proposed strategy has been examined through case study simulations, which demonstrates improvement in mitigating wind power fluctuations and also in reducing over charging/discharging operations of the integrated BESS.
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WeM20 Open Invited Session, Toulouse |
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Control and Imaging for Devices and Systems in Medicine: Models,
Identification and Clinical Application |
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Chair: Schauer, Thomas | Tech. Univ. Berlin |
Co-Chair: Tsuzuki, Marcos de Sales Guerra | Univ. of Sao Paulo |
Organizer: Schauer, Thomas | Tech. Univ. Berlin |
Organizer: Tsuzuki, Marcos de Sales Guerra | Univ. of Sao Paulo |
Organizer: Benyo, Balazs | Budapest Univ. of Tech. and Ec |
Organizer: Rodgers, Geoffrey W. | Univ. of Canterbury |
Organizer: Moeller, Knut | Furtwangen Univ |
Organizer: Pretty, Christopher | Univ. of Canterbury |
Organizer: Leonhardt, Steffen | RWTH Aachen |
Organizer: Misgeld, Berno | RWTH Aachen Univ |
Organizer: Chase, J. Geoffrey | Univ. of Canterbury |
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13:30-13:50, Paper WeM20.1 | Add to My Program |
A Simple Method to Model a Continuous Glucose Monitoring Signal (I) |
Thomas, Felicity | Univ. of Canterbury |
Pretty, Christopher | Univ. of Canterbury |
Dickson, Jennifer L. | Univ. of Canterbury |
Signal, Matthew | Univ. of Canterbury |
Shaw, Geoffrey M | Christchurch Hospital, Canterbury District Health Board |
Chase, J. Geoffrey | Univ. of Canterbury |
Keywords: Developments in measurement, signal processing, Identification and validation
Abstract: Before continuous glucose monitoring (CGM) can be safely used to guide glycaemic control (GC) protocols the impact of suboptimal accuracy resulting from error or delay in calibration measurement, sensor drift, and delayed glucose diffusion must first be characterised. Characterising this error allows models to be formed so in-silico simulations can test the performance and safety of CGM driven glycaemic control protocols and examine best and worst scenarios. Existing models of CGM dynamics are now 10 years old and significant advances in sensor technology mean the level of error produced by these models no longer characterises the dynamics of more recent CGM devices. Therefore, this paper presents and validates a simple CGM error model based on the latest available CGM devices, as well as a generalisable sensor modeling approach. The model was created using 28 data sets from an observational pilot study of CGM in patients admitted to the Christchurch Hospital ICU during 2014-15. The model was characterised by empirical models of drift and noise. Autocorrelation was then used to validate the modelled data with the measured data. The median absolute difference between modelled and measured SG autocorrelation values was 0.007 with a range of 0 – 0.13. Hence, the model is judged to be suitable for use in simulation to provide better insight into using CGM to guide GC will effect control and its safety and performance. The overall modelling process is data driven and readily generalised to any other device.
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13:50-14:10, Paper WeM20.2 | Add to My Program |
A Simulation Study on the Ventilation Inhomogeneity Measured with Electrical Impedance Tomography (I) |
Schullcke, Benjamin | Furtwangen Univ |
Krueger-Ziolek, Sabine | Furtwangen Univ |
Gong, Bo | Furtwangen Univ |
Moeller, Knut | Furtwangen Univ |
Keywords: Medical imaging and processing, Biomedical and medical image processing and systems
Abstract: Electrical Impedance Tomography (EIT) is a medical imaging modality which is mainly used in mechanically ventilated patients to monitor the regional distribution of ventilation. Recently, the potential of EIT has also been demonstrated as additional tool for diagnosis in spontaneously breathing patients with obstructive lung diseases, such as cystic fibrosis or chronic obstructive lung disease. Besides the generation of images depicting lung ventilation in real-time, EIT also provides quantitative measures to numerically describe the inhomogeneity of ventilation. In this work the impact of ventilation inhomogeneity and lung obstruction on the reconstructed EIT images is evaluated using three dimensional simulation models with different severities of obstruction. Simulation results reveal that the ventilation inhomogeneity determined with EIT raises for increasing and more severe obstructions. For obstructions affecting less than 25% of lung tissue the ventilation inhomogeneity in EIT images underestimates the disease state.
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14:10-14:30, Paper WeM20.3 | Add to My Program |
Iterative Learning Control and System Identification of the Antagonistic Knee Muscle Complex During Gait Using Functional Electrical Stimulation (I) |
Müller, Philipp | Tech. Univ. Berlin |
Balligand, Cécile | Univ. ́ E De Mons |
Seel, Thomas | Tech. Univ. Berlin |
Schauer, Thomas | Tech. Univ. Berlin |
Keywords: Rehabilitation engineering and healthcare delivery, Dynamics and control, Modeling and identification
Abstract: Functional Electrical Stimulation (FES) can be used to support the gait of stroke patients. By measuring joint angles and adjusting the stimulation intensities automatically to the current need of the patient, setup times can be reduced and time-variant effects like muscle fatigue can be compensated. This was achieved in recent publications by using Iterative Learning Control (ILC) on the ankle complex. In this paper we consider FES of the antagonistic knee muscle complex (quadriceps and hamstring muscles) that controls knee flexion/extension. We used a coactivation strategy in order to map the two stimulation channels to a single control input. A large class of dynamic models was obtained by system identification based on data from two experiments: one with standing subjects and one with subjects walking on a treadmill while being stimulated during different time segments of the gait cycle. Time delays, system poles, and in particular the system gains were found to vary largely. Furthermore, large differences were observed between muscle dynamics in standing pose and during walking. We designed an iterative learning controller that is stable for almost all models. In experiments with eight healthy subjects walking on a treadmill, the ILC was found to reduce deviations from a reference trajectory to about five degrees within two strides.
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14:30-14:50, Paper WeM20.4 | Add to My Program |
Adaptive Control of a Neuroprosthesis for Stroke Patients Amplifying Weak Residual Shoulder-Muscle Activity (I) |
Klauer, Christian | Tech. Univ. Berlin |
Schauer, Thomas | Tech. Univ. Berlin |
Keywords: Rehabilitation engineering and healthcare delivery, Bio-signals analysis and interpretation
Abstract: Stroke patients often suffer from a partial paralysis hindering shoulder elevation movements. To support the small voluntary forces, Functional Electrical Stimulation (FES) can be applied to the shoulder-deltoid muscle for gaining additional force. In previous research we presented a positive- feedback control loop which applies a stimulation level that causes the arm abduction to be hold at a given percentage (support factor) of the currently measured angle. This approach causes an amplification of the effect of the residual volitional activity and effectively realizes an arm weight relief. The support- level strongly influences the closed-loop’s behavior especially for percentages close to 100% and, therefore, must be carefully chosen to meet the patient’s requirements. Because of parameter variations, this value cannot be precisely pre-computed, and, hence, we present an adaptive trial-to-trial based learning procedure to iteratively realize a given level of volitional amplification. During each trial, the algorithm obtains measurements of the volitional activity obtained by means of Electromyography (EMG) and the joint angle. After the arm returns to its rest position, the achieved amplification of the volitional activity is estimated. An integral controller combined with a non-linear output transformation then updates the support factor for the next trial aiming to realize the desired volitional amplification. The closed-loop adaptive controller is robust asymptotically stable. In two tests performed on a healthy subject, the desired level of volitional amplification was reached within 3 to 5 trials demonstrating the feasibility of the chosen approach.
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14:50-15:10, Paper WeM20.5 | Add to My Program |
Eliminating the Effect of Magnetic Disturbances on the Inclination Estimates of Inertial Sensors (I) |
Seel, Thomas | Tech. Univ. Berlin |
Ruppin, Stefan | Robert Bosch GmbH |
Keywords: Developments in measurement, signal processing, Rehabilitation engineering and healthcare delivery, Control of voluntary movements, respiration
Abstract: Inertial measurement units (IMUs) are a promising tool for realtime analysis of human motion in many application domains. We consider the standard sensor fusion problem in IMU orientation estimation. We highlight the malicious effects that inhomogeneous magnetic fields, which are often found in indoor environments, can have on the inclination (roll and pitch) portions of the estimate. We then propose a novel method that uses an analytical solution of the sensor fusion problem and purely horizontal magnetometer-based corrections. The method assures that magnetic field measurements affect only the heading (yaw) component of the orientation estimate. Furthermore, we parametrize the algorithm such that the user can choose the time constant and aggressiveness with which the algorithm balances between gyroscope drift compensation and rejection of magnetic disturbances and velocity changes.
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15:10-15:30, Paper WeM20.6 | Add to My Program |
Robust Gain-Scheduled Control of Variable Stiffness Actuators (I) |
Misgeld, Berno | RWTH Aachen Univ |
Hewing, Lukas | ETH Zürich |
Liu, Lin | RWTH Aachen Univ |
Leonhardt, Steffen | RWTH Aachen |
Keywords: Decision support and control, Rehabilitation engineering and healthcare delivery, Control of voluntary movements, respiration
Abstract: Variable stiffness actuators were introduced to decouple an otherwise stiff actuator from the load by an adjustable elasticity. This variable elastic element can be used as torque sensor, acts as an energy storage, decouples the actuator for exogenous high frequency excitation inputs and contributes towards shock resistance and safety in human-robot interaction scenarios. However, the variable element complicates the design of torque and impedance controllers which have to be synthesized by employing contradicting design objectives, such as minimisation of the output impedance, robust stability and performance. Moreover, the system to be controlled consists of an additional control-loop to set-up the stiffness of the elastic element in real-time. To overcome these synthesis problems, we present a new controller design procedure that imposes a positive-real constraint on the load output port function to guarantee a stable interaction with respect to a passive, yet otherwise unknown environments. Additional design requirements are subsequently cast into a generalised plant. Ultimately, a pazocal{H}_infty-nonsmooth design procedure is employed to design a torque controller under these constraints and is tested in {it in silico} experiments with the {it Mechanical Rotational Impedance Actuator} (MeRIA).
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WeM21 Regular Session, Conques |
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Decentralized Control |
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Chair: Ocampo-Martinez, Carlos | Tech. Univ. of Catalonia (UPC) |
Co-Chair: Gao, Huan | Clemson Univ |
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13:30-13:50, Paper WeM21.1 | Add to My Program |
A Survey on Control Configuration Selection and New Challenges in Relation to Wireless Sensor and Actuator Networks |
Castaño Arranz, Miguel | Luleå Tekniska Univ |
Birk, Wolfgang | Luleå Univ. of Tech |
Nikolakopoulos, George | Luleå Univ. of Tech |
Keywords: Decentralized control, Process control, Networked systems
Abstract: This survey on Control Configuration Selection (CCS) includes methods based on relative gains, gramian-based interaction measures, methods based on optimization schemes, plantwide control, and methods for the reconfiguration of control systems. The CCS problem is discussed, and a set of desirable properties of a CCS method are defined. Open questions and research tracks are discussed, with the focus on new challenges in relation to the emerging area of Wireless Sensors and Actuator Networks.
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13:50-14:10, Paper WeM21.2 | Add to My Program |
Integrated Communication and Control for Collective Motion with Limited Communication |
Gao, Huan | Clemson Univ |
Wang, Yongqiang | Clemson Univ |
Keywords: Decentralized control, Nonlinear cooperative control, Distributed nonlinear control
Abstract: Decentralized collective motion coordination is a rapidly developing field, motivated by its extensive applications in mobile sensor networks, cooperative robotics, and unmanned aerial vehicles. In most existing results, the distributed controller for collective motion coordination is designed in the continuous-time domain in order to conform to the continuous kinetic dynamics of vehicle systems, and discretization of the continuous controller is used in implementation since the information can only be exchanged at discrete-time instants among these systems. However, this approach cannot guarantee the original design performance since discretization can harm or even destabilize a continuous controller. Motivated by pulse-based synchronization among biological pulse-coupled oscillators, we propose an integrated communication and control approach for collective motion coordination which can circumvents discretization and guarantee the design performance in final implementation. Not only can heading control be achieved to coordinate vehicle headings, but also spacing control is achievable for the circular motion. Numerical simulations are provided to illustrate the effectiveness of the theoretical results.
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14:10-14:30, Paper WeM21.3 | Add to My Program |
Localization and Three-Dimensional Circumnavigation of Many Mobile Targets Based on Distance Measurements |
Matveev, Alexey S. | St.Petersburg Univ |
Semakova, Anna | Saint Petersburg State Univ |
Keywords: Decentralized control, Data-based control, Discontinuous control
Abstract: A group of targets moves in 3D in an unknown way. This group should be localized, approached, and circumnavigated by a nonholonomic under-actuated mobile robot. The robot measures only the distances to the targets and also has access to a certain space direction, along with its own coordinate (called ``altitude'') along it. A novel navigation law is presented that guides the robot to the locus of space points at a desired root mean square distance from the targets and then ensures repeatedly sweeping over the part of this locus between given lower and upper ``altitudes''. This law is reactive, i.e., converts the current observations into current control in a reflex-like fashion. The proposed navigation approach is rigorously justified by a global convergence result; its performance is confirmed by computer simulation tests.
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14:30-14:50, Paper WeM21.4 | Add to My Program |
Partitioning for Large-Scale Systems: A Sequential Distributed MPC Design |
Barreiro-Gomez, Julian | Univ. De Los Andes, Univ. Pol. De Catalunya |
Ocampo-Martinez, Carlos | Tech. Univ. of Catalonia (UPC) |
Quijano, Nicanor | Univ. De Los Andes |
Keywords: Decentralized control, Optimal control theory
Abstract: Large-scale systems involve a high number of variables making challenging the design of controllers because of information availability and computational burden issues. Normally, the measurement of all the states in a large-scale system implies to have a big communication network, which might be quite expensive. On the other hand, the treatment of a large amount of data to compute the appropriate control inputs implies high computational costs. An alternative to mitigate the aforementioned issues is to split the problem into several sub-systems. Thus, computational tasks may be split and assigned to different local controllers, letting to reduce the required time to compute the control inputs. Additionally, the partitioning of the system allows control designers to simplify the communication network. This paper presents a partitioning algorithm performed by considering an information-sharing graph that can be generated for any control strategy and for any dynamical large-scale system. Finally, a distributed model predictive control (DMPC) is designed for a large-scale system as an application of the proposed partitioning method.
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14:50-15:10, Paper WeM21.5 | Add to My Program |
A Two-Layer Decentralized Approach to the Optimal Energy Management of a Building District with a Shared Thermal Storage |
Ioli, Daniele | Pol. Di Milano |
Deori, Luca | Pol. Di Milano |
Falsone, Alessandro | Pol. Di Milano |
Prandini, Maria | Pol. Di Milano |
Keywords: Decentralized control, Large scale optimization problems, Energy systems
Abstract: We propose a decentralized scheme for the energy management of a district composed of multiple buildings. Each building is equipped with its own chiller, whereas a single thermal storage is shared among all buildings. The buildings aim at jointly minimizing the electric energy costs while guaranteeing comfort conditions for their occupants, and they can act on their own temperature set-point and the usage of the common storage to this purpose. The problem can be formulated as a constrained optimization program where the buildings decision variables are coupled via some global constraints, due to the shared storage, and the cost function, since the electric energy price depends on the district demand. To distribute the computational load and reduce the amount of transmitted information, we propose a two-layer solution where a central entity takes care of the global constraints by updating some dual variables (outer layer), whereas the primal variables, i.e., zone temperature set-point and storage usage, are optimized locally by the buildings through nested iterations where the price is recomputed based on the updated information on the district demand provided by the central entity (inner layer).
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15:10-15:30, Paper WeM21.6 | Add to My Program |
Decentralised Sliding Mode Control for Nonlinear Interconnected Systems in the Generalised Regular Form |
Mu, Jianqiu | Univ. of Kent |
Yan, Xing-Gang | Univ. of Kent |
Zhang, Qingling | Northeastern Univ |
Mao, Zehui | Nanjing Univ. of Aeronautics and Astronautics |
Keywords: Decentralized control, Sliding mode control, Control of interconnected systems
Abstract: In this paper, a decentralised control strategy based on sliding mode techniques is proposed for a class of nonlinear interconnected systems in generalised regular form. All the isolated subsystems and interconnections are fully nonlinear. It is not required that the nominal isolated subsystems are either linearizable or partially linearizable. The uncertainties are nonlinear and bounded by known functions. Specically, uncertainties in the input distribution and interconnections are considered. Under mild conditions, sliding mode controllers for each subsystem are designed by only employing local information. Sucient conditions are developed under which information on the interconnections is employed for decentralised controller design to reduce the eects of the interconnections on the entire systems. The bounds on the uncertainties have more general forms compared with previous work. A simulation example is used to demonstrate the eectiveness of the proposed method.
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WeM22 Open Invited Session, Cordes |
Add to My Program |
Optimization and Control in Smart Grids 3 |
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Chair: Robba, Michela | Univ. of Genova |
Co-Chair: Nudell, Thomas | Smart Wires Inc |
Organizer: Robba, Michela | Univ. of Genova |
Organizer: Nudell, Thomas | Smart Wires Inc |
Organizer: Annaswamy, Anuradha | Massachusetts Inst. of Tech |
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13:30-13:50, Paper WeM22.1 | Add to My Program |
Optimal Integration of Battery Energy Storage Systems and Control of Active Power Curtailment for Distribution Generation (I) |
Baltensperger, Daniel | ZHAW |
Buechi, Alexander | Zurich Univ. of Applied Sciences |
Segundo Sevilla, Felix Rafael | Zurich Univ. of Applied Science ZHAW |
Korba, Petr | Zurich Univ. of Applied Sciences |
Keywords: Control of renewable energy resources, Modeling and simulation of power systems, Smart grids
Abstract: Power flows exceeding the thermal capacity on power system lines and severe rise on bus voltages are a potential problem in the future distribution grids where development of photovoltaic (PV) installations is expected. This problem could cause damage on components such as transformers and distribution lines provoking triggering the system protections that would eventually lead to system failures. The economic and environmental implications related to reinforcing of the existing network, make this option not the immediate solution for implementation. Installation of battery energy storage systems (BESS) and control of active power curtailment (APC) would be another option to phase the upcoming problems. In this paper a forecast for the year 2035 in a real residential area in Switzerland was investigated, where large amount of PV panels are expected to be installed. This project investigates different solutions based on BESS and APC to deal with the inevitable increase of power flow in the network. The solutions presented here, prevent the overload in a distribution system transformer and avoid excess power flows on the lines. For a given set of demand and PV production curves, simulations in Matlab were performed and computations of optimal power flows were calculated. The solutions explored on this work consider economical aspects such as discounted cash flow method that finds the optimal size of BESS installed. Results also show that combining BESS with curtailment is the most viable solution.
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13:50-14:10, Paper WeM22.2 | Add to My Program |
Sizing of Energy Storage Systems Considering Uncertainty on Demand and Generation (I) |
Bucciarelli, Martina | Univ. Di Siena |
Giannitrapani, Antonio | Univ. Di Siena |
Paoletti, Simone | Univ. Di Siena |
Vicino, Antonio | Univ. Di Siena |
Zarrilli, Donato | Univ. Di Siena |
Keywords: Smart grids
Abstract: Over recent years there has been a general consensus about the necessary changes towards modernizing the existing power grid to meet environmental and socio-economic objectives. The adoption of low carbon technologies is a milestone in this process. On the other hand, the massive and uncoordinated connection of distributed generators (e.g. solar or wind) is making the operation of electrical distribution networks more challenging, e.g. causing energy balancing problems or voltage violations. Energy storage systems represent a possible means to cope with these issues. In this paper, we consider the problem of sizing the energy storage systems installed in a low voltage network with the aim of preventing voltage violations along the feeders. Since the problem is solved at the planning stage, when future realizations of demand and generation are unknown, we adopt a two-stage stochastic formulation where daily demand and generation profiles are modelled as random processes. The cost function to be minimized takes into account installation and operation costs related to storage use. By taking a scenario-based approach, the two-stage problem is approximated via a multi-scenario optimal power flow. To reduce the computational burden of the latter problem, a heuristic strategy consisting of solving separately a sizing problem for each scenario, and then combining the solutions of the single problems through a worst-case criterion, is proposed. The multi-scenario approach and the heuristic strategy are compared in terms of both computation time and quality of the solution using real data from an Italian low voltage network with photovoltaic generation.
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14:10-14:30, Paper WeM22.3 | Add to My Program |
Cooperative Distributed Control for the Energy Scheduling of Smart Homes with Shared Energy Storage and Renewable Energy Source (I) |
Carli, Raffaele | Pol. Di Bari |
Dotoli, Mariagrazia | Pol. Di Bari |
Keywords: Smart grids, Optimal operation and control of power systems, Control of renewable energy resources
Abstract: This paper presents a distributed control technique for the energy scheduling of a group of interconnected smart city residential users. The proposed model aims at a simultaneous cost-optimal planning of users’ controllable appliances and of the shared storage system charge/discharge and renewable energy source. The distributed control algorithm is based on an iterative procedure combining parametric optimization with the block coordinate descent method. A realistic case study simulated in different scenarios demonstrates that the approach allows fully exploiting the potential of storage systems sharing to reduce individual users’ energy consumption costs and limit the peak average ratio of the energy profiles.
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14:30-14:50, Paper WeM22.4 | Add to My Program |
Performance Limits of Thermostatically Controlled Loads under Probabilistic Switching (I) |
Nazir, Md Salman | Univ. of Michigan, Ann Arbor |
Ross, Stephanie Crocker | Univ. of Michigan, Ann Arbor |
Mathieu, Johanna | Univ. of Michigan, Ann Arbor |
Hiskens, Ian A. | Univ. of Michigan |
Keywords: Intelligent control of power systems, Distribution automation, Real time simulation and dispatching
Abstract: This paper establishes performance limits for probabilistic control schemes that coordinate populations of thermostatically controlled loads (TCLs) for the purpose of providing power system services, such as regulation and load following. In the literature, a common strategy for dispatching TCLs is to send probabilistic on/off commands, i.e. ``switch on with 20% probability''; this is what we refer to as probabilistic switching. There is ongoing research to improve the tracking performance of TCL control schemes that utilize probabilistic switching -- the purpose of this paper is to provide a theoretically based performance limit for these control schemes. We first show how to analytically obtain this performance limit when TCLs are sent a uniform switching probability. We then extend it to the non-uniform case where different probabilities are sent for TCLs at different temperature ranges. We demonstrate the effects of both population size and the magnitude of the switching probabilities on a system's performance. Based on this knowledge, we develop non-uniform probabilistic control schemes that minimize the variance of the error due to probabilistic switching, and can avoid short cycling of TCLs.
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14:50-15:10, Paper WeM22.5 | Add to My Program |
Consensus-Based Coordination of Electric Vehicle Charging (I) |
Zou, Suli | Beijing Inst. of Tech |
Hiskens, Ian A. | Univ. of Michigan |
Ma, Zhongjing | Beijing Inst. of Tech |
Liu, Xiangdong | School of Automation, 231 Staff, Beijing Inst. Oftechnology |
Keywords: Smart grids
Abstract: As the population of electric vehicles (EVs) grows, coordinating their charging over a finite time horizon will become increasingly important. Recent work established a framework for EV charging coordination where a central node broadcast a price signal that facilitated the tradeoff between the total generation cost and local costs associated with battery degradation and distribution network overloading. This paper considers a completely distributed protocol where the central node is eliminated. Instead, a consensus algorithm is used to fully distribute the price update mechanism. Each EV computes a local price through its estimate of the total EV charging demand, and exchanges this information with its neighbours. A consensus algorithm establishes the average over all the EV-based prices. It is shown that under a reasonable assumption, the price update mechanism is a Krasnoselskij iteration, and this iteration is guaranteed to converge to a fixed point. Furthermore, this iterative process converges to the unique and efficient solution.
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15:10-15:30, Paper WeM22.6 | Add to My Program |
Noise and Parameter Heterogeneity in Aggregate Models of Thermostatically Controlled Loads (I) |
Nazir, Md Salman | Univ. of Michigan, Ann Arbor |
Hiskens, Ian A. | Univ. of Michigan |
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