Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5983035
M. Bodson, O. Kiselychnyk
The paper analyzes the phenomenon of self-excitation in induction generators. A nonlinear state-space model is obtained based on a magnetization curve that is nonlinear at high and low currents. The model was used previously to characterize the steady-state regimes of self-excited induction generators, including the number of possible regimes and their stability properties. In this paper, the model is used to find boundaries for spontaneous and triggered self-excitation, and to derive a remarkably simple formula that specifies the initial voltage to be applied to the capacitors to trigger self-excitation. The results are validated in simulations and experiments, and a very good agreement is observed overall between the computational, simulated, and experimental data.
{"title":"On the capacitor voltage needed to trigger self-excitation in induction generators","authors":"M. Bodson, O. Kiselychnyk","doi":"10.1109/MED.2011.5983035","DOIUrl":"https://doi.org/10.1109/MED.2011.5983035","url":null,"abstract":"The paper analyzes the phenomenon of self-excitation in induction generators. A nonlinear state-space model is obtained based on a magnetization curve that is nonlinear at high and low currents. The model was used previously to characterize the steady-state regimes of self-excited induction generators, including the number of possible regimes and their stability properties. In this paper, the model is used to find boundaries for spontaneous and triggered self-excitation, and to derive a remarkably simple formula that specifies the initial voltage to be applied to the capacitors to trigger self-excitation. The results are validated in simulations and experiments, and a very good agreement is observed overall between the computational, simulated, and experimental data.","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":"125124935","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.2011.5983188
S. Zanoli, D. Barchiesi, L. Barboni
Reduction of energy consumption in buildings is presently a key aspect with respect to the reduction of CO2 emissions which is increasing every day its importance. Energy saving can be achieved through an efficient management of heat and lighting devices and with the exploitation of renewable sources, like sun. In the present paper a Building and Home Automation system that integrates energy-consuming sources for heat and light power supply, such as heat pumps and artificial lights with green energy-supplying sources like fresh air flow and natural illuminance has been proposed. A model of the thermodynamic and lighting behavior of a building has been preliminarily developed which is essential for the simulations and tests of the proposed Building Automation control policies. In the proposed control system, techniques of natural heating and daylight penetration are used to minimize electric lighting as well as electric heating that are integrated in an interconnected control loop. In order to balance the energy savings and comfort of users suitable control logic have been implemented.
{"title":"Coupled controller for energy saving in building automation based on a thermodynamic and illumination model","authors":"S. Zanoli, D. Barchiesi, L. Barboni","doi":"10.1109/MED.2011.5983188","DOIUrl":"https://doi.org/10.1109/MED.2011.5983188","url":null,"abstract":"Reduction of energy consumption in buildings is presently a key aspect with respect to the reduction of CO2 emissions which is increasing every day its importance. Energy saving can be achieved through an efficient management of heat and lighting devices and with the exploitation of renewable sources, like sun. In the present paper a Building and Home Automation system that integrates energy-consuming sources for heat and light power supply, such as heat pumps and artificial lights with green energy-supplying sources like fresh air flow and natural illuminance has been proposed. A model of the thermodynamic and lighting behavior of a building has been preliminarily developed which is essential for the simulations and tests of the proposed Building Automation control policies. In the proposed control system, techniques of natural heating and daylight penetration are used to minimize electric lighting as well as electric heating that are integrated in an interconnected control loop. In order to balance the energy savings and comfort of users suitable control logic have been implemented.","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":"121311151","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.2011.5983027
M. Pereda, J. M. Zamarreño
The aim of this work is to study the feasibility of using agent-based modeling to study the activated sludge process. A model in NetLogo has been proposed, and experiments have been developed comparing the model behavior with a classical modeling approximation for this process, the Monod model.
{"title":"Agent-based modeling of an activated sludge process in a batch reactor","authors":"M. Pereda, J. M. Zamarreño","doi":"10.1109/MED.2011.5983027","DOIUrl":"https://doi.org/10.1109/MED.2011.5983027","url":null,"abstract":"The aim of this work is to study the feasibility of using agent-based modeling to study the activated sludge process. A model in NetLogo has been proposed, and experiments have been developed comparing the model behavior with a classical modeling approximation for this process, the Monod model.","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":"121655739","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.2011.5982986
C. Hackl, A. G. Hofmann, R. W. D. Doncker, Ralph Kennel
In this survey we introduce a simple high-gain based adaptive controller — the funnel controller — which neither identifies nor estimates the system under control. The proportional funnel controller is applicable for all (nonlinear) systems with relative degree one or two, stable zero-dynamics (e.g. minimum-phase in the linear case) and known sign of the high-frequency gain; hence only structural knowledge is required for controller implementation. The control performance is inherently robust to parameter uncertainties or variations not affecting the system structure. Furthermore, the funnel controller is capable of reference tracking of time-varying command signals with prescribed transient accuracy: the control error is forced to evolve within a prescribed “funnel”. Its boundary can be fixed by e.g. a decreasing function of time giving an upper bound on the error transient behavior. Finally, we apply the funnel controller for speed and position control of an (unknown) electrical drive with friction and load disturbances. Measurement results are presented and compared with classical PI/PID control. funnel control, non-identifier (high-gain) based adaptive control, prescribed tracking, prescribed accuracy, robustness.
{"title":"Funnel control for speed & position control of electrical drives: A survey","authors":"C. Hackl, A. G. Hofmann, R. W. D. Doncker, Ralph Kennel","doi":"10.1109/MED.2011.5982986","DOIUrl":"https://doi.org/10.1109/MED.2011.5982986","url":null,"abstract":"In this survey we introduce a simple high-gain based adaptive controller — the funnel controller — which neither identifies nor estimates the system under control. The proportional funnel controller is applicable for all (nonlinear) systems with relative degree one or two, stable zero-dynamics (e.g. minimum-phase in the linear case) and known sign of the high-frequency gain; hence only structural knowledge is required for controller implementation. The control performance is inherently robust to parameter uncertainties or variations not affecting the system structure. Furthermore, the funnel controller is capable of reference tracking of time-varying command signals with prescribed transient accuracy: the control error is forced to evolve within a prescribed “funnel”. Its boundary can be fixed by e.g. a decreasing function of time giving an upper bound on the error transient behavior. Finally, we apply the funnel controller for speed and position control of an (unknown) electrical drive with friction and load disturbances. Measurement results are presented and compared with classical PI/PID control. funnel control, non-identifier (high-gain) based adaptive control, prescribed tracking, prescribed accuracy, robustness.","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":"114806197","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.2011.5983176
G. Befekadu, V. Gupta, P. Antsaklis
In this paper, we consider the problem of reliable stabilization for a multi-channel system, where our main objective is to maintain the stability of the perturbed closed-loop system and when there is a single controller failure in any of the control channels. We specifically present a computationally tractable and less-conservative result in terms of a set of dilated LMIs for the reliable state feedback stabilization of the nominal system, while a dissipativity-based certification is used to extend the stability condition under model perturbation in the system. Finally, a numerical example is used to demonstrate the applicability of the proposed technique.
{"title":"Robust/reliable stabilization of multi-channel systems via dilated LMIs and dissipativity-based certifications","authors":"G. Befekadu, V. Gupta, P. Antsaklis","doi":"10.1109/MED.2011.5983176","DOIUrl":"https://doi.org/10.1109/MED.2011.5983176","url":null,"abstract":"In this paper, we consider the problem of reliable stabilization for a multi-channel system, where our main objective is to maintain the stability of the perturbed closed-loop system and when there is a single controller failure in any of the control channels. We specifically present a computationally tractable and less-conservative result in terms of a set of dilated LMIs for the reliable state feedback stabilization of the nominal system, while a dissipativity-based certification is used to extend the stability condition under model perturbation in the system. Finally, a numerical example is used to demonstrate the applicability of the proposed technique.","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":"125633420","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.2011.5983230
A. Kotsopoulos, T. Antonakopoulos
High precision nanopositioning is a crucial function of high-density probe-based storage devices and its performance affects determinatively the device's reliability. The use of non-conventional nanopositioning schemes for achieving much higher data rates imposes new requirements on the control algorithms. In this work we analyze in terms of accuracy and stability an H2 controller combined with a sliding peak-filter for moving along an archimedean spiral trajectory. As it is demonstrated, proper selection of the peak-filter parameters results to a stable and accurately controlled system that achieves high positioning velocities and also supports different read and write data rates.
{"title":"Tracking accuracy and stability of a sliding peak-filter based controller for spiral nanopositioning in probe storage systems","authors":"A. Kotsopoulos, T. Antonakopoulos","doi":"10.1109/MED.2011.5983230","DOIUrl":"https://doi.org/10.1109/MED.2011.5983230","url":null,"abstract":"High precision nanopositioning is a crucial function of high-density probe-based storage devices and its performance affects determinatively the device's reliability. The use of non-conventional nanopositioning schemes for achieving much higher data rates imposes new requirements on the control algorithms. In this work we analyze in terms of accuracy and stability an H2 controller combined with a sliding peak-filter for moving along an archimedean spiral trajectory. As it is demonstrated, proper selection of the peak-filter parameters results to a stable and accurately controlled system that achieves high positioning velocities and also supports different read and write data rates.","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":"130061413","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.2011.5983195
J. Schumacher, Sepehr Salehi, T. Hadjiyanni, N. Papanikolopoulos
Surveillance has come to be a multi-billion dollar industry designed to protect both persons and belongings, yet very little attention has been given to the improvement of both its public perception and functionality. The anachronous model of ‘an observer’ watching ‘the observed’ has been the quintessence of such surveillance systems since their conception. Video Surveillance specifically is currently used primarily to convey live images to a moderator, which has the unintended effect of removing privacy, promoting stereotypes and instilling an element of helplessness in those who are being observed. In addition to the aforementioned concerns, these methods are vastly outdated; the act of looking at a set of spatially connected areas, being the core of surveillance, is centuries old. As the complexities of society and in turn security increase, the question of what else surveillance systems can be attains more significance. Answering this question requires an interdisciplinary approach that faculty at the University of Minnesota undertook in four consecutive semesters through the class “ECE 4951: Senior Design Project.” This paper builds on calls to re-think the power dynamics inherent in surveillance systems through a paradigm shift in which surveillance is used to connect people to people and people to the environment. The discussion elaborates on the students' design approaches as well as the challenges that such an interdisciplinary pedagogical undertaking involves.
{"title":"Rethinking surveillance - Toward an interactive security model","authors":"J. Schumacher, Sepehr Salehi, T. Hadjiyanni, N. Papanikolopoulos","doi":"10.1109/MED.2011.5983195","DOIUrl":"https://doi.org/10.1109/MED.2011.5983195","url":null,"abstract":"Surveillance has come to be a multi-billion dollar industry designed to protect both persons and belongings, yet very little attention has been given to the improvement of both its public perception and functionality. The anachronous model of ‘an observer’ watching ‘the observed’ has been the quintessence of such surveillance systems since their conception. Video Surveillance specifically is currently used primarily to convey live images to a moderator, which has the unintended effect of removing privacy, promoting stereotypes and instilling an element of helplessness in those who are being observed. In addition to the aforementioned concerns, these methods are vastly outdated; the act of looking at a set of spatially connected areas, being the core of surveillance, is centuries old. As the complexities of society and in turn security increase, the question of what else surveillance systems can be attains more significance. Answering this question requires an interdisciplinary approach that faculty at the University of Minnesota undertook in four consecutive semesters through the class “ECE 4951: Senior Design Project.” This paper builds on calls to re-think the power dynamics inherent in surveillance systems through a paradigm shift in which surveillance is used to connect people to people and people to the environment. The discussion elaborates on the students' design approaches as well as the challenges that such an interdisciplinary pedagogical undertaking involves.","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":"134216123","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.2011.5983169
T. Eren
The paper examines cyclic persistent networks at the level of sensing and control architectures that are needed to maintain the shape of a multi-agent formation in two dimensional space, while the formation moves as a cohesive whole. The key tools we use are rigidity theory and graph theory. Then, the paper focuses on the planner level and controller level of the architecture by designing fuzzy logic based planner and fuzzy controller of individual agents. We simulate the fuzzy planner and the fuzzy controller on kinematic unicycles for an exemplary cyclic formation generated by the results obtained in the first half of the paper. The validity of the proposed approach in the shape control of multi-agent formations is verified through simulation experiments.
{"title":"Using fuzzy logic in shape control of cyclic networks in multi-vehicle formations","authors":"T. Eren","doi":"10.1109/MED.2011.5983169","DOIUrl":"https://doi.org/10.1109/MED.2011.5983169","url":null,"abstract":"The paper examines cyclic persistent networks at the level of sensing and control architectures that are needed to maintain the shape of a multi-agent formation in two dimensional space, while the formation moves as a cohesive whole. The key tools we use are rigidity theory and graph theory. Then, the paper focuses on the planner level and controller level of the architecture by designing fuzzy logic based planner and fuzzy controller of individual agents. We simulate the fuzzy planner and the fuzzy controller on kinematic unicycles for an exemplary cyclic formation generated by the results obtained in the first half of the paper. The validity of the proposed approach in the shape control of multi-agent formations is verified through simulation 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":"134000624","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.2011.5982990
L. Márton, A. Varga
This paper proposes a method for detecting faults generated by increased loads in a class of mechanical control systems. It is considered that the load (input disturbance) is unmeasurable, only its bounds corresponding to normal operation are known. To solve the fault detection problem, a detector was proposed for a class of linear control systems that can be implemented with low computational costs. The method is applicable for electro-hydrostatic actuators (EHA) with unknown load. The proposed fault detection approach is validated through simulations for jamming detection of aircraft control surfaces driven by EHA.
{"title":"Detection of overload generated faults in electro-hydrostatic actuators","authors":"L. Márton, A. Varga","doi":"10.1109/MED.2011.5982990","DOIUrl":"https://doi.org/10.1109/MED.2011.5982990","url":null,"abstract":"This paper proposes a method for detecting faults generated by increased loads in a class of mechanical control systems. It is considered that the load (input disturbance) is unmeasurable, only its bounds corresponding to normal operation are known. To solve the fault detection problem, a detector was proposed for a class of linear control systems that can be implemented with low computational costs. The method is applicable for electro-hydrostatic actuators (EHA) with unknown load. The proposed fault detection approach is validated through simulations for jamming detection of aircraft control surfaces driven by EHA.","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":"132814220","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.2011.5983072
Y. Karayiannidis, Z. Doulgeri
This work addresses the problem of joint position tracking with prescribed performance guarantees and proposes a novel controller able to guarantee i) predefined minimum speed of convergence, maximum steady state error and overshoot concerning the position tracking error and ii) uniformly ultimate boundedness of the system state. Neither the robot dynamic model nor any approximation structures are utilized in the control law. Control gain lower bounds are dependent on some prior robot knowledge but gain tuning is simplified since the only concern is to adopt those values that lead to reasonable input torques. Simulation results of a 3 dof spatial robotic manipulator are given to confirm the theoretical findings.
{"title":"Robot joint position tracking with an approximator-free prescribed performance controller","authors":"Y. Karayiannidis, Z. Doulgeri","doi":"10.1109/MED.2011.5983072","DOIUrl":"https://doi.org/10.1109/MED.2011.5983072","url":null,"abstract":"This work addresses the problem of joint position tracking with prescribed performance guarantees and proposes a novel controller able to guarantee i) predefined minimum speed of convergence, maximum steady state error and overshoot concerning the position tracking error and ii) uniformly ultimate boundedness of the system state. Neither the robot dynamic model nor any approximation structures are utilized in the control law. Control gain lower bounds are dependent on some prior robot knowledge but gain tuning is simplified since the only concern is to adopt those values that lead to reasonable input torques. Simulation results of a 3 dof spatial robotic manipulator are given to confirm the theoretical findings.","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":"133213741","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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