Pub Date : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.02208
D. Kornev, N. Lukoyanov
Abstract A zero-sum linear-convex differential game with a quality index that estimates a set of deviations of a motion trajectory at given instants of time from given target points is considered. A case when the saddle point condition in a small game, also known as Isaac's condition, does not hold is studied. The game is posed in classes of mixed control strategies of players. A numerical method for computing the game value and optimal strategies is elaborated. Results of numerical experiments in model examples are given.
{"title":"On Numerical Solution of Differential Games in Classes of Mixed Strategies","authors":"D. Kornev, N. Lukoyanov","doi":"10.3182/20140824-6-ZA-1003.02208","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02208","url":null,"abstract":"Abstract A zero-sum linear-convex differential game with a quality index that estimates a set of deviations of a motion trajectory at given instants of time from given target points is considered. A case when the saddle point condition in a small game, also known as Isaac's condition, does not hold is studied. The game is posed in classes of mixed control strategies of players. A numerical method for computing the game value and optimal strategies is elaborated. Results of numerical experiments in model examples are given.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"8 1","pages":"1550-1555"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72581698","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.02614
K. Tervo, H. Koivo
Abstract Human Adaptive Mechatronics (HAM) considers operator's individual skills and preferences. Operator's performance is time-varying and stochastic. Modifying the static parameters of the Human-Machine Interface (HMI) the human operator's skill level and dynamic characteristics can be passively adapted. Knowledge-based approach is applied to change the machine parameters. This leads to a novel Skill Adaptive Control (SAC), which is described in the paper. A trolley crane system is simulated to test how operators can benefit of SAC. Four operators were using the system.
{"title":"Adaptation of the human-machine interface to the human skill and dynamic characteristics","authors":"K. Tervo, H. Koivo","doi":"10.3182/20140824-6-ZA-1003.02614","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02614","url":null,"abstract":"Abstract Human Adaptive Mechatronics (HAM) considers operator's individual skills and preferences. Operator's performance is time-varying and stochastic. Modifying the static parameters of the Human-Machine Interface (HMI) the human operator's skill level and dynamic characteristics can be passively adapted. Knowledge-based approach is applied to change the machine parameters. This leads to a novel Skill Adaptive Control (SAC), which is described in the paper. A trolley crane system is simulated to test how operators can benefit of SAC. Four operators were using the system.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"326 1","pages":"3539-3544"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74412328","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.01038
Hongchang Zhang, S. Collart-Dutilleul, K. Mesghouni
Abstract This paper gives a new viewpoint for steady-state analysis of classical job-shop cyclic scheduling (CJCS). After refining the constraints in the analysis of steady-state, improved models are achieved. By using the improved models, two kinds of problems can be solved, which are minimizing work-in-progress (WIP) with optimal cycle time and minimizing the cycle time with limited WIP. Moreover, the mathematical models are programmed in CPLEX 12.5 and good experimental results are presented.
{"title":"Cyclic Scheduling Steady-State Analysis and Improved Mathematical Models","authors":"Hongchang Zhang, S. Collart-Dutilleul, K. Mesghouni","doi":"10.3182/20140824-6-ZA-1003.01038","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.01038","url":null,"abstract":"Abstract This paper gives a new viewpoint for steady-state analysis of classical job-shop cyclic scheduling (CJCS). After refining the constraints in the analysis of steady-state, improved models are achieved. By using the improved models, two kinds of problems can be solved, which are minimizing work-in-progress (WIP) with optimal cycle time and minimizing the cycle time with limited WIP. Moreover, the mathematical models are programmed in CPLEX 12.5 and good experimental results are presented.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"49 1","pages":"8947-8952"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74595035","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.02479
O. Nyandoro, T. Chingozha
Abstract This paper presents the equivalence of time-optimal and optimal distance slip-control approach for purposes of performing antilock braking. A dynamic braking model is developed encorporating a slip state to facilitate slip tracking. Optimal distance braking is performed with control constraints on the dynamic slip based braking model. A similar treatment is applied for time optimal braking on the braking model. The key contribution is the demonstration of the equivalence of optimal distance and time optimal braking of a vehicle. A generalised none zero-terminal condition is utilised in the optimal formulations. Simulation results demonstrate the validity of the approach along with the development of a key optimality condition for the equivalence approach.
{"title":"Equivalence of Multi-Formulated Optimal Slip Control for Vehicular Anti-Lock Braking System","authors":"O. Nyandoro, T. Chingozha","doi":"10.3182/20140824-6-ZA-1003.02479","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02479","url":null,"abstract":"Abstract This paper presents the equivalence of time-optimal and optimal distance slip-control approach for purposes of performing antilock braking. A dynamic braking model is developed encorporating a slip state to facilitate slip tracking. Optimal distance braking is performed with control constraints on the dynamic slip based braking model. A similar treatment is applied for time optimal braking on the braking model. The key contribution is the demonstration of the equivalence of optimal distance and time optimal braking of a vehicle. A generalised none zero-terminal condition is utilised in the optimal formulations. Simulation results demonstrate the validity of the approach along with the development of a key optimality condition for the equivalence approach.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"18 1","pages":"7566-7571"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74827028","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.02565
Sathyamyla Kanthabhabhajeya, B. Lennartson
This paper proposes a new modeling solution for the synchronous behavior of packaging machines, and a strategy for maximizing the production rate based on a formal model. A common modeling platform is recommended to handle information exchange and to develop a collaborative workflow, in this paper involving mechanical design and software development. The modeling solution for the synchronous behavior is developed in SysML (Systems Modeling Language), being the common platform. Then a formal modeling language called Sequence Planner Language (SPL) is interfaced with SysML, to overcome some limitations of SysML. The synchronous behavior of the packaging machine is also developed in SPL, from which the optimization problem is defined. The result of the optimization shows that it is possible to improve the efficiency of packaging machines with new configurations compared to more conventional design. The proposed strategy is evaluated for a filling machine at Tetra Pak.
{"title":"Modeling and Optimization of Synchronous Behavior for Packaging Machines","authors":"Sathyamyla Kanthabhabhajeya, B. Lennartson","doi":"10.3182/20140824-6-ZA-1003.02565","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02565","url":null,"abstract":"This paper proposes a new modeling solution for the synchronous behavior of packaging machines, and a strategy for maximizing the production rate based on a formal model. A common modeling platform is recommended to handle information exchange and to develop a collaborative workflow, in this paper involving mechanical design and software development. The modeling solution for the synchronous behavior is developed in SysML (Systems Modeling Language), being the common platform. Then a formal modeling language called Sequence Planner Language (SPL) is interfaced with SysML, to overcome some limitations of SysML. The synchronous behavior of the packaging machine is also developed in SPL, from which the optimization problem is defined. The result of the optimization shows that it is possible to improve the efficiency of packaging machines with new configurations compared to more conventional design. The proposed strategy is evaluated for a filling machine at Tetra Pak.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"27 1","pages":"1684-1691"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78205528","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.02225
O. Bello, Y. Hamam, Karim D Djouani
Abstract In this study, adaptive neuro-fuzzy inference system (ANFIS) was applied to estimate the parameters of a coagulation chemical dosing unit for water treatment plants. The dosing unit has three input variables (sudfloc 3835, ferric chloride and hydrated lime flow rates) and two output variables (surface charge and pH values). The ANFIS model is compared with multilayer backpropagation network (MBPN) with four different training algorithms for performance evaluation purpose. The results of evaluation tests using the average percentage error (APE), root mean squared error (RMSE), correlation coefficient (R) and average relative variance (ARV) criteria show that ANFIS is the most efficient and reliable estimator when the models were presented with noiseless and noisy input datasets.
{"title":"Modelling of a Coagulation Chemical Dosing Unit for Water Treatment Plants Using Fuzzy Inference System","authors":"O. Bello, Y. Hamam, Karim D Djouani","doi":"10.3182/20140824-6-ZA-1003.02225","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02225","url":null,"abstract":"Abstract In this study, adaptive neuro-fuzzy inference system (ANFIS) was applied to estimate the parameters of a coagulation chemical dosing unit for water treatment plants. The dosing unit has three input variables (sudfloc 3835, ferric chloride and hydrated lime flow rates) and two output variables (surface charge and pH values). The ANFIS model is compared with multilayer backpropagation network (MBPN) with four different training algorithms for performance evaluation purpose. The results of evaluation tests using the average percentage error (APE), root mean squared error (RMSE), correlation coefficient (R) and average relative variance (ARV) criteria show that ANFIS is the most efficient and reliable estimator when the models were presented with noiseless and noisy input datasets.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"29 1","pages":"3985-3991"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78221591","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.01255
Qifeng Cheng, M. Cannon, B. Kouvaritakis, Martin A. Evans
Abstract A stochastic MPC strategy is proposed to handle systems with both multiplicative and additive random uncertainty. Through a dual mode strategy, the system can be divided into a nominal dynamics and an error dynamics. The errors are further decomposed into two parts: one for which it is possible to construct probabilistic tubes offline with the explicit use of the disturbance distribution information, and the other which can be handled through the use of a set of robust tubes with bounding facets of fixed orientation, whose distances from the origin are optimized online. The robust tubes can exhibit little conservativeness on account of the fact that the number of the bounding facets of tubes in the predictions can be varying through online optimization. A tailored terminal set is investigated to ensure the recursive feasibility and stability of the algorithm. The online computation is turned into a standard quadratic program, which is of comparable order of complexity as that of robust MPC. A numerical example is given to illustrate the effectiveness of the algorithm.
{"title":"Stochastic MPC for Systems with both Multiplicative and Additive Disturbances","authors":"Qifeng Cheng, M. Cannon, B. Kouvaritakis, Martin A. Evans","doi":"10.3182/20140824-6-ZA-1003.01255","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.01255","url":null,"abstract":"Abstract A stochastic MPC strategy is proposed to handle systems with both multiplicative and additive random uncertainty. Through a dual mode strategy, the system can be divided into a nominal dynamics and an error dynamics. The errors are further decomposed into two parts: one for which it is possible to construct probabilistic tubes offline with the explicit use of the disturbance distribution information, and the other which can be handled through the use of a set of robust tubes with bounding facets of fixed orientation, whose distances from the origin are optimized online. The robust tubes can exhibit little conservativeness on account of the fact that the number of the bounding facets of tubes in the predictions can be varying through online optimization. A tailored terminal set is investigated to ensure the recursive feasibility and stability of the algorithm. The online computation is turned into a standard quadratic program, which is of comparable order of complexity as that of robust MPC. A numerical example is given to illustrate the effectiveness of the algorithm.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"23 1","pages":"2291-2296"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78225295","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.02722
Chih Feng Lee, Sei Zhen Khong, E. Frisk, Mattias Krysander
An approach to loop-shaping feedback control design in the frequency domain via extremum seeking is proposed. Both plants and controllers are linear time-invariant systems of possibly infinite dimension. The controller is assumed to be dependent on a finite number of parameters. Discrete-time global extremum seeking algorithms are employed to minimise the difference between the desired loop shape and the estimate of the present loop shape by fine-tuning the controller parameters within a sampled-data framework. The sampling period plays an important role in guaranteeing global practical convergence to the optimum. A case study on PID control tuning is presented to demonstrate the applicability of the proposed method.
{"title":"An extremum seeking approach to parameterised loop-shaping control design","authors":"Chih Feng Lee, Sei Zhen Khong, E. Frisk, Mattias Krysander","doi":"10.3182/20140824-6-ZA-1003.02722","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02722","url":null,"abstract":"An approach to loop-shaping feedback control design in the frequency domain via extremum seeking is proposed. Both plants and controllers are linear time-invariant systems of possibly infinite dimension. The controller is assumed to be dependent on a finite number of parameters. Discrete-time global extremum seeking algorithms are employed to minimise the difference between the desired loop shape and the estimate of the present loop shape by fine-tuning the controller parameters within a sampled-data framework. The sampling period plays an important role in guaranteeing global practical convergence to the optimum. A case study on PID control tuning is presented to demonstrate the applicability of the proposed method.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"6 1","pages":"10251-10256"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78249607","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 : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.02214
K. Nunna , T.T. Toh , P.D. Mitcheson , A. Astolfi
This paper presents the design of a nonlinear observer and a nonlinear feedback controller for sensorless operation of a continuously rotating energy harvester. A mathematical model of the harvester with its power electronic interface is discussed. This model is used to design an observer that estimates the mechanical quantities from the measured electrical quantities. The gains of the observer depend on the solution of a modified Riccati equation. The estimated mechanical quantities are used in a control law that sustains power generation across a range of source rotation speeds. The proposed scheme is assessed through simulations and experiments.
{"title":"Nonlinear observer and controller design for sensorless operation of a continuously rotating energy harvester","authors":"K. Nunna , T.T. Toh , P.D. Mitcheson , A. Astolfi","doi":"10.3182/20140824-6-ZA-1003.02214","DOIUrl":"10.3182/20140824-6-ZA-1003.02214","url":null,"abstract":"<div><p>This paper presents the design of a nonlinear observer and a nonlinear feedback controller for sensorless operation of a continuously rotating energy harvester. A mathematical model of the harvester with its power electronic interface is discussed. This model is used to design an observer that estimates the mechanical quantities from the measured electrical quantities. The gains of the observer depend on the solution of a modified Riccati equation. The estimated mechanical quantities are used in a control law that sustains power generation across a range of source rotation speeds. The proposed scheme is assessed through simulations and experiments.</p></div>","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"47 3","pages":"Pages 55-60"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.3182/20140824-6-ZA-1003.02214","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78383907","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-01-01DOI: 10.3182/20140824-6-ZA-1003.01767
André Stollenwerk, Jan Kühn, C. Brendle, M. Walter, J. Arens, M. Wardeh, S. Kowalewski, R. Kopp
Abstract In this paper, we present a novel method to supervise several discrete events and continuous processes causing failures in a blood pump. These are potential hazards which regularly cause problems in intensive care routine. We propose an indicator that considers the nonlinear shear thinning flow properties of blood. Based on a threefold of physiological motivated measures, we calculate an indicator which is not only able to detect ongoing events like gas in the blood phase but also to predict upcoming events like the suction of the withdrawing cannula to the surrounding vessel's wall. We present an algorithm that is embedded in a distributed 32 bit microcontroller network and holding hard real-time constraints. We were able to evaluate out algorithms in-vivo. For this algorithm we analyzed online data of more than 140 hours of animal experiments.
{"title":"Model-based supervision of a blood pump","authors":"André Stollenwerk, Jan Kühn, C. Brendle, M. Walter, J. Arens, M. Wardeh, S. Kowalewski, R. Kopp","doi":"10.3182/20140824-6-ZA-1003.01767","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.01767","url":null,"abstract":"Abstract In this paper, we present a novel method to supervise several discrete events and continuous processes causing failures in a blood pump. These are potential hazards which regularly cause problems in intensive care routine. We propose an indicator that considers the nonlinear shear thinning flow properties of blood. Based on a threefold of physiological motivated measures, we calculate an indicator which is not only able to detect ongoing events like gas in the blood phase but also to predict upcoming events like the suction of the withdrawing cannula to the surrounding vessel's wall. We present an algorithm that is embedded in a distributed 32 bit microcontroller network and holding hard real-time constraints. We were able to evaluate out algorithms in-vivo. For this algorithm we analyzed online data of more than 140 hours of animal experiments.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"147 1","pages":"6593-6598"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76121181","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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