Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961479
G. Antonelli, E. Cataldi
The low level control for an underwater vehicle equipped with a manipulator is addressed in this paper. The end-effector trajectory is assumed to be properly inverted into vehicle and joint desired trajectories to be sent to the respective low level controllers. Off-the-shelf manipulators are often equipped with low level position or velocity joint control thus preventing the design of a controller at system level, i.e., taking into account the whole dynamic interactions. Design for the vehicle controller taking into account the presence of the manipulator is achieved resorting to an adaptive, recursive approach. A stability analysis is provided to analytically support the proposed controller. After physical considerations a minimal set of dynamic parameters is used in order to implement a light version of the controller. Numerical simulations validate the proposed approach.
{"title":"Recursive adaptive control for an underwater vehicle carrying a manipulator","authors":"G. Antonelli, E. Cataldi","doi":"10.1109/MED.2014.6961479","DOIUrl":"https://doi.org/10.1109/MED.2014.6961479","url":null,"abstract":"The low level control for an underwater vehicle equipped with a manipulator is addressed in this paper. The end-effector trajectory is assumed to be properly inverted into vehicle and joint desired trajectories to be sent to the respective low level controllers. Off-the-shelf manipulators are often equipped with low level position or velocity joint control thus preventing the design of a controller at system level, i.e., taking into account the whole dynamic interactions. Design for the vehicle controller taking into account the presence of the manipulator is achieved resorting to an adaptive, recursive approach. A stability analysis is provided to analytically support the proposed controller. After physical considerations a minimal set of dynamic parameters is used in order to implement a light version of the controller. Numerical simulations validate the proposed approach.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"92 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":"115886828","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.2014.6961533
Domenico Colacino, A. Merola, C. Cosentino, F. Amato
Pneumatic Artificial Muscle (PAM) is becoming one of the most used actuator technology for the development of biorobotic applications, such as robotic orthoses and wearable exoskeletons, which require the accurate control of the impedance during human-robot interactions. Although the adaptable compliance of PAMs is desirable, the nonlinear and hysteretic relation between contraction length and pulling force, as well as the air pressure within the chamber of the PAM, make difficult the identification and the control of the dynamics of such actuators. After the description of the experimental setup designed for the dynamic identification of PAMs, this paper presents a novel and accurate model of the hysteresis of the mechanical response of PAMs. Some experimental tests have been performed on a real pneumatic muscle in order to reproduce the different features of the hysteretic behavior which are taken into account in the definition of the model. The proposed model, which has been validated through some experiments, provides some advantages in terms of ease of parameter identification and implementation into a control system, thanks to the use of a limited number of parameters.
{"title":"Identification and modelling of the friction-induced hysteresis in pneumatic actuators for biomimetic robots","authors":"Domenico Colacino, A. Merola, C. Cosentino, F. Amato","doi":"10.1109/MED.2014.6961533","DOIUrl":"https://doi.org/10.1109/MED.2014.6961533","url":null,"abstract":"Pneumatic Artificial Muscle (PAM) is becoming one of the most used actuator technology for the development of biorobotic applications, such as robotic orthoses and wearable exoskeletons, which require the accurate control of the impedance during human-robot interactions. Although the adaptable compliance of PAMs is desirable, the nonlinear and hysteretic relation between contraction length and pulling force, as well as the air pressure within the chamber of the PAM, make difficult the identification and the control of the dynamics of such actuators. After the description of the experimental setup designed for the dynamic identification of PAMs, this paper presents a novel and accurate model of the hysteresis of the mechanical response of PAMs. Some experimental tests have been performed on a real pneumatic muscle in order to reproduce the different features of the hysteretic behavior which are taken into account in the definition of the model. The proposed model, which has been validated through some experiments, provides some advantages in terms of ease of parameter identification and implementation into a control system, thanks to the use of a limited number of parameters.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"20 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":"115455518","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.2014.6961569
Jie Yu, H. Yamaura
An optimal controller architecture design based on mixed H2/H∞ norm is presented for the rejection of printing medium loading disturbance in a class of image transfer belt modelled as a four-rollers-belt system. By selecting the feedback information purposely, the proposed H2/H∞ controller acts in all variables concerning quality of the original image formation. With the comparison of the conventional PID speed control design, it is shown that the image transfer belt system is successfully maintained in the satisfying condition.
{"title":"Optimal mixed H2/H∞ controller design for vibration suppression in a class of image transfer belt","authors":"Jie Yu, H. Yamaura","doi":"10.1109/MED.2014.6961569","DOIUrl":"https://doi.org/10.1109/MED.2014.6961569","url":null,"abstract":"An optimal controller architecture design based on mixed H2/H∞ norm is presented for the rejection of printing medium loading disturbance in a class of image transfer belt modelled as a four-rollers-belt system. By selecting the feedback information purposely, the proposed H2/H∞ controller acts in all variables concerning quality of the original image formation. With the comparison of the conventional PID speed control design, it is shown that the image transfer belt system is successfully maintained in the satisfying condition.","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":"123293824","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.2014.6961491
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.2014.6961465
A. Vasilijevic, N. Mišković, Z. Vukic, F. Mandic
Posidonia oceanica (Neptune Grass) is an endemic species to the Mediterranean Sea. It forms dense and extensive green underwater meadows which provide important ecological functions and services and harbour highly diverse communities; as such it is identified as a priority habitat type for conservation under the EU Habitats Directive (Dir 92/43/CEE). Over the last decades many Posidonia oceanica meadows have disappeared or have been altered. Efficient monitoring is the key of the ecosystem conservation. Monitoring of vast areas covered by Posidonia oceanica is extremely difficult, costly and time consuming and generates pronounced need for new methods and tools. This case study presents potential and promote use of lightweight autonomous underwater vehicles (AUV) with the remote sensing payload as the environmentally non-destructive monitoring method. The study was performed from 2011 to 2013 on the Croatian island Murter during the ”Breaking the Surface” - international interdisciplinary field training of marine robotics and applications. Four AUVs equipped with different payloads were performing the missions in the study area. This paper presents results and analysis of different aspects important for the monitoring such as compliance with the existing monitoring indicators and descriptors used to assess the conservation status of P. oceanica, performance of the AUVs and their sensor sets, cost and time efficiency of the monitoring and geographical-localisation accuracy of the data collected.
{"title":"Monitoring of seagrass by lightweight AUV: A Posidonia oceanica case study surrounding Murter island of Croatia","authors":"A. Vasilijevic, N. Mišković, Z. Vukic, F. Mandic","doi":"10.1109/MED.2014.6961465","DOIUrl":"https://doi.org/10.1109/MED.2014.6961465","url":null,"abstract":"Posidonia oceanica (Neptune Grass) is an endemic species to the Mediterranean Sea. It forms dense and extensive green underwater meadows which provide important ecological functions and services and harbour highly diverse communities; as such it is identified as a priority habitat type for conservation under the EU Habitats Directive (Dir 92/43/CEE). Over the last decades many Posidonia oceanica meadows have disappeared or have been altered. Efficient monitoring is the key of the ecosystem conservation. Monitoring of vast areas covered by Posidonia oceanica is extremely difficult, costly and time consuming and generates pronounced need for new methods and tools. This case study presents potential and promote use of lightweight autonomous underwater vehicles (AUV) with the remote sensing payload as the environmentally non-destructive monitoring method. The study was performed from 2011 to 2013 on the Croatian island Murter during the ”Breaking the Surface” - international interdisciplinary field training of marine robotics and applications. Four AUVs equipped with different payloads were performing the missions in the study area. This paper presents results and analysis of different aspects important for the monitoring such as compliance with the existing monitoring indicators and descriptors used to assess the conservation status of P. oceanica, performance of the AUVs and their sensor sets, cost and time efficiency of the monitoring and geographical-localisation accuracy of the data collected.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"286 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":"128313566","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.2014.6961537
G. Giglio, F. Pierri
This paper proposes a compliant control scheme for a quadrotor helicopter equipped with an n-DOFs manipulator. The proposed control scheme is characterized by three layers: the first layer includes a motion planner, which, on the basis of desired trajectory for the end-effector, determines the desired motion for the actuated variables (joint positions, quadrotor position and yaw angle). The second layer, thanks to an impedance filter, provides a selective compliant behavior to the system, in the presence of interaction of the manipulator end-effector with the environment. Finally, the third layer implements a motion controller aimed at tracking the references output by the previous layer. The effectiveness of the proposed approach is tested in simulation.
{"title":"Selective compliance control for an unmanned aerial vehicle with a robotic arm","authors":"G. Giglio, F. Pierri","doi":"10.1109/MED.2014.6961537","DOIUrl":"https://doi.org/10.1109/MED.2014.6961537","url":null,"abstract":"This paper proposes a compliant control scheme for a quadrotor helicopter equipped with an n-DOFs manipulator. The proposed control scheme is characterized by three layers: the first layer includes a motion planner, which, on the basis of desired trajectory for the end-effector, determines the desired motion for the actuated variables (joint positions, quadrotor position and yaw angle). The second layer, thanks to an impedance filter, provides a selective compliant behavior to the system, in the presence of interaction of the manipulator end-effector with the environment. Finally, the third layer implements a motion controller aimed at tracking the references output by the previous layer. The effectiveness of the proposed approach is tested in simulation.","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":"130991124","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.2014.6961547
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}
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