Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5983228
James Ng, S. Dubljevic, I. Aksikas
This paper presents a model predictive control (MPC) formulation for the Czochralski (CZ) crystal growth which is given by the discrete finite-dimensional system representation of a class of parabolic partial differential equations (PDEs) with time-varying features. The motivation behind this work is to address the problem of stabilizing, infinite horizon, linear quadratic regulator synthesis for PDEs with time-dependent parameters which affect the dynamics of the underlying system and appear in the state-space representation. The modal decomposition of the PDE facilitates its approximation by a finite-dimensional linear state-space system. A receding horizon regulator is proposed which incorporates the time-dependence of the PDE parameters and numerical simulations are carried out which demonstrate the optimal stabilization of the process under state and input constraints.
{"title":"Model predictive control of Czochralski crystal growth process","authors":"James Ng, S. Dubljevic, I. Aksikas","doi":"10.1109/MED.2011.5983228","DOIUrl":"https://doi.org/10.1109/MED.2011.5983228","url":null,"abstract":"This paper presents a model predictive control (MPC) formulation for the Czochralski (CZ) crystal growth which is given by the discrete finite-dimensional system representation of a class of parabolic partial differential equations (PDEs) with time-varying features. The motivation behind this work is to address the problem of stabilizing, infinite horizon, linear quadratic regulator synthesis for PDEs with time-dependent parameters which affect the dynamics of the underlying system and appear in the state-space representation. The modal decomposition of the PDE facilitates its approximation by a finite-dimensional linear state-space system. A receding horizon regulator is proposed which incorporates the time-dependence of the PDE parameters and numerical simulations are carried out which demonstrate the optimal stabilization of the process under state and input constraints.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123431253","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.2011.5983062
Iman Khademi, Behrooz Maleki, Alireza Nasseri Mood
In this paper, we consider the problem of three-dimensional Terrain Following/Terrain Avoidance for an aircraft. Both dynamic and kinematic equations of flight are taken into account. This problem is formulated as an optimal control problem. Direct transcription method is then used to find the solution of the optimal control problem. The constraints of the flight are taken into account as complete as possible. We apply the method to a model of F - 16 in a simulation example to validate the effectiveness of the approach.
{"title":"Optimal three dimensional Terrain Following/Terrain Avoidance for aircraft using direct transcription method","authors":"Iman Khademi, Behrooz Maleki, Alireza Nasseri Mood","doi":"10.1109/MED.2011.5983062","DOIUrl":"https://doi.org/10.1109/MED.2011.5983062","url":null,"abstract":"In this paper, we consider the problem of three-dimensional Terrain Following/Terrain Avoidance for an aircraft. Both dynamic and kinematic equations of flight are taken into account. This problem is formulated as an optimal control problem. Direct transcription method is then used to find the solution of the optimal control problem. The constraints of the flight are taken into account as complete as possible. We apply the method to a model of F - 16 in a simulation example to validate the effectiveness of the approach.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121604746","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.2011.5983191
D. Georgis, Sujit S. Jogwar, A. Almansoori, P. Daoutidis
Energy integrated fuel cell systems show the potential for highly efficient and enviromentally friendly power generation. In this study, an energy integrated system with a solid oxide fuel cell (SOFC) and a methane steam reformer is considered. The effect of the reformer design parameters (steam-to-carbon (S/C) ratio and operating temperature) on the steady-state performance of the entire SOFC system is studied. Additionally, the effect of the S/C ratio on the open-loop behavior is also analyzed under small and large steps in the current. Lastly, the closed-loop performance of the entire energy system for a decentralized control scheme is evaluated under a large disturbance in load current.
{"title":"Impact of steam reformer on the design and control of an energy integrated solid oxide fuel cell system","authors":"D. Georgis, Sujit S. Jogwar, A. Almansoori, P. Daoutidis","doi":"10.1109/MED.2011.5983191","DOIUrl":"https://doi.org/10.1109/MED.2011.5983191","url":null,"abstract":"Energy integrated fuel cell systems show the potential for highly efficient and enviromentally friendly power generation. In this study, an energy integrated system with a solid oxide fuel cell (SOFC) and a methane steam reformer is considered. The effect of the reformer design parameters (steam-to-carbon (S/C) ratio and operating temperature) on the steady-state performance of the entire SOFC system is studied. Additionally, the effect of the S/C ratio on the open-loop behavior is also analyzed under small and large steps in the current. Lastly, the closed-loop performance of the entire energy system for a decentralized control scheme is evaluated under a large disturbance in load current.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"580 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122763814","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.2011.5983145
E. Kosmatopoulos, Dimitrios V. Rovas, L. Doitsidis, K. Aboudolas, S. Roumeliotis
In this paper, a new approach is proposed and analyzed for developing efficient and scalable methodologies for multi-robot active Cooperative Simultaneous Localization And Mapping and Target Tracking (C-SLAMTT). The proposed approach employs an active estimation scheme that switches among linear elements and, as a result, its computational requirements scale linearly with the number of estimated quantities (number of number of robots, landmarks and targets). The parameters of the proposed scheme are calculated off-line using a convex optimization algorithm which is based on Semi-Definite Programming (SDP) and approximation using Sum-of-Squares (SoS) polynomials. As shown by rigorous arguments, the estimation accuracy of the proposed scheme is equal to the optimal estimation accuracy plus a term that is inversely proportional to the number of estimator's switching elements (or, equivalently, to the memory storage capacity of the robots' equipment). The proposed approach can handle various types of constraints such as “stay-within-an-area”, obstacle avoidance and maximum speed constraints. The efficiency of the approach is demonstrated on a 3D active cooperative simultaneous mapping and target tracking application employing flying robots.
{"title":"A generic framework for scalable and convergent multi-robot active simultaneous localization, mapping and target tracking","authors":"E. Kosmatopoulos, Dimitrios V. Rovas, L. Doitsidis, K. Aboudolas, S. Roumeliotis","doi":"10.1109/MED.2011.5983145","DOIUrl":"https://doi.org/10.1109/MED.2011.5983145","url":null,"abstract":"In this paper, a new approach is proposed and analyzed for developing efficient and scalable methodologies for multi-robot active Cooperative Simultaneous Localization And Mapping and Target Tracking (C-SLAMTT). The proposed approach employs an active estimation scheme that switches among linear elements and, as a result, its computational requirements scale linearly with the number of estimated quantities (number of number of robots, landmarks and targets). The parameters of the proposed scheme are calculated off-line using a convex optimization algorithm which is based on Semi-Definite Programming (SDP) and approximation using Sum-of-Squares (SoS) polynomials. As shown by rigorous arguments, the estimation accuracy of the proposed scheme is equal to the optimal estimation accuracy plus a term that is inversely proportional to the number of estimator's switching elements (or, equivalently, to the memory storage capacity of the robots' equipment). The proposed approach can handle various types of constraints such as “stay-within-an-area”, obstacle avoidance and maximum speed constraints. The efficiency of the approach is demonstrated on a 3D active cooperative simultaneous mapping and target tracking application employing flying robots.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122091774","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.2011.5983196
E. Gershon, N. Berman, U. Shaked
Linear, state delayed, continuous-time systems are considered with both stochastic and polytopic type uncertainties in the state-space model. The problem of robust state-feedback and dynamic H∞ output-feedback control are solved, for the stationary case, via the input-output approach where the system is replaced by a nonretarded system having deterministic norm-bounded uncertainties. In this problem, a cost function is defined which is the expected value of the standard H∞ performance cost with respect to the stochastic parameters.
{"title":"Robust polytopic H∞ control of linear retarded state-multiplicative stochastic systems","authors":"E. Gershon, N. Berman, U. Shaked","doi":"10.1109/MED.2011.5983196","DOIUrl":"https://doi.org/10.1109/MED.2011.5983196","url":null,"abstract":"Linear, state delayed, continuous-time systems are considered with both stochastic and polytopic type uncertainties in the state-space model. The problem of robust state-feedback and dynamic H∞ output-feedback control are solved, for the stationary case, via the input-output approach where the system is replaced by a nonretarded system having deterministic norm-bounded uncertainties. In this problem, a cost function is defined which is the expected value of the standard H∞ performance cost with respect to the stochastic parameters.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122109658","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.2011.5982995
A. Nemra, N. Aouf
This paper aims to present an Adaptive Decentralized Cooperative Visual Simultaneous Localization and Mapping (AD-CVSLAM) solution based on a stereovision system. With the proposed solution, a group of Unmanned Aerial Vehicles (UAVs) will be able to construct a large reliable map and localize themselves in this map without any user intervention. The robust Nonlinear H− filter is adapted to the multiple vehicle case to ensure a robust Pose estimation; as well a new approach for feature initialization based on an Adaptive Covariance Intersection technique is used. Finally, validation and comparison using simulation data are presented and discussed.
{"title":"Adaptive decentralised cooperative vision based simultaneous localization and mapping for multiple UAV","authors":"A. Nemra, N. Aouf","doi":"10.1109/MED.2011.5982995","DOIUrl":"https://doi.org/10.1109/MED.2011.5982995","url":null,"abstract":"This paper aims to present an Adaptive Decentralized Cooperative Visual Simultaneous Localization and Mapping (AD-CVSLAM) solution based on a stereovision system. With the proposed solution, a group of Unmanned Aerial Vehicles (UAVs) will be able to construct a large reliable map and localize themselves in this map without any user intervention. The robust Nonlinear H− filter is adapted to the multiple vehicle case to ensure a robust Pose estimation; as well a new approach for feature initialization based on an Adaptive Covariance Intersection technique is used. Finally, validation and comparison using simulation data are presented and discussed.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126465033","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.2011.5983198
C. Letellier, G. Hoblos, H. Chafouk
A multimodel approach has been set up in this paper. The purpose is to replace a nonlinear system by a linear one combined with interval analysis approach in order to take into account uncertainties in the model. Linear systems can be easily handled with interval computation. However, nonlinear systems need complex computations as set-computation based on sub-paving algorithms for example. To avoid a large amount of computation, the approach proposed herein is to decompose a nonlinear system in several linear models. Uncertain systems can take advantages of this approach called multimodel approach. In this paper a robust fault detection method based on multimodel will be presented. The detection will be made by an Interval Set-Valued Observer. The system is nonlinear and represents a throttle valve. It will be shown how the proposed method can replace advantageously an identification step by taking into account uncertainties on parameters.
{"title":"Robust fault detection based on multimodel and interval approach. Application to a throttle valve","authors":"C. Letellier, G. Hoblos, H. Chafouk","doi":"10.1109/MED.2011.5983198","DOIUrl":"https://doi.org/10.1109/MED.2011.5983198","url":null,"abstract":"A multimodel approach has been set up in this paper. The purpose is to replace a nonlinear system by a linear one combined with interval analysis approach in order to take into account uncertainties in the model. Linear systems can be easily handled with interval computation. However, nonlinear systems need complex computations as set-computation based on sub-paving algorithms for example. To avoid a large amount of computation, the approach proposed herein is to decompose a nonlinear system in several linear models. Uncertain systems can take advantages of this approach called multimodel approach. In this paper a robust fault detection method based on multimodel will be presented. The detection will be made by an Interval Set-Valued Observer. The system is nonlinear and represents a throttle valve. It will be shown how the proposed method can replace advantageously an identification step by taking into account uncertainties on parameters.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125659954","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.2011.5983220
A. Bishop
The problem of estimating the transmission power levels of an uncooperative radio transmitter is examined in this short paper. The Cayley-Menger matrix is shown to provide an underlying geometrical constraint on the possible solutions and is subsequently used in a novel fashion as the basis for an estimator of the transmission power.
{"title":"Transmitter power estimation for uncooperative emitters with the Cayley-Menger determinant","authors":"A. Bishop","doi":"10.1109/MED.2011.5983220","DOIUrl":"https://doi.org/10.1109/MED.2011.5983220","url":null,"abstract":"The problem of estimating the transmission power levels of an uncooperative radio transmitter is examined in this short paper. The Cayley-Menger matrix is shown to provide an underlying geometrical constraint on the possible solutions and is subsequently used in a novel fashion as the basis for an estimator of the transmission power.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130527708","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.2011.5983099
W. Kase, Y. Mutoh
An interactor matrix plays several important roles in the control system theory. In this paper, we present a simple method to derive the right interactor for tall transfer function matrix using Moore-Penrose pseudoinverse. By the presented method, all zeros of the interactor lie at the origin. Moreover, the interactor by the proposed method has all-pass property in discrete-time. The method will be applied to the inner-outer factorization. It will be shown that the choice of interactor does not influence the result of the factorization.
{"title":"A simple derivation of right interactor for tall plant and its application to inner-outer factorization","authors":"W. Kase, Y. Mutoh","doi":"10.1109/MED.2011.5983099","DOIUrl":"https://doi.org/10.1109/MED.2011.5983099","url":null,"abstract":"An interactor matrix plays several important roles in the control system theory. In this paper, we present a simple method to derive the right interactor for tall transfer function matrix using Moore-Penrose pseudoinverse. By the presented method, all zeros of the interactor lie at the origin. Moreover, the interactor by the proposed method has all-pass property in discrete-time. The method will be applied to the inner-outer factorization. It will be shown that the choice of interactor does not influence the result of the factorization.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122292142","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.2011.5983221
G. Siamantas, T. Stouraitis, A. Tzes
The problem of the localization of a robot moving inside a closed region is considered in this paper. The localization approach used is based on the Sequential Monte Carlo Methods also known as Particle Filters. In particular we present some statistical based criteria and a logic algorithm based on those criteria to evaluate when the estimation of the position of the robot inside the region stops performing as designed due to unanticipated objects inside the region. Also presented is a fuzzy logic approach based on the same algorithm which gives a continuous localization confidence output. Based on this output a sensor model localization parameter fine tuning is presented and tested in various simulation studies.
{"title":"Intelligent Particle-Filter based robot localization","authors":"G. Siamantas, T. Stouraitis, A. Tzes","doi":"10.1109/MED.2011.5983221","DOIUrl":"https://doi.org/10.1109/MED.2011.5983221","url":null,"abstract":"The problem of the localization of a robot moving inside a closed region is considered in this paper. The localization approach used is based on the Sequential Monte Carlo Methods also known as Particle Filters. In particular we present some statistical based criteria and a logic algorithm based on those criteria to evaluate when the estimation of the position of the robot inside the region stops performing as designed due to unanticipated objects inside the region. Also presented is a fuzzy logic approach based on the same algorithm which gives a continuous localization confidence output. Based on this output a sensor model localization parameter fine tuning is presented and tested in various simulation studies.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114973810","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：