Pub Date : 2011-08-12DOI: 10.1109/MED.2011.5983085
P. Krishnamurthy, F. Khorrami
The robust adaptive control of tilt-rotor aircraft is addressed using backstepping and θ-D based control design techniques. The designs specifically focus on providing high robustness to time-varying system parameters and disturbance effects from the environment to attain good disturbance attenuation properties in highly aerodynamically challenging environments such as shipboard environments. The control system is structured with a modular architecture combining adaptive backstepping and adaptive θ-D control algorithms and provides flexibility and customizability for various tilt-rotor aircraft configurations and operating environments. The overall control system and its constituent algorithms are designed to either be able to operate on their own to provide fully autonomous flight or to operate in conjunction with a human pilot or an existing baseline controller in a control augmentation fashion to provide additional robustness and reliability improvements under severe aerodynamic disturbance conditions. The robustness, stability, and performance of the proposed control algorithms are demonstrated through simulation based studies.
{"title":"Adaptive backstepping and θ-D based controllers for a tilt-rotor aircraft","authors":"P. Krishnamurthy, F. Khorrami","doi":"10.1109/MED.2011.5983085","DOIUrl":"https://doi.org/10.1109/MED.2011.5983085","url":null,"abstract":"The robust adaptive control of tilt-rotor aircraft is addressed using backstepping and θ-D based control design techniques. The designs specifically focus on providing high robustness to time-varying system parameters and disturbance effects from the environment to attain good disturbance attenuation properties in highly aerodynamically challenging environments such as shipboard environments. The control system is structured with a modular architecture combining adaptive backstepping and adaptive θ-D control algorithms and provides flexibility and customizability for various tilt-rotor aircraft configurations and operating environments. The overall control system and its constituent algorithms are designed to either be able to operate on their own to provide fully autonomous flight or to operate in conjunction with a human pilot or an existing baseline controller in a control augmentation fashion to provide additional robustness and reliability improvements under severe aerodynamic disturbance conditions. The robustness, stability, and performance of the proposed control algorithms are demonstrated through simulation based studies.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124055406","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 : 2011-08-12DOI: 10.1109/MED.2011.5983034
Iván G. Velásquez, J. Yuz, M. Salgado
In this paper we propose an optimal controller synthesis method when a prescribed set of closed-loop poles is given. This technique relies on the specification of a closed-loop polynomial with degree greater than the minimal degree that ensures the existence of the pole-assignment equation solution. The degree difference generates an infinite number of solutions that correspond to non-minimal controllers. The set of free controller parameters are then chosen to optimize a ℋ2 cost function.
{"title":"Optimal control synthesis with prescribed closed loop poles","authors":"Iván G. Velásquez, J. Yuz, M. Salgado","doi":"10.1109/MED.2011.5983034","DOIUrl":"https://doi.org/10.1109/MED.2011.5983034","url":null,"abstract":"In this paper we propose an optimal controller synthesis method when a prescribed set of closed-loop poles is given. This technique relies on the specification of a closed-loop polynomial with degree greater than the minimal degree that ensures the existence of the pole-assignment equation solution. The degree difference generates an infinite number of solutions that correspond to non-minimal controllers. The set of free controller parameters are then chosen to optimize a ℋ2 cost function.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130702649","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 : 2011-08-12DOI: 10.1109/MED.2011.5983013
S. Biswas
Several frameworks namely finite state machines, process algebra, Petri nets (PN) etc. have been used for failure modeling and diagnosability analysis in discrete event systems. Many systems exhibit nonpermanent failures in the sense that the system recovers to normal condition after failure. Diagnosability conditions, proposed in the literature, are mainly for permanent failures. In this paper failure diagnosability for nonpermanent failures has been studied for PN based models. In this paper it is first shown using an example that a new diagnosability condition is required for handling nonpermanent failures. Following that a new diagnoser condition is achieved for nonpermanent failures and shown to be necessary and sufficient for PN based models.
{"title":"On use of Petri-nets for diagnosing nonpermanent failures","authors":"S. Biswas","doi":"10.1109/MED.2011.5983013","DOIUrl":"https://doi.org/10.1109/MED.2011.5983013","url":null,"abstract":"Several frameworks namely finite state machines, process algebra, Petri nets (PN) etc. have been used for failure modeling and diagnosability analysis in discrete event systems. Many systems exhibit nonpermanent failures in the sense that the system recovers to normal condition after failure. Diagnosability conditions, proposed in the literature, are mainly for permanent failures. In this paper failure diagnosability for nonpermanent failures has been studied for PN based models. In this paper it is first shown using an example that a new diagnosability condition is required for handling nonpermanent failures. Following that a new diagnoser condition is achieved for nonpermanent failures and shown to be necessary and sufficient for PN based models.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123558062","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 : 2011-06-20DOI: 10.1109/MED.2011.5983075
M. Eich, T. Vogele
The inspection of marine vessels is currently performed manually. Inspectors use sensors (e.g. cameras, devices for non-destructive testing) to detect damaged areas, cracks, and corrosion in large cargo holds, tanks, and other parts of a ship. Due to the size and complex geometry of most ships, ship inspection is time-consuming and expensive. The EU-funded project MINOAS develops concepts for a Marine Inspection Robotic Assistant System to improve and to automate ship inspections. As one example of a physical system implementation, we introduce our magnetic wall-climbing robot. This remotely operated lightweight system is able to climb a vessels steel frame and is able to deliver visual inspection data on-line. For any type of surveying process, the raw and meta data are mandatory in order to compare inspection data over time. In this paper, we describe our approach of how the magnetic climbing robot is localized and controlled. Additionally, we describe the design of the robot as well as the localization device which is able to provide a real-time 3D pose of the inspection robot.
{"title":"Design and control of a lightweight magnetic climbing robot for vessel inspection","authors":"M. Eich, T. Vogele","doi":"10.1109/MED.2011.5983075","DOIUrl":"https://doi.org/10.1109/MED.2011.5983075","url":null,"abstract":"The inspection of marine vessels is currently performed manually. Inspectors use sensors (e.g. cameras, devices for non-destructive testing) to detect damaged areas, cracks, and corrosion in large cargo holds, tanks, and other parts of a ship. Due to the size and complex geometry of most ships, ship inspection is time-consuming and expensive. The EU-funded project MINOAS develops concepts for a Marine Inspection Robotic Assistant System to improve and to automate ship inspections. As one example of a physical system implementation, we introduce our magnetic wall-climbing robot. This remotely operated lightweight system is able to climb a vessels steel frame and is able to deliver visual inspection data on-line. For any type of surveying process, the raw and meta data are mandatory in order to compare inspection data over time. In this paper, we describe our approach of how the magnetic climbing robot is localized and controlled. Additionally, we describe the design of the robot as well as the localization device which is able to provide a real-time 3D pose of the inspection robot.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115307557","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 : 2011-06-20DOI: 10.1109/MED.2011.5983103
M. Ruderman, T. Bertram
The magnetic shape memory (MSM) alloys are interesting candidates among active materials used in the actuators, particularly due to a macroscopic relationship between the applied magnetic field and the resulting MSM strain. A system-oriented description of MSM actuators is quite challenging caused by the inherently nonlinear hysteretic behavior of the MSM transducer. This paper describes a modeling and identification approach which combines the second-order linear actuator dynamics with the novel two-inputs nonlinear MSM model. The proposed identification strategy allows to decompose the linear and nonlinear effects observable in the actuator response under certain excitation conditions. The experimental evaluation performed on a prototypic MSM actuator reveals the model suitability, particulary by capturing the state-dependent memory phenomena of MSM hysteresis.
{"title":"On system-oriented modeling and identification of magnetic shape memory (MSM) actuators","authors":"M. Ruderman, T. Bertram","doi":"10.1109/MED.2011.5983103","DOIUrl":"https://doi.org/10.1109/MED.2011.5983103","url":null,"abstract":"The magnetic shape memory (MSM) alloys are interesting candidates among active materials used in the actuators, particularly due to a macroscopic relationship between the applied magnetic field and the resulting MSM strain. A system-oriented description of MSM actuators is quite challenging caused by the inherently nonlinear hysteretic behavior of the MSM transducer. This paper describes a modeling and identification approach which combines the second-order linear actuator dynamics with the novel two-inputs nonlinear MSM model. The proposed identification strategy allows to decompose the linear and nonlinear effects observable in the actuator response under certain excitation conditions. The experimental evaluation performed on a prototypic MSM actuator reveals the model suitability, particulary by capturing the state-dependent memory phenomena of MSM hysteresis.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121098760","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 : 2011-06-20DOI: 10.1109/MED.2011.5983135
S. Givigi, H. Schwartz
We represent the multiple pursuers and evaders game as a Markov game and each player as a decentralized unit that has to work independently in order to complete a task. Most proposed solutions for this distributed multiagent decision problem require some sort of central coordination. In this paper, we intend to model each player as a learning automata (LA) and let them evolve and adapt in order to solve the difficult problem they have at hand. We are also going to show that using the proposed learning process, the players' policies will converge to an equilibrium point. Simulations of such scenarios with multiple pursuers and evaders are presented in order to show the feasibility of the approach.
{"title":"Decentralized learning in multiple pursuer-evader Markov games","authors":"S. Givigi, H. Schwartz","doi":"10.1109/MED.2011.5983135","DOIUrl":"https://doi.org/10.1109/MED.2011.5983135","url":null,"abstract":"We represent the multiple pursuers and evaders game as a Markov game and each player as a decentralized unit that has to work independently in order to complete a task. Most proposed solutions for this distributed multiagent decision problem require some sort of central coordination. In this paper, we intend to model each player as a learning automata (LA) and let them evolve and adapt in order to solve the difficult problem they have at hand. We are also going to show that using the proposed learning process, the players' policies will converge to an equilibrium point. Simulations of such scenarios with multiple pursuers and evaders are presented in order to show the feasibility of the approach.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115067137","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 : 2011-06-20DOI: 10.1109/MED.2011.5983226
N. Kouvakas, F. Koumboulis
The issue of developing a robust control scheme for permanent magnet synchronous motors is investigated. Towards this aim a two stage control scheme is proposed. The inner loop controller is a robust controller of the feedback linearization type with degrees of freedom satisfying I/O decoupling and pole assignment for the motor's currents. The outer loop controller is a PI controller regulating the angular velocity of the rotor. The conditions for the stability of the overall closed loop system are derived in the form of analytical inequalities covering also the issue of robustness of the closed loop system. The internal and external controllers' degrees of freedom are determined metaheuristically, through computational experiments.
{"title":"A two stage control scheme towards stability and robustness for PMSMs with unknown load torque","authors":"N. Kouvakas, F. Koumboulis","doi":"10.1109/MED.2011.5983226","DOIUrl":"https://doi.org/10.1109/MED.2011.5983226","url":null,"abstract":"The issue of developing a robust control scheme for permanent magnet synchronous motors is investigated. Towards this aim a two stage control scheme is proposed. The inner loop controller is a robust controller of the feedback linearization type with degrees of freedom satisfying I/O decoupling and pole assignment for the motor's currents. The outer loop controller is a PI controller regulating the angular velocity of the rotor. The conditions for the stability of the overall closed loop system are derived in the form of analytical inequalities covering also the issue of robustness of the closed loop system. The internal and external controllers' degrees of freedom are determined metaheuristically, through computational experiments.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122592881","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 : 2011-06-20DOI: 10.1109/MED.2011.5983149
N. Costantino, M. Dotoli, M. Falagario, M. P. Fanti, A. M. Mangini, F. Sciancalepore
The paper deals with the strategic issue of the supplier selection in the public procurement context. We consider the Data Envelopment Analysis (DEA), the most widespread method for supplier selection in the literature for private organizations. We modify the so-called cross-efficiency DEA approach and apply the method to supplier selection in a public tender, taking into account transparency and rating requirements. The presented approach is applied to a real case study in order to evaluate its effectiveness, while discussing it with respect to the cross-efficiency DEA method.
{"title":"Supplier selection in the public procurement sector via a data envelopment analysis approach","authors":"N. Costantino, M. Dotoli, M. Falagario, M. P. Fanti, A. M. Mangini, F. Sciancalepore","doi":"10.1109/MED.2011.5983149","DOIUrl":"https://doi.org/10.1109/MED.2011.5983149","url":null,"abstract":"The paper deals with the strategic issue of the supplier selection in the public procurement context. We consider the Data Envelopment Analysis (DEA), the most widespread method for supplier selection in the literature for private organizations. We modify the so-called cross-efficiency DEA approach and apply the method to supplier selection in a public tender, taking into account transparency and rating requirements. The presented approach is applied to a real case study in order to evaluate its effectiveness, while discussing it with respect to the cross-efficiency DEA method.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114277509","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 : 2011-06-20DOI: 10.1109/MED.2011.5983021
A. Locatelli, N. Schiavoni
This paper addresses the design of a regulator for a linear, time-invariant plant described by a finite set of models. The regulator must guarantee closed loop asymptotic stability along with signal tracking and disturbance rejection. The control system has to be reliable. This means that it enjoys these properties both when all the instrumentation is in operation, and, at their maximum possible extent, when some sensors and/or actuators faults occur. The faults cause the opening of some feedback loops. In a sense, a single regulator has to be found, which is able to solve a certain number of classical regulator problems at the same time. Referring to a fully decentralized control structure, the paper presents a constructive necessary and sufficient condition for the problem to admit a solution when the exogenous signals are steps.
{"title":"Simultaneous reliable regulation in decentralized control systems","authors":"A. Locatelli, N. Schiavoni","doi":"10.1109/MED.2011.5983021","DOIUrl":"https://doi.org/10.1109/MED.2011.5983021","url":null,"abstract":"This paper addresses the design of a regulator for a linear, time-invariant plant described by a finite set of models. The regulator must guarantee closed loop asymptotic stability along with signal tracking and disturbance rejection. The control system has to be reliable. This means that it enjoys these properties both when all the instrumentation is in operation, and, at their maximum possible extent, when some sensors and/or actuators faults occur. The faults cause the opening of some feedback loops. In a sense, a single regulator has to be found, which is able to solve a certain number of classical regulator problems at the same time. Referring to a fully decentralized control structure, the paper presents a constructive necessary and sufficient condition for the problem to admit a solution when the exogenous signals are steps.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117044462","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 : 2011-06-20DOI: 10.1109/MED.2011.5983187
F. Nejjari, Eleazar Saldívar, B. Morcego
Unmanned Aerial Vehicles (UAVs) are used for a variety of activities, such as rescuing, reconnaissance and surveillance. Thus, more and more fully autonomous UAVs are expected. In this paper, we consider the problem of modelling and controlling the tail motion of an UAV along a desired trajectory. First, the response data of the system is collected during special flight test and a linear time invariant model is extracted by identification technique. Then, the control system is designed and implemented using a PID feedback/feedforward control method. Simulation results show that the identified model is very accurate and the designed control system is quite well.
{"title":"Heading control system design for an unmanned helicopter","authors":"F. Nejjari, Eleazar Saldívar, B. Morcego","doi":"10.1109/MED.2011.5983187","DOIUrl":"https://doi.org/10.1109/MED.2011.5983187","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs) are used for a variety of activities, such as rescuing, reconnaissance and surveillance. Thus, more and more fully autonomous UAVs are expected. In this paper, we consider the problem of modelling and controlling the tail motion of an UAV along a desired trajectory. First, the response data of the system is collected during special flight test and a linear time invariant model is extracted by identification technique. Then, the control system is designed and implemented using a PID feedback/feedforward control method. Simulation results show that the identified model is very accurate and the designed control system is quite well.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128333894","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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