Pub Date : 2011-06-20DOI: 10.1109/MED.2011.5983095
M. Khalid, A. Savkin
This paper presents a methodology to minimize the capacity of a Battery Energy Storage System (BESS) in a distributed configuration of wind power sources. A new semi-distributed BESS scheme is proposed to improve the suppression of the fluctuations in the wind farm power output. The proposed control system is tested for two dissimilar power profiles of the turbines where the turbines are located far from each other geographically. The scheme is analyzed under a variety of hard system constraints. It was observed that the performance of the proposed semi-distributed BESS scheme is better than that of conventional approaches.
{"title":"Optimization and control of a distributed Battery Energy Storage System for wind power smoothing","authors":"M. Khalid, A. Savkin","doi":"10.1109/MED.2011.5983095","DOIUrl":"https://doi.org/10.1109/MED.2011.5983095","url":null,"abstract":"This paper presents a methodology to minimize the capacity of a Battery Energy Storage System (BESS) in a distributed configuration of wind power sources. A new semi-distributed BESS scheme is proposed to improve the suppression of the fluctuations in the wind farm power output. The proposed control system is tested for two dissimilar power profiles of the turbines where the turbines are located far from each other geographically. The scheme is analyzed under a variety of hard system constraints. It was observed that the performance of the proposed semi-distributed BESS scheme is better than that of conventional approaches.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"1 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":"131036824","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.2011.5983164
Po Wu, P. Antsaklis
In this paper, the passivity indices for both linear and nonlinear multi-agent systems with feedforward and feedback interconnections are derived. For linear systems, the passivity indices are explicitly characterized, while the passivity indices in the nonlinear case are characterized by a set of matrix inequalities. We also focus on symmetric interconnections and specialize the passivity indices results to this case. An illustrative example is also given.
{"title":"Passivity indices for symmetrically interconnected distributed systems","authors":"Po Wu, P. Antsaklis","doi":"10.1109/MED.2011.5983164","DOIUrl":"https://doi.org/10.1109/MED.2011.5983164","url":null,"abstract":"In this paper, the passivity indices for both linear and nonlinear multi-agent systems with feedforward and feedback interconnections are derived. For linear systems, the passivity indices are explicitly characterized, while the passivity indices in the nonlinear case are characterized by a set of matrix inequalities. We also focus on symmetric interconnections and specialize the passivity indices results to this case. An illustrative example is also given.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"8 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":"126469445","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.2011.5983009
A. Varga
We discuss the solution of the fault detection problem for parameter uncertain nonlinear systems using a gain scheduling based approach. By using a set of linearized plant models, a set of least order linear fault detection filters is determined to serve for interpolation based gain scheduling. The basic synthesis approach is the nullspace method for constant linear systems, whose extension to the case of linear parameter varying (LPV) models provides the methodological framework for the synthesis of robust fault detection filters. The resulting gain scheduled fault detection filter provides robustness with respect to both model nonlinearities as well as parametric uncertainties. In a general setting, we consider the case when part of the uncertain parameters are non-measurable and part of them are measurable.
{"title":"Synthesis of robust gain scheduling based fault detection filters for a class of parameter uncertain nonlinear systems","authors":"A. Varga","doi":"10.1109/MED.2011.5983009","DOIUrl":"https://doi.org/10.1109/MED.2011.5983009","url":null,"abstract":"We discuss the solution of the fault detection problem for parameter uncertain nonlinear systems using a gain scheduling based approach. By using a set of linearized plant models, a set of least order linear fault detection filters is determined to serve for interpolation based gain scheduling. The basic synthesis approach is the nullspace method for constant linear systems, whose extension to the case of linear parameter varying (LPV) models provides the methodological framework for the synthesis of robust fault detection filters. The resulting gain scheduled fault detection filter provides robustness with respect to both model nonlinearities as well as parametric uncertainties. In a general setting, we consider the case when part of the uncertain parameters are non-measurable and part of them are measurable.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"16 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":"126892639","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.2011.5983217
R. Zivanovic
To formulate estimation problem for a observed nonlinear system, differential equations are required as a system model. We recast those equations as integral equations and apply integral operator, which is approximated by Chebyshev interpolating polynomial. Resulting equations of the nonlinear estimation problem are integral equations discretized on the grid of Chebyshev points. A sequence of linear least squares problems are solved iteratively. Grid resolution can be determined automatically to maximize computation accuracy. Numerical efficiency is achieved by applying iterative method that requires only matrix-vector multiplications, and via implementation of Discrete Cosine Transform when solving indefinite integrals. The estimation algorithm works with matrices having bounded low condition number compared to large and unbounded condition number for the formulation with differential operator. This achievement has important practical value when applying the algorithm with high-order models when the differential operator formulation is typically ill-conditioned. Application to a Duffing system having chaotic response, has been used to illustrate advantages of the proposed estimation algorithm based on Chebyshev integral operator.
{"title":"State and parameter estimation using Chebyshev integral operator","authors":"R. Zivanovic","doi":"10.1109/MED.2011.5983217","DOIUrl":"https://doi.org/10.1109/MED.2011.5983217","url":null,"abstract":"To formulate estimation problem for a observed nonlinear system, differential equations are required as a system model. We recast those equations as integral equations and apply integral operator, which is approximated by Chebyshev interpolating polynomial. Resulting equations of the nonlinear estimation problem are integral equations discretized on the grid of Chebyshev points. A sequence of linear least squares problems are solved iteratively. Grid resolution can be determined automatically to maximize computation accuracy. Numerical efficiency is achieved by applying iterative method that requires only matrix-vector multiplications, and via implementation of Discrete Cosine Transform when solving indefinite integrals. The estimation algorithm works with matrices having bounded low condition number compared to large and unbounded condition number for the formulation with differential operator. This achievement has important practical value when applying the algorithm with high-order models when the differential operator formulation is typically ill-conditioned. Application to a Duffing system having chaotic response, has been used to illustrate advantages of the proposed estimation algorithm based on Chebyshev integral operator.","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":"127461319","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.2011.5983108
M. Caccia, M. Bibuli, G. Bruzzone, G. Bruzzone
Fundamental issues related to the integration of acoustic devices in unmanned surface vehicles (USVs) in order to perform remotely supervised surveys in shallow waters are presented in this paper. On the basis of the in-field experience gained with the operation of the Charlie USV during Breaking The Surface 2010, the sinergistic roles played by electro-mechanical and software integration of the instruments, reliability of communication devices, and mission control capabilities are discussed. An extended presentation of experimental results will support a detailed discussion about consolidated state-of-the-art and future steps in this area.
{"title":"Integration of acoustic devices on small USVs: The Charlie experience","authors":"M. Caccia, M. Bibuli, G. Bruzzone, G. Bruzzone","doi":"10.1109/MED.2011.5983108","DOIUrl":"https://doi.org/10.1109/MED.2011.5983108","url":null,"abstract":"Fundamental issues related to the integration of acoustic devices in unmanned surface vehicles (USVs) in order to perform remotely supervised surveys in shallow waters are presented in this paper. On the basis of the in-field experience gained with the operation of the Charlie USV during Breaking The Surface 2010, the sinergistic roles played by electro-mechanical and software integration of the instruments, reliability of communication devices, and mission control capabilities are discussed. An extended presentation of experimental results will support a detailed discussion about consolidated state-of-the-art and future steps in this area.","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":"127631673","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.2011.5983028
Tomislav Lugaric, D. Nad, Z. Vukic
Underwater exploration is experiencing an ever increasing usage of both autonomous and remotely operated robotic vehicles. Vehicles are typically equipped with several sensors depending on the mission type being carried out. Integration of all these systems together, as well as obtaining data from them presents a significant challenge. This article describes a software architecture which represents all entities in the system as equivalent modules, while hiding their specifics from the user. Each module in the system is fully defined only by the data it produces and the commands it accepts. Modules are coupled together using a communication interface which again hides the underlying protocol from the user, and is based solely on message exchange. This architecture allows quick reconfiguration of the vehicle, easy integration of various sensor systems and provides the application developers with a higher level of abstraction.
{"title":"A modular approach to system integration in underwater robotics","authors":"Tomislav Lugaric, D. Nad, Z. Vukic","doi":"10.1109/MED.2011.5983028","DOIUrl":"https://doi.org/10.1109/MED.2011.5983028","url":null,"abstract":"Underwater exploration is experiencing an ever increasing usage of both autonomous and remotely operated robotic vehicles. Vehicles are typically equipped with several sensors depending on the mission type being carried out. Integration of all these systems together, as well as obtaining data from them presents a significant challenge. This article describes a software architecture which represents all entities in the system as equivalent modules, while hiding their specifics from the user. Each module in the system is fully defined only by the data it produces and the commands it accepts. Modules are coupled together using a communication interface which again hides the underlying protocol from the user, and is based solely on message exchange. This architecture allows quick reconfiguration of the vehicle, easy integration of various sensor systems and provides the application developers with a higher level of abstraction.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"50 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":"127066702","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.2011.5983151
R. Louali, Abdelmalek Belloula, M. Djouadi, S. Bouaziz
The purpose of this paper is to describe a real time characterization of FS2004 by measuring the dynamic model rate and quantify its temporal stability. This is done to evaluate Flight Simulator 2004 for a potential integration into HIL (Hardware In the Loop architecture) architecture used in developing embedded systems on UAVs. After a general presentation of the simulator and the reasons which lead us to study it, we describe the experimental procedure based on the definition of real-time simulation and Monte Carlo Method. Experiments conducted in different configurations allowed to isolate parameters that have a decisive impact on the real-time performances of the simulator.
{"title":"Real-time characterization of Microsoft Flight Simulator 2004 for integration into Hardware In the Loop architecture","authors":"R. Louali, Abdelmalek Belloula, M. Djouadi, S. Bouaziz","doi":"10.1109/MED.2011.5983151","DOIUrl":"https://doi.org/10.1109/MED.2011.5983151","url":null,"abstract":"The purpose of this paper is to describe a real time characterization of FS2004 by measuring the dynamic model rate and quantify its temporal stability. This is done to evaluate Flight Simulator 2004 for a potential integration into HIL (Hardware In the Loop architecture) architecture used in developing embedded systems on UAVs. After a general presentation of the simulator and the reasons which lead us to study it, we describe the experimental procedure based on the definition of real-time simulation and Monte Carlo Method. Experiments conducted in different configurations allowed to isolate parameters that have a decisive impact on the real-time performances of the simulator.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"24 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":"114303509","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.2011.5983222
A. Benamor, L. Chrifi-Alaoui, M. Chabaane, P. Bussy, H. Messaoud
The paper proposes a new second order sliding mode control (SOSMC) approach for coupled multi-input multi-output (MIMO) nonlinear uncertain systems. This proposed new SOSMC is designed by the choice of a judicious Lyapunov function which depends on the sliding surfaces and its derivative. This control can be applied to a large class of nonlinear coupled MIMO processes affected by uncertainties and disturbances. The applicability and the efficiency of our approach are illustrated by simulation results for an interconnected three-tank system.
{"title":"A new second order sliding mode control approach for coupled MIMO nonlinear uncertain systems","authors":"A. Benamor, L. Chrifi-Alaoui, M. Chabaane, P. Bussy, H. Messaoud","doi":"10.1109/MED.2011.5983222","DOIUrl":"https://doi.org/10.1109/MED.2011.5983222","url":null,"abstract":"The paper proposes a new second order sliding mode control (SOSMC) approach for coupled multi-input multi-output (MIMO) nonlinear uncertain systems. This proposed new SOSMC is designed by the choice of a judicious Lyapunov function which depends on the sliding surfaces and its derivative. This control can be applied to a large class of nonlinear coupled MIMO processes affected by uncertainties and disturbances. The applicability and the efficiency of our approach are illustrated by simulation results for an interconnected three-tank system.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"35 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":"114501698","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.2011.5983207
F. Cheli, M. Pezzola, N. Taroni, P. Mazzoleni, E. Zappa
The aim of this work is to investigate how the driver's movements influence the behavior of the motorcycle. In the past, many interesting researches about this topic were made to examine the coupled effects in the lateral dynamics of the global mechanical system, but only in a numerical approach, most of all through multibody models. In this paper, the interaction between motorcycle and rider is analyzed in an experimental way, using a sport motorbike. A non - contact vision - based measurement system was developed to identify the position of the driver, using a camera and a target fixed to the pilot's back. Two kinds of tests were executed: the first examines the differences in vehicle's performance when the driver moves his upper-body or not, the second one inspects the effects of the driving style of different riders. Both steady state and transient manoeuvres were performed to achieve these goals. During the analysis, the physical quantities concerning the system's dynamic are summarized by means of synthesis indices deriving from bibliography or developed specifically for this work.
{"title":"Driver's movements influence on the lateral dynamic of a sport motorbike","authors":"F. Cheli, M. Pezzola, N. Taroni, P. Mazzoleni, E. Zappa","doi":"10.1109/MED.2011.5983207","DOIUrl":"https://doi.org/10.1109/MED.2011.5983207","url":null,"abstract":"The aim of this work is to investigate how the driver's movements influence the behavior of the motorcycle. In the past, many interesting researches about this topic were made to examine the coupled effects in the lateral dynamics of the global mechanical system, but only in a numerical approach, most of all through multibody models. In this paper, the interaction between motorcycle and rider is analyzed in an experimental way, using a sport motorbike. A non - contact vision - based measurement system was developed to identify the position of the driver, using a camera and a target fixed to the pilot's back. Two kinds of tests were executed: the first examines the differences in vehicle's performance when the driver moves his upper-body or not, the second one inspects the effects of the driving style of different riders. Both steady state and transient manoeuvres were performed to achieve these goals. During the analysis, the physical quantities concerning the system's dynamic are summarized by means of synthesis indices deriving from bibliography or developed specifically for this work.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"1 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":"125841173","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.2011.5983102
H. Min, N. Papanikolopoulos, Christopher E. Smith, V. Morellas
In this work we present a moving target segmentation technique and apply it to a vision-based robot-following problem. The capability to do autonomous multi-robot following is useful for many robot-team applications; however, the problem becomes very challenging when the robots can carry only a small camera or when they exhibit unpredictable motion. The ability to segment a moving target while the camera is also in motion is critical to the solution of this problem and is the focus of our work. Our contributions include: (i) Matching targets using feature-based covariance matrices; (ii) Enhancing matching performance by using features based upon the Fourier transform; and (iii) Initializing a target model for cases without a known target model. We compare the proposed method with the scale-invariant feature transform and existing covariance matching methods. We then validate our proposed segmentation method through real-robot experiments.
{"title":"Feature-based covariance matching for a moving target in multi-robot following","authors":"H. Min, N. Papanikolopoulos, Christopher E. Smith, V. Morellas","doi":"10.1109/MED.2011.5983102","DOIUrl":"https://doi.org/10.1109/MED.2011.5983102","url":null,"abstract":"In this work we present a moving target segmentation technique and apply it to a vision-based robot-following problem. The capability to do autonomous multi-robot following is useful for many robot-team applications; however, the problem becomes very challenging when the robots can carry only a small camera or when they exhibit unpredictable motion. The ability to segment a moving target while the camera is also in motion is critical to the solution of this problem and is the focus of our work. Our contributions include: (i) Matching targets using feature-based covariance matrices; (ii) Enhancing matching performance by using features based upon the Fourier transform; and (iii) Initializing a target model for cases without a known target model. We compare the proposed method with the scale-invariant feature transform and existing covariance matching methods. We then validate our proposed segmentation method through real-robot experiments.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":"58 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":"123119303","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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