Pub Date : 2014-11-20DOI: 10.1109/MED.2014.6961505
Svetlana Potyagaylo, S. Loizou
This paper proposes an online adaptive geometry predictor for aquaculture fish-nets. The 3D fish-net model is based on a lumped-mass method according to which the net meshes are represented by four interconnected cylindrical elements. The external forces are applied at the center of each element, while the internal forces are calculated as tension forces between two neighboring mass points. The model is validated through several simulations for a small-scale open cylinder exposed to steady uniform current. The preliminary simulation results of the full aquaculture net system are provided as well. The proposed predictor will be used as an information source in the control architecture of an underwater vehicle.
{"title":"Online adaptive geometry predictor of aquaculture fish-nets","authors":"Svetlana Potyagaylo, S. Loizou","doi":"10.1109/MED.2014.6961505","DOIUrl":"https://doi.org/10.1109/MED.2014.6961505","url":null,"abstract":"This paper proposes an online adaptive geometry predictor for aquaculture fish-nets. The 3D fish-net model is based on a lumped-mass method according to which the net meshes are represented by four interconnected cylindrical elements. The external forces are applied at the center of each element, while the internal forces are calculated as tension forces between two neighboring mass points. The model is validated through several simulations for a small-scale open cylinder exposed to steady uniform current. The preliminary simulation results of the full aquaculture net system are provided as well. The proposed predictor will be used as an information source in the control architecture of an underwater vehicle.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133397053","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 : 2014-11-20DOI: 10.1109/MED.2014.6961562
I. Belgacem, J. Gouzé
We describe in this paper the global dynamical behavior of a mathematical model of expression of polymerase in bacteria. This model is given by a differential system and algebraic equations. We use some tools from monotone systems theory with concavity of nonlinearities to obtain a global qualitative result: either the trivial equilibrium is globally stable, either there exists a unique positive equilibrium which is globally stable in the positive orthant. The same result holds for a class of qualitatively defined functions. Some generalizations of this result are given.
{"title":"Mathematical study of the global dynamics of a concave gene expression model","authors":"I. Belgacem, J. Gouzé","doi":"10.1109/MED.2014.6961562","DOIUrl":"https://doi.org/10.1109/MED.2014.6961562","url":null,"abstract":"We describe in this paper the global dynamical behavior of a mathematical model of expression of polymerase in bacteria. This model is given by a differential system and algebraic equations. We use some tools from monotone systems theory with concavity of nonlinearities to obtain a global qualitative result: either the trivial equilibrium is globally stable, either there exists a unique positive equilibrium which is globally stable in the positive orthant. The same result holds for a class of qualitatively defined functions. Some generalizations of this result are given.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133705374","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 : 2014-06-16DOI: 10.1109/MED.2014.6961426
E. Zattoni, A. Perdon, G. Conte
This work deals with the problem of model matching in switched linear systems. On appropriate assumptions, conditions are shown that allow the synthesis of a switched dynamic output feedback capable of achieving model matching with asymptotic stability under restricted switching of both the switched compensator and the closed-loop switched system.
{"title":"Output-feedback model matching with strong stability in continuous-time switched linear systems","authors":"E. Zattoni, A. Perdon, G. Conte","doi":"10.1109/MED.2014.6961426","DOIUrl":"https://doi.org/10.1109/MED.2014.6961426","url":null,"abstract":"This work deals with the problem of model matching in switched linear systems. On appropriate assumptions, conditions are shown that allow the synthesis of a switched dynamic output feedback capable of achieving model matching with asymptotic stability under restricted switching of both the switched compensator and the closed-loop switched system.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"730 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115130336","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 : 2014-06-16DOI: 10.1109/MED.2014.6961579
G. Antonelli, E. Cataldi
The paper presents an adaptive control for an aerial vehicle equipped with a manipulator, the latter is assumed to be already driven by a joint-based controller. The proposed control generates the vehicle thrusts by properly taking into account the physical interaction with the arm. Being adaptive, it estimates and then compensates the dynamics of the whole system. Moreover, the proposed approach is based on the Newton-Euler formulation, i.e., it is recursive. A stability analysis is provided to analytically support the developed controller. A reduced version is proposed to greatly simplify the controller by taking into account only the gravitational terms. Numerical simulations confirm the controller performance as compared with the effort and error of a benchmark controller.
{"title":"Adaptive control of arm-equipped quadrotors. Theory and simulations","authors":"G. Antonelli, E. Cataldi","doi":"10.1109/MED.2014.6961579","DOIUrl":"https://doi.org/10.1109/MED.2014.6961579","url":null,"abstract":"The paper presents an adaptive control for an aerial vehicle equipped with a manipulator, the latter is assumed to be already driven by a joint-based controller. The proposed control generates the vehicle thrusts by properly taking into account the physical interaction with the arm. Being adaptive, it estimates and then compensates the dynamics of the whole system. Moreover, the proposed approach is based on the Newton-Euler formulation, i.e., it is recursive. A stability analysis is provided to analytically support the developed controller. A reduced version is proposed to greatly simplify the controller by taking into account only the gravitational terms. Numerical simulations confirm the controller performance as compared with the effort and error of a benchmark controller.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116661479","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 : 2014-06-16DOI: 10.1109/MED.2014.6961504
G. Celentano, R. Iervolino
There are many examples of systems with delays, mainly due to transport phenomena, to the information transmission, to the calculation time of the integration digital devices, and so on. These systems, being infinite dimensional, are very difficult to analyze and to control. If they are forced by piecewise constant signals in time ranges of appropriate constant amplitude, such systems can be modeled by finite dimensional discrete-time systems. In this paper, theorems are stated that allow discretizing an LTI system with state, input and output delays, with an appropriate sampling period. A method is also proposed for the design of reduced order discrete-time controllers that allow assigning a set of arbitrary poles to the overall system. The accuracy of the discrete-time models and the effectiveness of the proposed controllers are illustrated by two interesting examples.
{"title":"A control oriented approach to the time-discretization of delay systems","authors":"G. Celentano, R. Iervolino","doi":"10.1109/MED.2014.6961504","DOIUrl":"https://doi.org/10.1109/MED.2014.6961504","url":null,"abstract":"There are many examples of systems with delays, mainly due to transport phenomena, to the information transmission, to the calculation time of the integration digital devices, and so on. These systems, being infinite dimensional, are very difficult to analyze and to control. If they are forced by piecewise constant signals in time ranges of appropriate constant amplitude, such systems can be modeled by finite dimensional discrete-time systems. In this paper, theorems are stated that allow discretizing an LTI system with state, input and output delays, with an appropriate sampling period. A method is also proposed for the design of reduced order discrete-time controllers that allow assigning a set of arbitrary poles to the overall system. The accuracy of the discrete-time models and the effectiveness of the proposed controllers are illustrated by two interesting examples.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"326 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117124709","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 : 2014-06-16DOI: 10.1109/MED.2014.6961558
N. Kouvakas, F. Koumboulis
A demining mobile robotic manipulator is considered. The design goal is to eliminate the influence of the gun reaction force to the targeting of the gun. The mathematical model of the mobile manipulator is developed in the form of a nonlinear neutral time delay system. The design goal is formulated as a disturbance rejection problem for the linear approximant of the original nonlinear model. The problem is solved using a dynamic measurement output feedback time delay controller. The good performance of the proposed scheme is illustrated via computational experiments over the nonlinear model of the system.
{"title":"A disturbance rejection controller for an anti-mine mobile robotic manipulator","authors":"N. Kouvakas, F. Koumboulis","doi":"10.1109/MED.2014.6961558","DOIUrl":"https://doi.org/10.1109/MED.2014.6961558","url":null,"abstract":"A demining mobile robotic manipulator is considered. The design goal is to eliminate the influence of the gun reaction force to the targeting of the gun. The mathematical model of the mobile manipulator is developed in the form of a nonlinear neutral time delay system. The design goal is formulated as a disturbance rejection problem for the linear approximant of the original nonlinear model. The problem is solved using a dynamic measurement output feedback time delay controller. The good performance of the proposed scheme is illustrated via computational experiments over the nonlinear model of the system.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124835676","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 : 2014-06-16DOI: 10.1109/MED.2014.6961385
M. Chakaroun, M. Djeziri, M. Ouladsine, J. Pinaton
In semiconductor manufacturing system, diagnosis method consists in measuring and comparing similar samples that are taken at the same process level, processed by the same equipment and the same instructions in order to identify the defect root cause. However, the number of similar samples available for diagnosis analysis in semiconductor industries is often very limited. In this case, select more similar samples for the analysis is a great challenge. First, the different factors (same process level, measurable sample, comparable sample) need to be considered. Second, the various data (process historic data, product models data, measurement data) need to be analyzed. This paper proposes a Similar Samples Selection (3S) approach based on the activity sequences of products in the process. Local sequence alignment algorithm is used to align the activities in order to determine the similar regions and to calculate the similarity index. A prototype has been developed in order to test the proposed approach on real data in semiconductor manufacturing system. Result shows a large number of similar samples that could be selected for the measurement as well as a significant reduction of analysis time.
{"title":"Similar sample selection approach based on sequence alignment; application to semiconductor industry","authors":"M. Chakaroun, M. Djeziri, M. Ouladsine, J. Pinaton","doi":"10.1109/MED.2014.6961385","DOIUrl":"https://doi.org/10.1109/MED.2014.6961385","url":null,"abstract":"In semiconductor manufacturing system, diagnosis method consists in measuring and comparing similar samples that are taken at the same process level, processed by the same equipment and the same instructions in order to identify the defect root cause. However, the number of similar samples available for diagnosis analysis in semiconductor industries is often very limited. In this case, select more similar samples for the analysis is a great challenge. First, the different factors (same process level, measurable sample, comparable sample) need to be considered. Second, the various data (process historic data, product models data, measurement data) need to be analyzed. This paper proposes a Similar Samples Selection (3S) approach based on the activity sequences of products in the process. Local sequence alignment algorithm is used to align the activities in order to determine the similar regions and to calculate the similarity index. A prototype has been developed in order to test the proposed approach on real data in semiconductor manufacturing system. Result shows a large number of similar samples that could be selected for the measurement as well as a significant reduction of analysis time.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123418619","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 : 2014-06-16DOI: 10.1109/MED.2014.6961381
S. Chabane, C. Stoica, T. Alamo, E. Camacho, D. Dumur
This paper proposes new sensor fault detection algorithms for linear discrete-time systems with bounded perturbations and bounded measurement noise. This fault detection technique is based on a zonotopic set-membership estimation method. The first proposed fault detection algorithm allows to detect the presence of a fault. A second algorithm leading to guaranteed state estimation in the presence of sensor faults is developed, sometimes leading to conservative results. Thereafter, the last proposed algorithm allows to reduce the conservativeness while offering an estimation of the state closer to the real state of the faulty system. An illustrative example is analyzed to show the performance of the proposed algorithms.
{"title":"Sensor fault detection and diagnosis using zonotopic set-membership estimation","authors":"S. Chabane, C. Stoica, T. Alamo, E. Camacho, D. Dumur","doi":"10.1109/MED.2014.6961381","DOIUrl":"https://doi.org/10.1109/MED.2014.6961381","url":null,"abstract":"This paper proposes new sensor fault detection algorithms for linear discrete-time systems with bounded perturbations and bounded measurement noise. This fault detection technique is based on a zonotopic set-membership estimation method. The first proposed fault detection algorithm allows to detect the presence of a fault. A second algorithm leading to guaranteed state estimation in the presence of sensor faults is developed, sometimes leading to conservative results. Thereafter, the last proposed algorithm allows to reduce the conservativeness while offering an estimation of the state closer to the real state of the faulty system. An illustrative example is analyzed to show the performance of the proposed algorithms.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123461127","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 : 2014-06-16DOI: 10.1109/MED.2014.6961574
S. Eeckhout, M. Nicotra, R. Naldi, E. Garone
This paper focuses on the control of an aerial vehicle composed of an aerodynamic profile linked to a ground station by means of a tether cable. The vehicle is sustained only by the wind flowing on the aerodynamic surface. The control objective is to steer the vehicle to a desired reference point while satisfying the constraint of having the cable taut at all times. In this paper, a nonlinear state feedback with a state dependent saturation is proposed which, using Lyapunov theory, is proven to ensure regional asymptotic stability. Moreover, it is proven that this law, thanks to a state dependent saturation, ensures constraints satisfaction. The effectiveness of the proposed control strategy is shown through simulations based on the experimental aerodynamic data of a real airfoil.
{"title":"Nonlinear control of an actuated tethered airfoil","authors":"S. Eeckhout, M. Nicotra, R. Naldi, E. Garone","doi":"10.1109/MED.2014.6961574","DOIUrl":"https://doi.org/10.1109/MED.2014.6961574","url":null,"abstract":"This paper focuses on the control of an aerial vehicle composed of an aerodynamic profile linked to a ground station by means of a tether cable. The vehicle is sustained only by the wind flowing on the aerodynamic surface. The control objective is to steer the vehicle to a desired reference point while satisfying the constraint of having the cable taut at all times. In this paper, a nonlinear state feedback with a state dependent saturation is proposed which, using Lyapunov theory, is proven to ensure regional asymptotic stability. Moreover, it is proven that this law, thanks to a state dependent saturation, ensures constraints satisfaction. The effectiveness of the proposed control strategy is shown through simulations based on the experimental aerodynamic data of a real airfoil.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125328994","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 : 2014-06-16DOI: 10.1109/MED.2014.6961331
V. Kučera, E. Castañeda
The problem of exact model matching by static state feedback is revisited. The main approaches applied to solve the problem are reviewed. The original solution based on matrix fraction descriptions is used to obtain a new parametric stable solution to the model matching problem. A constructive procedure is given that is based on column degree control and determinant control of a polynomial matrix. An interpretation of the existence conditions is provided in terms of equivalence relations over the rings of polynomials, proper rational functions, and proper and stable rational functions.
{"title":"A review of stable exact model matching by state feedback","authors":"V. Kučera, E. Castañeda","doi":"10.1109/MED.2014.6961331","DOIUrl":"https://doi.org/10.1109/MED.2014.6961331","url":null,"abstract":"The problem of exact model matching by static state feedback is revisited. The main approaches applied to solve the problem are reviewed. The original solution based on matrix fraction descriptions is used to obtain a new parametric stable solution to the model matching problem. A constructive procedure is given that is based on column degree control and determinant control of a polynomial matrix. An interpretation of the existence conditions is provided in terms of equivalence relations over the rings of polynomials, proper rational functions, and proper and stable rational functions.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126647942","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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