Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961491
D. Recio-Garrido, M. Perrier, B. Tartakovsky
Microbial fuel cells (MFCs) are novel devices capable of producing electricity while cleaning wastewater. Developing dynamic control-oriented models for such systems represents a crucial tool for the future design of software sensors and model-based control strategies. To this end, this work presents a MFC process control-oriented model obtained by combining fundamental equations based on mass and electron balances with equations describing an equivalent electrical circuit. Such model accounts for the double layer capacitance effect and complex nonlinear dynamics observed during pulse-width modulated operation of the external resistance and therefore, it is able to describe the observed biological or long-term dynamics as well as the electrical or short-term dynamics. The parameter estimation for a simulation and a prediction MFC process control-oriented model is here described.
{"title":"Parameter estimation of a microbial fuel cell process control-oriented model","authors":"D. Recio-Garrido, M. Perrier, B. Tartakovsky","doi":"10.1109/MED.2014.6961491","DOIUrl":"https://doi.org/10.1109/MED.2014.6961491","url":null,"abstract":"Microbial fuel cells (MFCs) are novel devices capable of producing electricity while cleaning wastewater. Developing dynamic control-oriented models for such systems represents a crucial tool for the future design of software sensors and model-based control strategies. To this end, this work presents a MFC process control-oriented model obtained by combining fundamental equations based on mass and electron balances with equations describing an equivalent electrical circuit. Such model accounts for the double layer capacitance effect and complex nonlinear dynamics observed during pulse-width modulated operation of the external resistance and therefore, it is able to describe the observed biological or long-term dynamics as well as the electrical or short-term dynamics. The parameter estimation for a simulation and a prediction MFC process control-oriented model is here described.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"50 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":"124292093","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.2014.6961330
Oualid Aissa, S. Moulahoum, N. Kabache, H. Houassine
This paper discusses a proposed control strategy based on fuzzy logic for three-phase PWM rectifiers. This technique is called direct control of fuzzy power (DPCF). The objective of this paper is to replace both hysteresis controllers that role for setting the active and reactive power by a single fuzzy controller which adjusts both active and reactive power at the same time. The aim of this work is to eliminate the harmonic currents and therefore reduce the total harmonic distortion of the line current and improve the power factor. This DPCF is tested by simulation studies on a three-phase PWM rectifier.
{"title":"Fuzzy logic based direct power control for PWM three-phase rectifier","authors":"Oualid Aissa, S. Moulahoum, N. Kabache, H. Houassine","doi":"10.1109/MED.2014.6961330","DOIUrl":"https://doi.org/10.1109/MED.2014.6961330","url":null,"abstract":"This paper discusses a proposed control strategy based on fuzzy logic for three-phase PWM rectifiers. This technique is called direct control of fuzzy power (DPCF). The objective of this paper is to replace both hysteresis controllers that role for setting the active and reactive power by a single fuzzy controller which adjusts both active and reactive power at the same time. The aim of this work is to eliminate the harmonic currents and therefore reduce the total harmonic distortion of the line current and improve the power factor. This DPCF is tested by simulation studies on a three-phase PWM rectifier.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"31 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":"129224603","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.2014.6961547
Jan Strubel, U. Konigorski
This paper investigates a new approach for the design of robust output feedback controllers with respect to minimizing the condition number of the closed-loop eigenvector matrix. Relying on a recently proposed procedure for parametric eigenstructure assignment, we exploit the degrees of freedom in the design to achieve our result. Computing analytical gradient expressions of our objective function allows to minimize the condition number of the closed-loop eigenvector matrix using gradient-based optimization. Additionally, we will also discuss how further design goals can be easily included into the design which is exemplified by the notion of output coupling.
{"title":"Robust eigenstructure assignment using parametric output feedback","authors":"Jan Strubel, U. Konigorski","doi":"10.1109/MED.2014.6961547","DOIUrl":"https://doi.org/10.1109/MED.2014.6961547","url":null,"abstract":"This paper investigates a new approach for the design of robust output feedback controllers with respect to minimizing the condition number of the closed-loop eigenvector matrix. Relying on a recently proposed procedure for parametric eigenstructure assignment, we exploit the degrees of freedom in the design to achieve our result. Computing analytical gradient expressions of our objective function allows to minimize the condition number of the closed-loop eigenvector matrix using gradient-based optimization. Additionally, we will also discuss how further design goals can be easily included into the design which is exemplified by the notion of output coupling.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"1 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":"128521797","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.2014.6961565
W. Belhedi, H. Bouzaouache
In this work, we propose an efficient procedure for model order reduction of discrete time nonlinear control systems. Based on the use of the notations and properties of the tensor product, the nun-redundant state formulation and the polynomial description of the studied systems, the derived reduced model is also characterized by a polynomial discrete time state equations truncated at the third order. An important feature of this approach is that the resulting reduced order model preserve the form of the original high order systems and can be used for further analysis and design with less computational cost. An illustrative example is considered to investigate the accuracy and efficiency of the proposed approach.
{"title":"A nonlinear order reduction modeling procedure for polynomial discrete-time systems","authors":"W. Belhedi, H. Bouzaouache","doi":"10.1109/MED.2014.6961565","DOIUrl":"https://doi.org/10.1109/MED.2014.6961565","url":null,"abstract":"In this work, we propose an efficient procedure for model order reduction of discrete time nonlinear control systems. Based on the use of the notations and properties of the tensor product, the nun-redundant state formulation and the polynomial description of the studied systems, the derived reduced model is also characterized by a polynomial discrete time state equations truncated at the third order. An important feature of this approach is that the resulting reduced order model preserve the form of the original high order systems and can be used for further analysis and design with less computational cost. An illustrative example is considered to investigate the accuracy and efficiency of the proposed approach.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"7 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":"128705076","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.2014.6961578
F. Liao, Xiangxu Dong, F. Lin, R. Teo, Jianliang Wang
In this paper, a distributed robust feedback control strategy with inter-vehicle collision avoidance is proposed for formation and reconfiguration control of a team of VTOL UAVs. A potential-field approach is used to generate a desired velocity for each UAV which ensures that the team of UAVs can perform formation and reconfiguration, avoid inter-vehicle collision as well as track a specified virtual leader. Each UAV is controlled to track its desired velocity subject to dynamic constraints. The proposed feedback control is robust against error disturbances due to dynamic constraints and measurement noise. A formation flight test of three quadrotor UAVs demonstrates the effectiveness and robustness of the proposed formation control strategy.
{"title":"Robust formation and reconfiguration control of multiple VTOL UAVs: Design and flight test","authors":"F. Liao, Xiangxu Dong, F. Lin, R. Teo, Jianliang Wang","doi":"10.1109/MED.2014.6961578","DOIUrl":"https://doi.org/10.1109/MED.2014.6961578","url":null,"abstract":"In this paper, a distributed robust feedback control strategy with inter-vehicle collision avoidance is proposed for formation and reconfiguration control of a team of VTOL UAVs. A potential-field approach is used to generate a desired velocity for each UAV which ensures that the team of UAVs can perform formation and reconfiguration, avoid inter-vehicle collision as well as track a specified virtual leader. Each UAV is controlled to track its desired velocity subject to dynamic constraints. The proposed feedback control is robust against error disturbances due to dynamic constraints and measurement noise. A formation flight test of three quadrotor UAVs demonstrates the effectiveness and robustness of the proposed formation control strategy.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"106 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":"116192439","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.2014.6961442
B. M. Nejad, J. Raisch
Consensus algorithms are an attractive approach to perform distributed decision making. To enforce coordination between entities in a network, they need to share information over this network in order to reach a consensus. We propose an approach to apply a consensus-based control protocol to a network of max-plus linear non-autonomous dynamical systems. In this framework the networked control system is required to achieve consensus on the asymptotic growth rate of the outputs. This leads to a synchronized and stable networked system. The conditions needed to achieve consensus and the consensus value are investigated.
{"title":"Consensus-based synchronizing control for networks of timed event graphs","authors":"B. M. Nejad, J. Raisch","doi":"10.1109/MED.2014.6961442","DOIUrl":"https://doi.org/10.1109/MED.2014.6961442","url":null,"abstract":"Consensus algorithms are an attractive approach to perform distributed decision making. To enforce coordination between entities in a network, they need to share information over this network in order to reach a consensus. We propose an approach to apply a consensus-based control protocol to a network of max-plus linear non-autonomous dynamical systems. In this framework the networked control system is required to achieve consensus on the asymptotic growth rate of the outputs. This leads to a synchronized and stable networked system. The conditions needed to achieve consensus and the consensus value are investigated.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"1 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":"116202598","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.2014.6961483
Abdulhamed Hwas, R. Katebi
This paper is concerned with the development of a novel nonlinear observer-based scheme for early Fault Detection and Isolation (FDI) in wind turbines. The method is based on designing a nonlinear observer using State Dependent Differential Riccati Equation (SDDRE) and a nonlinear model of the 5MW wind turbine. The fault detection system is designed and optimized to be most sensitive to system faults and least sensitive to system disturbances and noises. The comparison of system outputs with nonlinear observer outputs are given to demonstrate good estimation performance. The residual generator based on the nonlinear observer is also employed to develop a monitoring system. Simulation results presented to illustrate that the proposed method is robust and can detect and isolate a fault or multi-faults in sensors of the wind turbine.
{"title":"Nonlinear observer-based fault detection and isolation for wind turbines","authors":"Abdulhamed Hwas, R. Katebi","doi":"10.1109/MED.2014.6961483","DOIUrl":"https://doi.org/10.1109/MED.2014.6961483","url":null,"abstract":"This paper is concerned with the development of a novel nonlinear observer-based scheme for early Fault Detection and Isolation (FDI) in wind turbines. The method is based on designing a nonlinear observer using State Dependent Differential Riccati Equation (SDDRE) and a nonlinear model of the 5MW wind turbine. The fault detection system is designed and optimized to be most sensitive to system faults and least sensitive to system disturbances and noises. The comparison of system outputs with nonlinear observer outputs are given to demonstrate good estimation performance. The residual generator based on the nonlinear observer is also employed to develop a monitoring system. Simulation results presented to illustrate that the proposed method is robust and can detect and isolate a fault or multi-faults in sensors of the wind turbine.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"114 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":"126925183","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.2014.6961494
A. Ayadi, S. Hajji, M. Smaoui, A. Chaari
This paper present a sliding mode controller of an electropneumatic system. In order to obtain a good position and pressure tracking and to reduce the chattering phenomenon, a proportional derivative PD sliding surface is used with an integral law. Finally, simulation results are presented to test the effectiveness of this proposed controller comparing with a classic sliding mode controller.
{"title":"Modeling and sliding mode control of an electropneumatic system","authors":"A. Ayadi, S. Hajji, M. Smaoui, A. Chaari","doi":"10.1109/MED.2014.6961494","DOIUrl":"https://doi.org/10.1109/MED.2014.6961494","url":null,"abstract":"This paper present a sliding mode controller of an electropneumatic system. In order to obtain a good position and pressure tracking and to reduce the chattering phenomenon, a proportional derivative PD sliding surface is used with an integral law. Finally, simulation results are presented to test the effectiveness of this proposed controller comparing with a classic sliding mode controller.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"44 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":"126767610","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.2014.6961422
Fouad Maamir, M. Guiatni, Y. Morsly, A. Kheddar
Integrating thermal interactions in multimodal systems requires understanding both users sensory abilities and the thermal behaviors of the surrounding environment. Thermal feedback, as a part of haptic feedback can assist in object identification, or in the creation of a more complete haptic signature of a given object. However, the heat exchange occurring between a fingertip and a given touched object is affected by the contact conditions. This paper proposes a Particle Swarm Optimization (PSO) algorithm for identification of thermal contact resistance. This resistance is estimated for variable force Hand/Object Interaction using a thermal model describing the heat exchange. Experimental results validating the proposed approach are evaluated when touching real and simulated objects.
{"title":"PSO algorithm based thermal contact resistance estimation for variable force hand/object interaction","authors":"Fouad Maamir, M. Guiatni, Y. Morsly, A. Kheddar","doi":"10.1109/MED.2014.6961422","DOIUrl":"https://doi.org/10.1109/MED.2014.6961422","url":null,"abstract":"Integrating thermal interactions in multimodal systems requires understanding both users sensory abilities and the thermal behaviors of the surrounding environment. Thermal feedback, as a part of haptic feedback can assist in object identification, or in the creation of a more complete haptic signature of a given object. However, the heat exchange occurring between a fingertip and a given touched object is affected by the contact conditions. This paper proposes a Particle Swarm Optimization (PSO) algorithm for identification of thermal contact resistance. This resistance is estimated for variable force Hand/Object Interaction using a thermal model describing the heat exchange. Experimental results validating the proposed approach are evaluated when touching real and simulated objects.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"26 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":"127866253","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.2014.6961557
P. Herman, W. Kowalczyk
In this paper, a global state feedback tracking controller for surface vehicles is presented. Here, the hovercraft robot model is considered. The controller is designed after transformation the vehicle equations of motion. The main feature of this controller is that it can be used both for fully actuated and underactuated systems. This feature arises from the fact that the dynamics of the vehicle is taken into consideration. The stability of the designed controller is demonstrated based on a Lyapunov method. The controller can be used, in general, for various moving systems as unmanned underwater vehicle, hovercrafts or airships. In this note however, simulation results on a 3-DOF underactuated hovercraft demonstrate the effectiveness of the given approach.
{"title":"A nonlinear controller for trajectory tracking of hovercraft robot","authors":"P. Herman, W. Kowalczyk","doi":"10.1109/MED.2014.6961557","DOIUrl":"https://doi.org/10.1109/MED.2014.6961557","url":null,"abstract":"In this paper, a global state feedback tracking controller for surface vehicles is presented. Here, the hovercraft robot model is considered. The controller is designed after transformation the vehicle equations of motion. The main feature of this controller is that it can be used both for fully actuated and underactuated systems. This feature arises from the fact that the dynamics of the vehicle is taken into consideration. The stability of the designed controller is demonstrated based on a Lyapunov method. The controller can be used, in general, for various moving systems as unmanned underwater vehicle, hovercrafts or airships. In this note however, simulation results on a 3-DOF underactuated hovercraft demonstrate the effectiveness of the given approach.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"37 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":"127340569","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：