Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099561
A. Cardoso, J. Henriques, A. Dourado
A fuzzy switching supervisor PID control approach is developed and applied to a distributed collector field of a solar power plant. To deal with the effects of fast and unexpected deviations on the solar radiation and on the inlet oil temperature the introduction of a feedforward compensator is also investigated. Simulation and experimental results, obtained at the Plataforma Solar de Almería (Spain), are presented showing the effectiveness of the proposed approach.
{"title":"Fuzzy supervisor and feedforward control of a solar power plant using accessible disturbances","authors":"A. Cardoso, J. Henriques, A. Dourado","doi":"10.23919/ECC.1999.7099561","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099561","url":null,"abstract":"A fuzzy switching supervisor PID control approach is developed and applied to a distributed collector field of a solar power plant. To deal with the effects of fast and unexpected deviations on the solar radiation and on the inlet oil temperature the introduction of a feedforward compensator is also investigated. Simulation and experimental results, obtained at the Plataforma Solar de Almería (Spain), are presented showing the effectiveness of the proposed approach.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"307 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123551876","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099794
C. Cadet, Y. Touré, G. Gilles, J. Gatina
The control of the evaporating process is of the highest importance in the sugar industry, on one hand because of the influence of its behaviour on the regularity of the sugar quality and on the other hand because of the large energy involvement. Based on the thought of the concrete industrial problem, and in order to improve the existing control law performances, we have been using some advanced tools, which should be well adapted to industrial processes. This paper deals with the design of an observer of the unmeasured state variables which are needed for the control law, and its insertion in an advanced control structure. A nonlinear predictive control law, based on a knowledge model which has been validated with data collected from a specific industrial plant, has been established. Some simulation results illustrate the performances of the global control system.
{"title":"Non linear receding horizon observer and model based predictive control of evaporators in cane sugar industry","authors":"C. Cadet, Y. Touré, G. Gilles, J. Gatina","doi":"10.23919/ECC.1999.7099794","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099794","url":null,"abstract":"The control of the evaporating process is of the highest importance in the sugar industry, on one hand because of the influence of its behaviour on the regularity of the sugar quality and on the other hand because of the large energy involvement. Based on the thought of the concrete industrial problem, and in order to improve the existing control law performances, we have been using some advanced tools, which should be well adapted to industrial processes. This paper deals with the design of an observer of the unmeasured state variables which are needed for the control law, and its insertion in an advanced control structure. A nonlinear predictive control law, based on a knowledge model which has been validated with data collected from a specific industrial plant, has been established. Some simulation results illustrate the performances of the global control system.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123564982","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099687
T. Mei, R. Goodall, Hong Li
This paper presents the development of a state observer for a 2-axle railway vehicle with solid axle wheelsets. A plan view model of the vehicle is presented and a Kalman filter is developed to estimate 18 states from 8 inertial measurements. The required measurements are the lateral acceleration and yaw velocity of the vehicle body and the same measurements plus the roll velocity for the two wheelsets, requiring three accelerometers and five gyros. The Kalman filter is formulated in such a way that it not only estimates all the vehicle states, but also calculates parameters such as curve radius and cant of the railway track on which the vehicle is travelling. Computer simulations are used to verify the design and to assess its performance together with an optimal controller developed for active steering of the wheelsets.
{"title":"Kalman filter for the state estimation of a 2-AXLE railway vehicle","authors":"T. Mei, R. Goodall, Hong Li","doi":"10.23919/ECC.1999.7099687","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099687","url":null,"abstract":"This paper presents the development of a state observer for a 2-axle railway vehicle with solid axle wheelsets. A plan view model of the vehicle is presented and a Kalman filter is developed to estimate 18 states from 8 inertial measurements. The required measurements are the lateral acceleration and yaw velocity of the vehicle body and the same measurements plus the roll velocity for the two wheelsets, requiring three accelerometers and five gyros. The Kalman filter is formulated in such a way that it not only estimates all the vehicle states, but also calculates parameters such as curve radius and cant of the railway track on which the vehicle is travelling. Computer simulations are used to verify the design and to assess its performance together with an optimal controller developed for active steering of the wheelsets.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123747226","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099491
D. Lainiotis, P. Giannakopoulos, S. Katsikas
In this paper the problem of target tracking using passive measurements is examined. The target is assumed to be travelling on a straight line with constant velocity. A new algorithm is proposed that takes into consideration the effects of the non-Gaussian initial conditions on the estimation of the position and velocity of the target. The new filter is based on the Lainiotis partitioning algorithm. Extensive simulation results show the superiority of the new filter over a tracker employing the extended Kalman filter and assuming Gaussian initial conditions.
{"title":"Passive target tracking with non Gaussian initial conditions","authors":"D. Lainiotis, P. Giannakopoulos, S. Katsikas","doi":"10.23919/ECC.1999.7099491","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099491","url":null,"abstract":"In this paper the problem of target tracking using passive measurements is examined. The target is assumed to be travelling on a straight line with constant velocity. A new algorithm is proposed that takes into consideration the effects of the non-Gaussian initial conditions on the estimation of the position and velocity of the target. The new filter is based on the Lainiotis partitioning algorithm. Extensive simulation results show the superiority of the new filter over a tracker employing the extended Kalman filter and assuming Gaussian initial conditions.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125409008","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099800
D. Laneuville, F. Dufour, P. Bertrand
This paper presents a new image based hybrid algorithm for the maneuvering target tracking problem. An optimal filter for the mode of the target that fully exploits the imaging capacity of electro-optical sensors (EO) is introduced first. The second part presents the architecture of the hybrid imaging filter (HIF). The efficiency of the HIF leads to a significant improvement of the tracking performance compared to that of a classical IMM algorithm with a reduced computational cost.
{"title":"A new architecture for maneuvering target tracking: The hybrid imaging filter","authors":"D. Laneuville, F. Dufour, P. Bertrand","doi":"10.23919/ECC.1999.7099800","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099800","url":null,"abstract":"This paper presents a new image based hybrid algorithm for the maneuvering target tracking problem. An optimal filter for the mode of the target that fully exploits the imaging capacity of electro-optical sensors (EO) is introduced first. The second part presents the architecture of the hybrid imaging filter (HIF). The efficiency of the HIF leads to a significant improvement of the tracking performance compared to that of a classical IMM algorithm with a reduced computational cost.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126759669","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099739
Pierre-Alexandre Blirnan, A. Krasnosel'skii
This paper extends in a simple way the classical absolute stability Popov criterion to multivariable rational systems with time-varying memoryless nonlinearities subject to sea or conditions. The proposed sufficient conditions are expressed in terms of easy-to-check Linear Matrix Inequalities, or under frequency-domain form well-suited for robustness issues, and lead to simple graphical interpretations. Apart from the usual conditions, the results assume basically a sector condition on the derivative of the nonlinearities with respect to time. Results for local and global stability are given.
{"title":"Popov absolute stability criterion for time-varying multivariable nonlinear systems","authors":"Pierre-Alexandre Blirnan, A. Krasnosel'skii","doi":"10.23919/ECC.1999.7099739","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099739","url":null,"abstract":"This paper extends in a simple way the classical absolute stability Popov criterion to multivariable rational systems with time-varying memoryless nonlinearities subject to sea or conditions. The proposed sufficient conditions are expressed in terms of easy-to-check Linear Matrix Inequalities, or under frequency-domain form well-suited for robustness issues, and lead to simple graphical interpretations. Apart from the usual conditions, the results assume basically a sector condition on the derivative of the nonlinearities with respect to time. Results for local and global stability are given.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126829490","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099890
C. Schmid
This contribution presents an intelligent machine, which can be mounted on the tip of a pendulum. The machine operates autonomously to raise the pendulum and performs robotic tasks. The pendulum environment and the machine's principle of operation based on gyration are described. Details of the mechatronic components are given. The overall control system is sketched and the sub-tasks for energy-based rising and stabilising are described in detail. Experimental results illustrate the performance of this principle and machine.
{"title":"An autonomous self-rising pendulum","authors":"C. Schmid","doi":"10.23919/ECC.1999.7099890","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099890","url":null,"abstract":"This contribution presents an intelligent machine, which can be mounted on the tip of a pendulum. The machine operates autonomously to raise the pendulum and performs robotic tasks. The pendulum environment and the machine's principle of operation based on gyration are described. Details of the mechatronic components are given. The overall control system is sketched and the sub-tasks for energy-based rising and stabilising are described in detail. Experimental results illustrate the performance of this principle and machine.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115461604","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099432
M. Corradini, T. Leo, Giuseppe Orlando
In this note, the tracking trajectory problem for a wheeled mobile base has been solved using the robot dynamical model. The proposed solution is based on sliding mode control. The asymptotic vanishing of the tracking errors has been theoretically proved, and simulation results have been reported, showing the effectiveness of the proposed control law.
{"title":"The tracking problem for a mobile robot: A sliding mode controller for the dynamical model","authors":"M. Corradini, T. Leo, Giuseppe Orlando","doi":"10.23919/ECC.1999.7099432","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099432","url":null,"abstract":"In this note, the tracking trajectory problem for a wheeled mobile base has been solved using the robot dynamical model. The proposed solution is based on sliding mode control. The asymptotic vanishing of the tracking errors has been theoretically proved, and simulation results have been reported, showing the effectiveness of the proposed control law.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115574034","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099994
H. Teodorescu, D. Mlynek, X. Peillon
Issues related to the characterization and control of the chaotic regime of fuzzy and neuro-fuzzy systems used in industrial applications are addressed. The sensitivity analysis for chaotic fuzzy and neuro-fuzzy systems, and choice of the operating region for the chaotic regime are presented. A new type of control, specific to chaotic systems, is introduced. The methodology of this type of control is based on a method to globally characterize the chaotic regime.
{"title":"Characterization and control of the chaotic regime in fuzzy and neuro-fuzzy systems","authors":"H. Teodorescu, D. Mlynek, X. Peillon","doi":"10.23919/ECC.1999.7099994","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099994","url":null,"abstract":"Issues related to the characterization and control of the chaotic regime of fuzzy and neuro-fuzzy systems used in industrial applications are addressed. The sensitivity analysis for chaotic fuzzy and neuro-fuzzy systems, and choice of the operating region for the chaotic regime are presented. A new type of control, specific to chaotic systems, is introduced. The methodology of this type of control is based on a method to globally characterize the chaotic regime.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122723761","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099823
H. Sira-Ramírez, R. Castro-Linares
A feedback regulation scheme is presented which allows for a wide range of displacement maneuvers on a simplified longitudinal model of a helicopter system which is underactuated and nondifferentially flat. The system, nevertheless, is shown to be of the "Liouvillian" type. An off-line, open loop, trajectory planning procedure is proposed, based on the solution of differential equations for the desired attitude angle reference signal, which precisely results in the desired nominal horizontal displacement trajectory. The performance of a proposed feedback controller, which exploits the fact that the linearized system has its coefficients on a Hardy filed, is evaluated through digital computer simulations including unmodelled mid course wind gusts and initial setting errors.
{"title":"On the regulation of a helicopter system: A trajectory planning approach for the Liouvillian model","authors":"H. Sira-Ramírez, R. Castro-Linares","doi":"10.23919/ECC.1999.7099823","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099823","url":null,"abstract":"A feedback regulation scheme is presented which allows for a wide range of displacement maneuvers on a simplified longitudinal model of a helicopter system which is underactuated and nondifferentially flat. The system, nevertheless, is shown to be of the \"Liouvillian\" type. An off-line, open loop, trajectory planning procedure is proposed, based on the solution of differential equations for the desired attitude angle reference signal, which precisely results in the desired nominal horizontal displacement trajectory. The performance of a proposed feedback controller, which exploits the fact that the linearized system has its coefficients on a Hardy filed, is evaluated through digital computer simulations including unmodelled mid course wind gusts and initial setting errors.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122940974","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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