Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547814
Farah Bouakrif
This paper presents an iterative learning control D-type for linear system to follow a reference model (also called desired system). This desired system doesn't have dependence with the model of the real system. In addition, the initial states of the two systems must not be necessarily equal. The λ -norm is adopted as the topological measure in our proof of the asymptotic stability of this control scheme, over the whole finite time-interval, when the iteration number tends to infinity. Simulation results are presented to illustrate the effectiveness of the proposed control scheme.
{"title":"Reference model iterative learning control for linear systems","authors":"Farah Bouakrif","doi":"10.1109/MED.2010.5547814","DOIUrl":"https://doi.org/10.1109/MED.2010.5547814","url":null,"abstract":"This paper presents an iterative learning control D-type for linear system to follow a reference model (also called desired system). This desired system doesn't have dependence with the model of the real system. In addition, the initial states of the two systems must not be necessarily equal. The λ -norm is adopted as the topological measure in our proof of the asymptotic stability of this control scheme, over the whole finite time-interval, when the iteration number tends to infinity. Simulation results are presented to illustrate the effectiveness of the proposed control scheme.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125528203","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 : 2010-06-23DOI: 10.1109/MED.2010.5547695
G. Batz, Arhan Yaqub, Haiyan Wu, K. Kuhnlenz, D. Wollherr, M. Buss
Most industrial robots nowadays still employ strategies that neglect or minimize the effects of task dynamics. Some tasks, however, are intrinsically dynamic and can only be accomplished by considering their dynamic aspects. We address ball catching as a prominent and widely studied example for such a task. The paper follows a special approach to accomplish the task: the nonprehensile catching, which means catching without a form- or force-closure grasp. Depending on the tracked ball velocity, two different catching methods are proposed: First, catching of the ball during the initial contact. Second, catching the ball after an initial rebounce during the subsequent contact. For both approaches, the ball trajectory is predicted with a recursive least squares algorithm. The dynamic manipulability measure is used for the contact point selection. Once a permanent contact between ball and end effector is established, a balancing control based on force/torque feedback is applied. Both methods are experimentally validated using a six DoF industrial robot.
{"title":"Dynamic manipulation: Nonprehensile ball catching","authors":"G. Batz, Arhan Yaqub, Haiyan Wu, K. Kuhnlenz, D. Wollherr, M. Buss","doi":"10.1109/MED.2010.5547695","DOIUrl":"https://doi.org/10.1109/MED.2010.5547695","url":null,"abstract":"Most industrial robots nowadays still employ strategies that neglect or minimize the effects of task dynamics. Some tasks, however, are intrinsically dynamic and can only be accomplished by considering their dynamic aspects. We address ball catching as a prominent and widely studied example for such a task. The paper follows a special approach to accomplish the task: the nonprehensile catching, which means catching without a form- or force-closure grasp. Depending on the tracked ball velocity, two different catching methods are proposed: First, catching of the ball during the initial contact. Second, catching the ball after an initial rebounce during the subsequent contact. For both approaches, the ball trajectory is predicted with a recursive least squares algorithm. The dynamic manipulability measure is used for the contact point selection. Once a permanent contact between ball and end effector is established, a balancing control based on force/torque feedback is applied. Both methods are experimentally validated using a six DoF industrial robot.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126723432","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 : 2010-06-23DOI: 10.1109/MED.2010.5547811
S. Safi, M. Frikel, B. Targui, E. Cherrier, M. Pouliquen, M. M'Saad
In this contribution, we consider the problem of blind identification of Finite Impulse Response (FIR) system driven by a stochastic chaotic signal. Because of the inherently deterministic nature of a chaotic signal, we initialize the recursive equation which define the chaotic signal, by a random number, this leads to a random excitation. It was observed that the equalization performance of the chaotic approach was superior to the conventional statistical method. This is another benefit for using chaos in a spread spectrum communication system.
{"title":"Identification and equalization of MC-CDMA system driven by stochastic chaotic code","authors":"S. Safi, M. Frikel, B. Targui, E. Cherrier, M. Pouliquen, M. M'Saad","doi":"10.1109/MED.2010.5547811","DOIUrl":"https://doi.org/10.1109/MED.2010.5547811","url":null,"abstract":"In this contribution, we consider the problem of blind identification of Finite Impulse Response (FIR) system driven by a stochastic chaotic signal. Because of the inherently deterministic nature of a chaotic signal, we initialize the recursive equation which define the chaotic signal, by a random number, this leads to a random excitation. It was observed that the equalization performance of the chaotic approach was superior to the conventional statistical method. This is another benefit for using chaos in a spread spectrum communication system.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122970691","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 : 2010-06-23DOI: 10.1109/MED.2010.5547646
C. Lupu, A. Udrea, O. Pagès, M. Azzouzi
The paper proposes a multiple model structure as control solution for some classes of hysteretic processes. This is developed using the nonlinear geometric characteristic of the process and a classical multiple model control algorithm. The components of the proposed structure are designed based on experimental tests, classic identification and closed loop pole placement methods. The applicability of the different implementations of the structure, suitable for each class of studied hysteretic processes, is demonstrated with a real-time control application implementing RST numerical algorithms. The software and the obtained results are presented and commented in terms of efficiency, advantages and disadvantages.
{"title":"Multi model control solution for some classes of hysteretic processes","authors":"C. Lupu, A. Udrea, O. Pagès, M. Azzouzi","doi":"10.1109/MED.2010.5547646","DOIUrl":"https://doi.org/10.1109/MED.2010.5547646","url":null,"abstract":"The paper proposes a multiple model structure as control solution for some classes of hysteretic processes. This is developed using the nonlinear geometric characteristic of the process and a classical multiple model control algorithm. The components of the proposed structure are designed based on experimental tests, classic identification and closed loop pole placement methods. The applicability of the different implementations of the structure, suitable for each class of studied hysteretic processes, is demonstrated with a real-time control application implementing RST numerical algorithms. The software and the obtained results are presented and commented in terms of efficiency, advantages and disadvantages.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123007799","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 : 2010-06-23DOI: 10.1109/MED.2010.5547643
A. Mechernene, M. Zerikat, S. Chekroun
The present paper proposes an adaptive structure, completely based on the artificial intelligence concepts, for speed control of an induction motor, without any identification of the motor dynamic. Approach with reference model has been chosen, and a neuro-fuzzy controller assures excellent qualities in terms of tracking, and disturbance rejection with high robustness. A neural adaptive mechanism is synthesized to correct the law generated by the controller to provide a compensation signal. This last, added to the controller output, generate the appropriate adapted law. The effectiveness and feasibility of the structure developed is verified by several simulation tests with different conditions operating.
{"title":"Indirect field oriented adaptive control of induction motor based on neuro-fuzzy controller","authors":"A. Mechernene, M. Zerikat, S. Chekroun","doi":"10.1109/MED.2010.5547643","DOIUrl":"https://doi.org/10.1109/MED.2010.5547643","url":null,"abstract":"The present paper proposes an adaptive structure, completely based on the artificial intelligence concepts, for speed control of an induction motor, without any identification of the motor dynamic. Approach with reference model has been chosen, and a neuro-fuzzy controller assures excellent qualities in terms of tracking, and disturbance rejection with high robustness. A neural adaptive mechanism is synthesized to correct the law generated by the controller to provide a compensation signal. This last, added to the controller output, generate the appropriate adapted law. The effectiveness and feasibility of the structure developed is verified by several simulation tests with different conditions operating.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126335583","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 : 2010-06-23DOI: 10.1109/MED.2010.5547821
A. Di Giorgio, L. Pimpinella, A. Mercurio
In this paper the control problem of the wind turbine driven doubly fed induction generator (DFIG) is faced, both in wind park operator and system operator perspective. Two control schemes are proposed, based on feedback linearization theory for MIMO systems and PI controllers: the first one for simultaneous active and reactive power regulation, the second one for simultaneous propeller angular speed and reactive power regulation. They are shown to allow the deliver of ancillary services to the system operator and the maximization of wind park operator profitability respectively.
{"title":"A feedback linearization based Wind turbine control system for ancillary services and standard steady state operation","authors":"A. Di Giorgio, L. Pimpinella, A. Mercurio","doi":"10.1109/MED.2010.5547821","DOIUrl":"https://doi.org/10.1109/MED.2010.5547821","url":null,"abstract":"In this paper the control problem of the wind turbine driven doubly fed induction generator (DFIG) is faced, both in wind park operator and system operator perspective. Two control schemes are proposed, based on feedback linearization theory for MIMO systems and PI controllers: the first one for simultaneous active and reactive power regulation, the second one for simultaneous propeller angular speed and reactive power regulation. They are shown to allow the deliver of ancillary services to the system operator and the maximization of wind park operator profitability respectively.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126493159","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 : 2010-06-23DOI: 10.1109/MED.2010.5547769
P. Queirós, R. Cortesão, Cristóvão D. Sousa
This paper discusses the design of a control system for robotic-assisted Minimal Invasive Surgery. Adaptive control, feedback linearization and operational space techniques are used to develop a tele-manipulation system with haptic force feedback. The operational space control has a position-position tele-operation architecture with a haptic device in the loop. The medical instrument end point position is controlled by the surgeon while the robot posture is automatically adjusted to fulfill both instrument end point and trocar positions. Force feedback is felt by the surgeon through a virtual coupling. Explicit posture control techniques are used to deal with trocar constraints. Simulation results were carried out using the WAM™ robot simulator and the Phantom Desktop haptic device.
{"title":"Haptic tele-manipulation for robotic-assisted Minimally Invasive Surgery with explicit posture control","authors":"P. Queirós, R. Cortesão, Cristóvão D. Sousa","doi":"10.1109/MED.2010.5547769","DOIUrl":"https://doi.org/10.1109/MED.2010.5547769","url":null,"abstract":"This paper discusses the design of a control system for robotic-assisted Minimal Invasive Surgery. Adaptive control, feedback linearization and operational space techniques are used to develop a tele-manipulation system with haptic force feedback. The operational space control has a position-position tele-operation architecture with a haptic device in the loop. The medical instrument end point position is controlled by the surgeon while the robot posture is automatically adjusted to fulfill both instrument end point and trocar positions. Force feedback is felt by the surgeon through a virtual coupling. Explicit posture control techniques are used to deal with trocar constraints. Simulation results were carried out using the WAM™ robot simulator and the Phantom Desktop haptic device.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"40 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120922725","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 : 2010-06-23DOI: 10.1109/MED.2010.5547822
S. Nourdine, H. Camblong, I. Vechiu, G. Tapia
This paper focuses on the design of Linear Quadratic Gaussian (LQG) controllers for variable-speed horizontal axis Wind Turbines (WT). These turbines use blade pitch angle and electromagnetic torque control variables to meet specified objectives for Full Load (FL) zone. The main control objectives are to reduce structural dynamic loads and to regulate the power of the WT. The controllers are designed in order to optimize a trade-off between several control objectives. Four different LQG using Individual Pitch Control (IPC) are designed, with Wireless-Sensors (WS) placed at the end of the blades for the last one. Their control model is progressively more complex. The first one takes into account a rigid simple behavior, the second control model considers the first mode of the drive-train flexibility, the third model takes into account the drive-train and tower flexibilities and the fourth that of the blades. Likewise, their optimization criteria consider for each controller a new control objective to alleviate fatigue loads in the drive-train, then, also in the tower and finally also in the blades. The evaluation of the fatigue loads affecting the WT components are based on a Rainflow Counting Algorithm (RFC) and the Miner's rule. The results indicate a significant reduction of fatigue loads especially in the drive-train and the blades when its flexibility is taken into account in the control models.
{"title":"Comparison of wind turbine LQG controllers using Individual Pitch Control to alleviate fatigue loads","authors":"S. Nourdine, H. Camblong, I. Vechiu, G. Tapia","doi":"10.1109/MED.2010.5547822","DOIUrl":"https://doi.org/10.1109/MED.2010.5547822","url":null,"abstract":"This paper focuses on the design of Linear Quadratic Gaussian (LQG) controllers for variable-speed horizontal axis Wind Turbines (WT). These turbines use blade pitch angle and electromagnetic torque control variables to meet specified objectives for Full Load (FL) zone. The main control objectives are to reduce structural dynamic loads and to regulate the power of the WT. The controllers are designed in order to optimize a trade-off between several control objectives. Four different LQG using Individual Pitch Control (IPC) are designed, with Wireless-Sensors (WS) placed at the end of the blades for the last one. Their control model is progressively more complex. The first one takes into account a rigid simple behavior, the second control model considers the first mode of the drive-train flexibility, the third model takes into account the drive-train and tower flexibilities and the fourth that of the blades. Likewise, their optimization criteria consider for each controller a new control objective to alleviate fatigue loads in the drive-train, then, also in the tower and finally also in the blades. The evaluation of the fatigue loads affecting the WT components are based on a Rainflow Counting Algorithm (RFC) and the Miner's rule. The results indicate a significant reduction of fatigue loads especially in the drive-train and the blades when its flexibility is taken into account in the control models.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121124828","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 : 2010-06-23DOI: 10.1109/MED.2010.5547697
C. Bechlioulis, Z. Doulgeri, G. Rovithakis
In this paper, we consider the force/position tracking problem for a robot in compliant contact with a kinematically known planar surface. We propose a novel controller that achieves predefined performance indices regarding the transient and steady state response of the robot force/position tracking errors and ensures no loss of contact of the robot-end effector. The proposed controller is model free in the sense that it does not incorporate any information regarding either the robot dynamic model or the force deformation model. Moreover, the controller gains are easily selected since the only concern is to adjust them to yield reasonable input torques. Simulation results on a 3-DOF robot confirm the theoretical findings.
{"title":"Model free force/position robot control with prescribed performance","authors":"C. Bechlioulis, Z. Doulgeri, G. Rovithakis","doi":"10.1109/MED.2010.5547697","DOIUrl":"https://doi.org/10.1109/MED.2010.5547697","url":null,"abstract":"In this paper, we consider the force/position tracking problem for a robot in compliant contact with a kinematically known planar surface. We propose a novel controller that achieves predefined performance indices regarding the transient and steady state response of the robot force/position tracking errors and ensures no loss of contact of the robot-end effector. The proposed controller is model free in the sense that it does not incorporate any information regarding either the robot dynamic model or the force deformation model. Moreover, the controller gains are easily selected since the only concern is to adjust them to yield reasonable input torques. Simulation results on a 3-DOF robot confirm the theoretical findings.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"174 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116133638","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 : 2010-06-23DOI: 10.1109/MED.2010.5547795
F. Mesquine
This work deals with the problem of robust constrained control for linear uncertain continuous time systems. State and control input are constrained to evolve within given sets. Minimization of the H∞ norm of closed loop transfer matrix between the exogenous input and the performance output is performed. Convex optimization is used to obtain the largest region of linear behavior. Illustrative examples are given to show the applicability of the method.
{"title":"Robust regulator problem for linear uncertain systems with state and control constraints","authors":"F. Mesquine","doi":"10.1109/MED.2010.5547795","DOIUrl":"https://doi.org/10.1109/MED.2010.5547795","url":null,"abstract":"This work deals with the problem of robust constrained control for linear uncertain continuous time systems. State and control input are constrained to evolve within given sets. Minimization of the H∞ norm of closed loop transfer matrix between the exogenous input and the performance output is performed. Convex optimization is used to obtain the largest region of linear behavior. Illustrative examples are given to show the applicability of the method.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115853951","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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