Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781442
S. Swinton, E. McGookin
The aim of this work is to evaluate the use of a combined fault detection and isolation system; first for a single planetary rover, then applied as a centralised health monitor to a small team of coordinated rovers. Three fault types are modelled: heading sensor faults, actuator faults, and power failure. Testing is carried out on the central health monitor to evaluate its ability to diagnose faults within a simulated environment. The resulting data suggests that fault diagnosis using only top-level telemetry data can successfully diagnose faults within the rover team.
{"title":"Fault Diagnosis For A Team Of Planetary Rovers","authors":"S. Swinton, E. McGookin","doi":"10.1109/Control55989.2022.9781442","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781442","url":null,"abstract":"The aim of this work is to evaluate the use of a combined fault detection and isolation system; first for a single planetary rover, then applied as a centralised health monitor to a small team of coordinated rovers. Three fault types are modelled: heading sensor faults, actuator faults, and power failure. Testing is carried out on the central health monitor to evaluate its ability to diagnose faults within a simulated environment. The resulting data suggests that fault diagnosis using only top-level telemetry data can successfully diagnose faults within the rover team.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"179 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123114194","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781449
Emmanuel Enenakpogbe, J. Whidborne, Linghai Lu
This paper presents a Nonlinear Dynamic Inversion (NDI) based flight controller using virtual controls, generalised forces and moments for the longitudinal motion control of a VTOL aircraft including transition manoeuvres. The control architecture is general for piloted, semi-automatic and fully-automated flight. It consists of a main inner-loop NDI controller that is used for forward cruise flight and an outer linear controller used for low speed and hover. Forward and backward transition manoeuvres are executed by switching between the NDI-based controller and position control loops. Simulation results show the control potential for both hover and cruise as well as over the vital transition flight phase.
{"title":"Control of an eVTOL using Nonlinear Dynamic Inversion","authors":"Emmanuel Enenakpogbe, J. Whidborne, Linghai Lu","doi":"10.1109/Control55989.2022.9781449","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781449","url":null,"abstract":"This paper presents a Nonlinear Dynamic Inversion (NDI) based flight controller using virtual controls, generalised forces and moments for the longitudinal motion control of a VTOL aircraft including transition manoeuvres. The control architecture is general for piloted, semi-automatic and fully-automated flight. It consists of a main inner-loop NDI controller that is used for forward cruise flight and an outer linear controller used for low speed and hover. Forward and backward transition manoeuvres are executed by switching between the NDI-based controller and position control loops. Simulation results show the control potential for both hover and cruise as well as over the vital transition flight phase.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129989564","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781463
O. Albrecht, C. J. Taylor
Systems with time-varying time delays present a particularly challenging control problem. They have been observed across a wide array of domains, from hydraulic actuators to insulin delivery control systems. Control systems that address system time-delays, nonlinearities and uncertainty are the subject of much research but, whilst the specific concept of varying time delays is sometimes acknowledged (for example in the control of hydraulic manipulators), this appears to be less widely investigated than some other types of nonlinearity. In part motivated by recent research into internal multi-model control, as similarly applied to systems with unknown time-varying delays, the present work utilises a Gaussian radial basis function to switch between two or more partial controllers. Each partial controller is based on a linear model with a (time-invariant) time delay. The new algorithm is developed and evaluated via simulation using a non-minimal state space (NMSS) framework, with pole assignment as the design criterion. Simulation results suggest that it yields improved performance in comparison to a simpler switching approach and the equivalent linear control system. However, laboratory examples and further research into robustness and stability is required in the next step.
{"title":"Pole assignment control design for time–varying time–delay systems using radial basis functions","authors":"O. Albrecht, C. J. Taylor","doi":"10.1109/Control55989.2022.9781463","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781463","url":null,"abstract":"Systems with time-varying time delays present a particularly challenging control problem. They have been observed across a wide array of domains, from hydraulic actuators to insulin delivery control systems. Control systems that address system time-delays, nonlinearities and uncertainty are the subject of much research but, whilst the specific concept of varying time delays is sometimes acknowledged (for example in the control of hydraulic manipulators), this appears to be less widely investigated than some other types of nonlinearity. In part motivated by recent research into internal multi-model control, as similarly applied to systems with unknown time-varying delays, the present work utilises a Gaussian radial basis function to switch between two or more partial controllers. Each partial controller is based on a linear model with a (time-invariant) time delay. The new algorithm is developed and evaluated via simulation using a non-minimal state space (NMSS) framework, with pole assignment as the design criterion. Simulation results suggest that it yields improved performance in comparison to a simpler switching approach and the equivalent linear control system. However, laboratory examples and further research into robustness and stability is required in the next step.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127111518","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781446
Qusay Hawari, James Fleming, Taeseong Kim, Christopher Ward
This work addresses blade pitch controllers for variable speed wind turbines for the purpose of maintaining power at rated value during above rated wind speeds. The work proposes a collective proportional integral (PI) pitch controller design that accounts for the effects of low frequency aero-elastic modes to enhance the performance of the basic PI controller used in industry. Validation was performed by testing the proposed controller on a non-linear model for the DTU10MW turbine under turbulent wind conditions. Statistical analysis of fatigue loads at the main shaft bearing were further investigated to verify that the proposed controller does not add excessive loading compared with the basic controller.
{"title":"Stability Margin Analysis for PI Pitch Controllers on Large Wind Turbines","authors":"Qusay Hawari, James Fleming, Taeseong Kim, Christopher Ward","doi":"10.1109/Control55989.2022.9781446","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781446","url":null,"abstract":"This work addresses blade pitch controllers for variable speed wind turbines for the purpose of maintaining power at rated value during above rated wind speeds. The work proposes a collective proportional integral (PI) pitch controller design that accounts for the effects of low frequency aero-elastic modes to enhance the performance of the basic PI controller used in industry. Validation was performed by testing the proposed controller on a non-linear model for the DTU10MW turbine under turbulent wind conditions. Statistical analysis of fatigue loads at the main shaft bearing were further investigated to verify that the proposed controller does not add excessive loading compared with the basic controller.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124362822","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781444
Muhammad Saleheen Aftab, John Anthony Rossiter, G. Panoutsos
Predictive functional control (PFC) is a cheap and simplified model predictive controller, which competes with PID in price and performance. While the tuning process in PFC for simple dynamics is well established and straightforward, it becomes far more ambiguous and often less effective for processes exhibiting challenging behaviour, such as poor damping, instability and/or non-minimum phase characteristics. In this paper, we present a relative PFC algorithm that, when implemented with pre-stabilised prediction dynamics if needed, simplifies performance tuning to merely adjusting one parameter. Furthermore, it provides far superior closed-loop control in practical scenarios, where the conventional PFC and PID fail to perform, as demonstrated with three simulation case studies.
{"title":"Predictive Functional Control for Difficult Dynamic Processes with a Simplified Tuning Mechanism","authors":"Muhammad Saleheen Aftab, John Anthony Rossiter, G. Panoutsos","doi":"10.1109/Control55989.2022.9781444","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781444","url":null,"abstract":"Predictive functional control (PFC) is a cheap and simplified model predictive controller, which competes with PID in price and performance. While the tuning process in PFC for simple dynamics is well established and straightforward, it becomes far more ambiguous and often less effective for processes exhibiting challenging behaviour, such as poor damping, instability and/or non-minimum phase characteristics. In this paper, we present a relative PFC algorithm that, when implemented with pre-stabilised prediction dynamics if needed, simplifies performance tuning to merely adjusting one parameter. Furthermore, it provides far superior closed-loop control in practical scenarios, where the conventional PFC and PID fail to perform, as demonstrated with three simulation case studies.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127913992","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781440
Raheeg Alamin, J. Whidborne, Mushfiqul Alam
Pseudospectra provides a qualitative and quantitative tool for analyzing the stability sensitivity of linear systems. In this paper pseudospectral analysis is extended to Linear Parameter Varying (LPV) systems that are approximated by frozen sets. Two examples of quasi-LPV system models are analyzed, namely an actuated pendulum system and a 2-DOF aeroelastic flutter model. It is shown that use of pseudospectra can overcome some limitations of classical eigenvalue sensitivity as well as providing qualitative information that is straightforward to interpret. Some limitations are discussed and suggestions for further work included.
{"title":"LPV Systems Analysis Using Pseudospectra","authors":"Raheeg Alamin, J. Whidborne, Mushfiqul Alam","doi":"10.1109/Control55989.2022.9781440","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781440","url":null,"abstract":"Pseudospectra provides a qualitative and quantitative tool for analyzing the stability sensitivity of linear systems. In this paper pseudospectral analysis is extended to Linear Parameter Varying (LPV) systems that are approximated by frozen sets. Two examples of quasi-LPV system models are analyzed, namely an actuated pendulum system and a 2-DOF aeroelastic flutter model. It is shown that use of pseudospectra can overcome some limitations of classical eigenvalue sensitivity as well as providing qualitative information that is straightforward to interpret. Some limitations are discussed and suggestions for further work included.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128437500","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781374
P. Hazell, J. Lu
Industrial control system security is essential to protecting both industrial output and Critical National Infrastructure (CNI) from cyber-attack, as well as ensuring the safety of workers, members of the public and the environment.Operators of these facilities face a security problem in the dearth of effective countermeasures. This paper addresses this problem by identifying the reasons why so few countermeasures exist and what approaches could be taken to remedy this in a manner that serves both traditional Industrial Control Systems (ICSs), and the emerging needs of the Industrial Internet of Things (IIoT).Circa two-thousand-five-hundred documents (sourced from a combination of five academic search engines, standards agencies, and industrial reports) were reviewed and analysed. From this was found that existing ICS countermeasures are largely derived from existing IT solutions that do not seek to take advantage of the specific characteristics of ICSs – making them less effective or inappropriate in many ICS applications; this is particularly true of network intrusion protection systems, for which false positive detection can have a serious impact on the safe and reliable operation of industrial facilities.It is proposed that the characteristics of ICS and IIoT communications networks lend themselves to a whitelisting approach to network intrusion protection, which would avoid the problem of false positives, and that future work based on the OPC-UA protocol would prove this and demonstrate its suitability for all ICS and IIoT applications.
{"title":"Exploring How The Unique Behaviours Of Industrial Control System Networks Can Be Applied To Enhance Intrusion Prevention","authors":"P. Hazell, J. Lu","doi":"10.1109/Control55989.2022.9781374","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781374","url":null,"abstract":"Industrial control system security is essential to protecting both industrial output and Critical National Infrastructure (CNI) from cyber-attack, as well as ensuring the safety of workers, members of the public and the environment.Operators of these facilities face a security problem in the dearth of effective countermeasures. This paper addresses this problem by identifying the reasons why so few countermeasures exist and what approaches could be taken to remedy this in a manner that serves both traditional Industrial Control Systems (ICSs), and the emerging needs of the Industrial Internet of Things (IIoT).Circa two-thousand-five-hundred documents (sourced from a combination of five academic search engines, standards agencies, and industrial reports) were reviewed and analysed. From this was found that existing ICS countermeasures are largely derived from existing IT solutions that do not seek to take advantage of the specific characteristics of ICSs – making them less effective or inappropriate in many ICS applications; this is particularly true of network intrusion protection systems, for which false positive detection can have a serious impact on the safe and reliable operation of industrial facilities.It is proposed that the characteristics of ICS and IIoT communications networks lend themselves to a whitelisting approach to network intrusion protection, which would avoid the problem of false positives, and that future work based on the OPC-UA protocol would prove this and demonstrate its suitability for all ICS and IIoT applications.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116920746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781370
Kelechi U Ebirim, Andrea Lecchini-Visintini, M. Rubagotti, E. Prempain
The offset-free control of a nonlinear twin rotor MIMO system (TRMS) is challenging because of its dynamic cross-couplings. Offset-free model predictive control (MPC) strategies in the literature favour the use of a disturbance model, dependent on an observer for the estimation of some states, and a cost function that penalises the output error and control increment. We propose an alternative strategy with experimental validation, using a complete dynamic TRMS model and a cost function which penalises the states and control action, and we compare this with a baseline linear quadratic regulator (LQR) approach. Simulation results show satisfactory tracking in favour of MPC as input rate constraints are tightened.
{"title":"Offset-Free Model Predictive Control of a Twin Rotor MIMO System (Extended Abstract)","authors":"Kelechi U Ebirim, Andrea Lecchini-Visintini, M. Rubagotti, E. Prempain","doi":"10.1109/Control55989.2022.9781370","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781370","url":null,"abstract":"The offset-free control of a nonlinear twin rotor MIMO system (TRMS) is challenging because of its dynamic cross-couplings. Offset-free model predictive control (MPC) strategies in the literature favour the use of a disturbance model, dependent on an observer for the estimation of some states, and a cost function that penalises the output error and control increment. We propose an alternative strategy with experimental validation, using a complete dynamic TRMS model and a cost function which penalises the states and control action, and we compare this with a baseline linear quadratic regulator (LQR) approach. Simulation results show satisfactory tracking in favour of MPC as input rate constraints are tightened.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126910196","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781366
V. Turetsky, V. Glizer
Previous results of the authors on robust controllability of linear systems are extended to the case of non-scalar controls and target linear manifold in ℝn of a dimension other than n−1. Basic concepts, such as the robust transferring strategy and the robust controllability set, are revisited. Novel robust controllability conditions are established. Numerical results for a three-dimensional interception problem with ellipsoidal control constraints are presented.
{"title":"Robust controllability of linear systems in non-scalarizable case","authors":"V. Turetsky, V. Glizer","doi":"10.1109/Control55989.2022.9781366","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781366","url":null,"abstract":"Previous results of the authors on robust controllability of linear systems are extended to the case of non-scalar controls and target linear manifold in ℝn of a dimension other than n−1. Basic concepts, such as the robust transferring strategy and the robust controllability set, are revisited. Novel robust controllability conditions are established. Numerical results for a three-dimensional interception problem with ellipsoidal control constraints are presented.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"74 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131798643","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781362
J. Pearce, D. Tucker, R. Veltcheva, G. Machin
Measurement and control of process temperature is key to maximizing product quality, optimizing efficiency, reducing waste and minimizing CO2 and other harmful emissions. Many processes are operated sub-optimally due to the effect of sensor calibration drift, whereby over time in the process the thermometer output is changed by environmental factors including, but not limited to, high temperature, vibration, ionizing radiation and contamination which result in a progressive loss of knowledge of the true process temperature. Here we describe a number of new developments aimed at overcoming sensor calibration drift by providing assured temperature measurement in-process. New techniques include self-validating thermometers, embedded temperature reference standards, and practical primary thermometry where the temperature is measured directly without recourse to sensor calibration.
{"title":"New Paradigms in Traceable Process Control Thermometry","authors":"J. Pearce, D. Tucker, R. Veltcheva, G. Machin","doi":"10.1109/Control55989.2022.9781362","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781362","url":null,"abstract":"Measurement and control of process temperature is key to maximizing product quality, optimizing efficiency, reducing waste and minimizing CO2 and other harmful emissions. Many processes are operated sub-optimally due to the effect of sensor calibration drift, whereby over time in the process the thermometer output is changed by environmental factors including, but not limited to, high temperature, vibration, ionizing radiation and contamination which result in a progressive loss of knowledge of the true process temperature. Here we describe a number of new developments aimed at overcoming sensor calibration drift by providing assured temperature measurement in-process. New techniques include self-validating thermometers, embedded temperature reference standards, and practical primary thermometry where the temperature is measured directly without recourse to sensor calibration.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114135978","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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