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":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":"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.2011.5983003
Márcio F. Braga, J. B. Machado, R.J.G.B. Campello, W. do Amaral
An improved approach to determine exact search directions for the optimization of Volterra models based on Generalized Orthonormal Bases of Functions (GOBF) is proposed. The proposed approach extends the work in [7], where a novel, exact technique for optimizing the GOBF parameters (poles) for Volterra models of any order was presented. The proposed extensions take place in two different ways: (i) the formulation here is derived in such a way that each multidimensional kernel of the model is decomposed into a set of independent orthonormal bases (rather than a single, common basis), each of which is parameterized by an individual set of poles intended for representing the dominant dynamic of the kernel along a particular dimension; and (ii) a novel, more computationally efficient method to analytically and recursively calculate the search directions (gradients) for the bases poles is derived. A simulated example is presented to illustrate the performance of the proposed approach. A comparison between the proposed method, which uses asymmetric kernels with multiple orthonormal bases, and the original method, which uses symmetric kernels with a single basis, is presented.
{"title":"Optimization of Volterra models with asymmetrical kernels based on generalized orthonormal functions","authors":"Márcio F. Braga, J. B. Machado, R.J.G.B. Campello, W. do Amaral","doi":"10.1109/MED.2011.5983003","DOIUrl":"https://doi.org/10.1109/MED.2011.5983003","url":null,"abstract":"An improved approach to determine exact search directions for the optimization of Volterra models based on Generalized Orthonormal Bases of Functions (GOBF) is proposed. The proposed approach extends the work in [7], where a novel, exact technique for optimizing the GOBF parameters (poles) for Volterra models of any order was presented. The proposed extensions take place in two different ways: (i) the formulation here is derived in such a way that each multidimensional kernel of the model is decomposed into a set of independent orthonormal bases (rather than a single, common basis), each of which is parameterized by an individual set of poles intended for representing the dominant dynamic of the kernel along a particular dimension; and (ii) a novel, more computationally efficient method to analytically and recursively calculate the search directions (gradients) for the bases poles is derived. A simulated example is presented to illustrate the performance of the proposed approach. A comparison between the proposed method, which uses asymmetric kernels with multiple orthonormal bases, and the original method, which uses symmetric kernels with a single basis, is presented.","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":"132114555","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.2011.5983045
V. Bobál, P. Chalupa, M. Kubalcik, P. Dostál
The contribution is focused on a design of a control algorithm for a nonlinear servo system with disturbance rejection using adaptive control strategy. It is obvious that for a rejection of the measurable disturbance is a suitable control strategy based on polynomial approach. The regression (output error) models are used in the identification part, the parameter estimates of the process and disturbance models were computed using the least squares method extended by a directional (adaptive) forgetting. The controller synthesis is based on polynomial theory - pole assignment method. The designed controller was applied to a laboratory servo system Amira DR300 in real-time conditions.
{"title":"Adaptive control of nonlinear servo system with disturbance rejection","authors":"V. Bobál, P. Chalupa, M. Kubalcik, P. Dostál","doi":"10.1109/MED.2011.5983045","DOIUrl":"https://doi.org/10.1109/MED.2011.5983045","url":null,"abstract":"The contribution is focused on a design of a control algorithm for a nonlinear servo system with disturbance rejection using adaptive control strategy. It is obvious that for a rejection of the measurable disturbance is a suitable control strategy based on polynomial approach. The regression (output error) models are used in the identification part, the parameter estimates of the process and disturbance models were computed using the least squares method extended by a directional (adaptive) forgetting. The controller synthesis is based on polynomial theory - pole assignment method. The designed controller was applied to a laboratory servo system Amira DR300 in real-time conditions.","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":"132118773","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":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":"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.2011.5983147
E. Kosmatopoulos, S. Baldi, K. Aboudolas, D. Rovas, A. Papachristodoulou, P. Ioannou
Based on recent advances on convex design for Large-Scale Control Systems (LSCSs) and robust and efficient LSCS self-tuning/adaptation, a methodology is proposed in this paper which aims at providing an integrated LSCS-design, applicable to large-scale systems of arbitrary scale, heterogeneity and complexity and capable of: 1) Providing stable, efficient and arbitrarily-close-to-optimal LSCS performance; 2) Being able to incorporate a variety of constraints, including limited control constraints as well as constraints that are nonlinear functions of the system controls and outputs (sensor measurements); 3) Being intrinsically self-tunable, able to rapidly and efficiently optimize LSCS performance when short-, medium- or long-time variations affect the large-scale system; 4) Achieving the above, while being scalable and modular. The purpose of the present paper is to provide the main features of the proposed control design methodology.
{"title":"Nonlinear Control of Large Scale complex Systems using Convex Control Design tools","authors":"E. Kosmatopoulos, S. Baldi, K. Aboudolas, D. Rovas, A. Papachristodoulou, P. Ioannou","doi":"10.1109/MED.2011.5983147","DOIUrl":"https://doi.org/10.1109/MED.2011.5983147","url":null,"abstract":"Based on recent advances on convex design for Large-Scale Control Systems (LSCSs) and robust and efficient LSCS self-tuning/adaptation, a methodology is proposed in this paper which aims at providing an integrated LSCS-design, applicable to large-scale systems of arbitrary scale, heterogeneity and complexity and capable of: 1) Providing stable, efficient and arbitrarily-close-to-optimal LSCS performance; 2) Being able to incorporate a variety of constraints, including limited control constraints as well as constraints that are nonlinear functions of the system controls and outputs (sensor measurements); 3) Being intrinsically self-tunable, able to rapidly and efficiently optimize LSCS performance when short-, medium- or long-time variations affect the large-scale system; 4) Achieving the above, while being scalable and modular. The purpose of the present paper is to provide the main features of the proposed control design methodology.","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":"114047465","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.2011.5983109
A. Barreiro, A. Baños, S. Dormido
Reset controllers provide a simple way to improve performance when controlling strongly traded-off plants. A reset controller operates most of the time as a linear system, but when some condition holds, it performs a zero resetting action on its state. Recently, some generalizations have been proposed: anticipation of the condition with the so-called reset band, relaxation of the action applying partial reset, etc. There is a lack of analysis tools for reset systems with reset band. In this paper we address the problem of existence, detection and stability of limit cycles by means of Poincaré maps. The results give also information on pathologies such as Zenoness. The presented approach is complementary to describing function analysis, in order to reveal the ability of reset controllers for overcoming fundamental limitations in the frequency domain.
{"title":"Reset Control Systems with Reset Band: Well-posedness and Limit Cycles Analysis","authors":"A. Barreiro, A. Baños, S. Dormido","doi":"10.1109/MED.2011.5983109","DOIUrl":"https://doi.org/10.1109/MED.2011.5983109","url":null,"abstract":"Reset controllers provide a simple way to improve performance when controlling strongly traded-off plants. A reset controller operates most of the time as a linear system, but when some condition holds, it performs a zero resetting action on its state. Recently, some generalizations have been proposed: anticipation of the condition with the so-called reset band, relaxation of the action applying partial reset, etc. There is a lack of analysis tools for reset systems with reset band. In this paper we address the problem of existence, detection and stability of limit cycles by means of Poincaré maps. The results give also information on pathologies such as Zenoness. The presented approach is complementary to describing function analysis, in order to reveal the ability of reset controllers for overcoming fundamental limitations in the frequency domain.","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":"122382459","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.2011.5983119
Marco P. Soares dos Santos, J. Ferreira, C. N. Boeri
As the performance requirements become more demanding and the plants become more and more complex, control designers were naturally forced to look beyond traditional linear control theory and attempt to find more advanced nonlinear methods. However, it has been very difficult to overcome the huge gap between the current knowledge, researched by the scientific automatic control community, and its application in the industrial environment. In this paper, it is proposed to consider the nonlinear PID as the method to deal with this hitch. The current nonlinear PID methodologies were reviewed and their shortcomings presented. The main aim is to objectify new research lines that may enhance it, in order to ensure that the evolution of industrial control systems is strongly linked to that of the control techniques.
{"title":"Bridging the gap between advanced control methods and industrial control applications: Shortcomings of the current nonlinear PID Method and new research lines to its enhancing","authors":"Marco P. Soares dos Santos, J. Ferreira, C. N. Boeri","doi":"10.1109/MED.2011.5983119","DOIUrl":"https://doi.org/10.1109/MED.2011.5983119","url":null,"abstract":"As the performance requirements become more demanding and the plants become more and more complex, control designers were naturally forced to look beyond traditional linear control theory and attempt to find more advanced nonlinear methods. However, it has been very difficult to overcome the huge gap between the current knowledge, researched by the scientific automatic control community, and its application in the industrial environment. In this paper, it is proposed to consider the nonlinear PID as the method to deal with this hitch. The current nonlinear PID methodologies were reviewed and their shortcomings presented. The main aim is to objectify new research lines that may enhance it, in order to ensure that the evolution of industrial control systems is strongly linked to that of the control techniques.","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":"122432061","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.2011.5983059
A. Balestrino, A. Caiti, E. Crisostomi
A novel statistical indicator is introduced to evaluate the nonlinear behaviour of dynamical systems, as a support to other classic methods (e.g., Lyapunov exponents, entropy of curve methods). According to the theoretical properties of the proposed method, it is possible to infer the actual dimension of the phase space where the system dynamics evolve; it is possible to differentiate linear from nonlinear systems also in the presence of measurement noise; different dynamical systems that appear similar according to other indicators are further correctly distinguished. Theoretical expectations are confirmed by several examples of classic benchmark dynamical systems.
{"title":"A statistical tool for analysing nonlinear properties of dynamical systems","authors":"A. Balestrino, A. Caiti, E. Crisostomi","doi":"10.1109/MED.2011.5983059","DOIUrl":"https://doi.org/10.1109/MED.2011.5983059","url":null,"abstract":"A novel statistical indicator is introduced to evaluate the nonlinear behaviour of dynamical systems, as a support to other classic methods (e.g., Lyapunov exponents, entropy of curve methods). According to the theoretical properties of the proposed method, it is possible to infer the actual dimension of the phase space where the system dynamics evolve; it is possible to differentiate linear from nonlinear systems also in the presence of measurement noise; different dynamical systems that appear similar according to other indicators are further correctly distinguished. Theoretical expectations are confirmed by several examples of classic benchmark dynamical systems.","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":"124021211","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.2011.5983131
Chris Sconyers, I. Raptis, G. Vachtsevanos
The future of flight is autonomous and semi-autonomous vehicles. By supporting or replacing UAV operators, control systems become key for increasing UAV autonomy. This paper presents a novel controller and trajectory generator module for an unmanned rotorcraft, with the goal of tracking a moving ground target using sensor measurements and limited or no operator input. A backstepping control scheme is chosen to guarantee stability and minimize the number of operating modes. We implement a trajectory generator for the rotorcarft to seek and orbit around a moving ground target. The applicability of the combined controller-trajectory generator module is verified through numerical simulations.
{"title":"Rotorcraft control and trajectory generation for target tracking","authors":"Chris Sconyers, I. Raptis, G. Vachtsevanos","doi":"10.1109/MED.2011.5983131","DOIUrl":"https://doi.org/10.1109/MED.2011.5983131","url":null,"abstract":"The future of flight is autonomous and semi-autonomous vehicles. By supporting or replacing UAV operators, control systems become key for increasing UAV autonomy. This paper presents a novel controller and trajectory generator module for an unmanned rotorcraft, with the goal of tracking a moving ground target using sensor measurements and limited or no operator input. A backstepping control scheme is chosen to guarantee stability and minimize the number of operating modes. We implement a trajectory generator for the rotorcarft to seek and orbit around a moving ground target. The applicability of the combined controller-trajectory generator module is verified through numerical simulations.","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":"129286401","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.2011.5983104
M. Bibuli, G. Bruzzone, M. Caccia, A. Ortiz, T. Vogele, M. Eich, L. Drikos, Y. Koveos, E. Kolyvas, F. Spadoni, A. Vergine, K. Tanneberger, A. Todorova, I. Gaviotis, V. Apostolopoulou
In this paper an overall description of the MINOAS project is reported. The project proposes an innovative approach to improve ship inspection methodology, complementing human personnel with cutting-edge robotic platforms, able to autonomously carry out inspection tasks, allowing in this way the human operators to ‘virtually’ execute the inspection from a control room. This paper provides an overview of the project motivations, concept and goals, specifications of the MINOAS system, in particular with respect to an accurate analysis of the tasks executed during vessel inspections, the proposed overall architecture and the classes of robots that will be considered as a possible help to the human inspector.
{"title":"The MINOAS project: Marine INspection rObotic Assistant System","authors":"M. Bibuli, G. Bruzzone, M. Caccia, A. Ortiz, T. Vogele, M. Eich, L. Drikos, Y. Koveos, E. Kolyvas, F. Spadoni, A. Vergine, K. Tanneberger, A. Todorova, I. Gaviotis, V. Apostolopoulou","doi":"10.1109/MED.2011.5983104","DOIUrl":"https://doi.org/10.1109/MED.2011.5983104","url":null,"abstract":"In this paper an overall description of the MINOAS project is reported. The project proposes an innovative approach to improve ship inspection methodology, complementing human personnel with cutting-edge robotic platforms, able to autonomously carry out inspection tasks, allowing in this way the human operators to ‘virtually’ execute the inspection from a control room. This paper provides an overview of the project motivations, concept and goals, specifications of the MINOAS system, in particular with respect to an accurate analysis of the tasks executed during vessel inspections, the proposed overall architecture and the classes of robots that will be considered as a possible help to the human inspector.","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":"117036653","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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