Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547639
H. Benderradji, A. Makouf, L. Chrifi-Alaoui
In the following paper, we propose a new input-output sliding mode linearization control for induction motor combined with field oriented control (FOC). We develop two loops to control the speed and rotor flux modulus. The first one, inner loop, allows to linearize the system by a choose of closed loop poles to achieve a good linearization. The choice of a particular sliding surface permits to create a link between sliding mode theory and input- output linearization. The second loop, an outer one, allows to modifying the dynamics obtained by the first one using PI controller to guarantee stability and tracking performance of speed and rotor flux modulus. When the rotor flux cannot be measured, a nonlinear sliding mode observer is introduced to estimate the rotor flux. The effectiveness of this new approach has been successfully verified through computer simulations
{"title":"Field-oriented control using sliding mode linearization technique for induction motor","authors":"H. Benderradji, A. Makouf, L. Chrifi-Alaoui","doi":"10.1109/MED.2010.5547639","DOIUrl":"https://doi.org/10.1109/MED.2010.5547639","url":null,"abstract":"In the following paper, we propose a new input-output sliding mode linearization control for induction motor combined with field oriented control (FOC). We develop two loops to control the speed and rotor flux modulus. The first one, inner loop, allows to linearize the system by a choose of closed loop poles to achieve a good linearization. The choice of a particular sliding surface permits to create a link between sliding mode theory and input- output linearization. The second loop, an outer one, allows to modifying the dynamics obtained by the first one using PI controller to guarantee stability and tracking performance of speed and rotor flux modulus. When the rotor flux cannot be measured, a nonlinear sliding mode observer is introduced to estimate the rotor flux. The effectiveness of this new approach has been successfully verified through computer simulations","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"2 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":"121266967","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: 10.3182/20100705-3-BE-2011.00100
S. Dubljevic
This paper deals with the optimal control of multi-dynamics process described by the rigid body dynamics equation and time-varying parabolic PDE. The optimal control is realized for the crystal growth process described by the underlying dynamics of the transport-reaction process given by the parabolic partial differential equations (PDEs) with the time varying spatial domain that is coupled with the rigid body dynamics representing the pulling of the pure crystal out of melt. The underlying transport-reaction system is developed from the first principles and the associated dynamics is analyzed in the appropriate functional state space setting. The complete description of the evolutionary parabolic domain time varying PDE is provided in the operator form and exploited within the optimal control setting, together with the optimal control of crystal pulling out of melt. Numerical simulations demonstrate a realization of optimal control law and its effects on both the temperature profile in the crystal with the time varying domain and crystal domain time evolution.
{"title":"Optimal control of transport-reaction system with time varying spatial domain","authors":"S. Dubljevic","doi":"10.3182/20100705-3-BE-2011.00100","DOIUrl":"https://doi.org/10.3182/20100705-3-BE-2011.00100","url":null,"abstract":"This paper deals with the optimal control of multi-dynamics process described by the rigid body dynamics equation and time-varying parabolic PDE. The optimal control is realized for the crystal growth process described by the underlying dynamics of the transport-reaction process given by the parabolic partial differential equations (PDEs) with the time varying spatial domain that is coupled with the rigid body dynamics representing the pulling of the pure crystal out of melt. The underlying transport-reaction system is developed from the first principles and the associated dynamics is analyzed in the appropriate functional state space setting. The complete description of the evolutionary parabolic domain time varying PDE is provided in the operator form and exploited within the optimal control setting, together with the optimal control of crystal pulling out of melt. Numerical simulations demonstrate a realization of optimal control law and its effects on both the temperature profile in the crystal with the time varying domain and crystal domain time evolution.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"7 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":"122381828","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.2010.5547816
A. Nakrachi, D. Popescu
On the basis of an energy concept, we developed a modeling approach for mathematical representation of macroscopic traffic flow [15]. This is a set of templates which correspond to different traffic flow phases (free, congested, …). We are interested in this paper to simulate the diversity of dynamics being involved with the management of transitions between them.
{"title":"Modelling and simulation of macroscopic traffic flow : A case study","authors":"A. Nakrachi, D. Popescu","doi":"10.1109/MED.2010.5547816","DOIUrl":"https://doi.org/10.1109/MED.2010.5547816","url":null,"abstract":"On the basis of an energy concept, we developed a modeling approach for mathematical representation of macroscopic traffic flow [15]. This is a set of templates which correspond to different traffic flow phases (free, congested, …). We are interested in this paper to simulate the diversity of dynamics being involved with the management of transitions between them.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"43 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":"129052898","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.2010.5547709
R. Zivanovic
In this paper, we propose an algorithm for state and parameter estimation of nonlinear dynamical systems. In a usual manner, estimation is obtained by solving iteratively a sequence of linear least squares problems with equality constraints. Formulation of the least squares problem is based on Chebyshev spectral discretization. Chebyshev grid resolution is determined automatically to maximize computation accuracy. The key quality of the algorithm lies in the use of the barycentric interpolation formula when solving the least squares problem with various grid resolutions. High-accuracy of the proposed estimation method is contributed to this interpolation formula that is found to be numerically stable and computationally effective. Two numerical examples are presented to demonstrate accuracy of the proposed algorithm.
{"title":"High-accuracy state and parameter estimation using Chebyshev spectral discretization method","authors":"R. Zivanovic","doi":"10.1109/MED.2010.5547709","DOIUrl":"https://doi.org/10.1109/MED.2010.5547709","url":null,"abstract":"In this paper, we propose an algorithm for state and parameter estimation of nonlinear dynamical systems. In a usual manner, estimation is obtained by solving iteratively a sequence of linear least squares problems with equality constraints. Formulation of the least squares problem is based on Chebyshev spectral discretization. Chebyshev grid resolution is determined automatically to maximize computation accuracy. The key quality of the algorithm lies in the use of the barycentric interpolation formula when solving the least squares problem with various grid resolutions. High-accuracy of the proposed estimation method is contributed to this interpolation formula that is found to be numerically stable and computationally effective. Two numerical examples are presented to demonstrate accuracy of the proposed algorithm.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"29 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":"130558677","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.2010.5547652
Raheleh Nazari, Alain Yetendje, M. Seron
In this paper, a fault tolerant control strategy, which combines a fault detection and identification (FDI) method based on an invariant-set approach with controller reconfiguration based on the use of a virtual sensor, is implemented on a magnetic levitation (MAGLEV) system. The MAGLEV system includes two sensors which, together with a nominal observer-based feedback controller with integral action, are used to stabilise a steel ball at a desired position in the air. The FDI unit employs two observers that can detect the faulty and healthy situations based on a “set-separation” approach. The closed-loop system is reconfigured by means of a virtual sensor which is adapted to the fault situation detected by the FDI unit. Experimental results on a laboratory apparatus confirm the effectiveness of the proposed strategy.
{"title":"Fault-tolerant control of a magnetic levitation system using virtual-sensor-based reconfiguration","authors":"Raheleh Nazari, Alain Yetendje, M. Seron","doi":"10.1109/MED.2010.5547652","DOIUrl":"https://doi.org/10.1109/MED.2010.5547652","url":null,"abstract":"In this paper, a fault tolerant control strategy, which combines a fault detection and identification (FDI) method based on an invariant-set approach with controller reconfiguration based on the use of a virtual sensor, is implemented on a magnetic levitation (MAGLEV) system. The MAGLEV system includes two sensors which, together with a nominal observer-based feedback controller with integral action, are used to stabilise a steel ball at a desired position in the air. The FDI unit employs two observers that can detect the faulty and healthy situations based on a “set-separation” approach. The closed-loop system is reconfigured by means of a virtual sensor which is adapted to the fault situation detected by the FDI unit. Experimental results on a laboratory apparatus confirm the effectiveness of the proposed strategy.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"1 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":"130345235","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.2010.5547760
T. Villegas, M. J. Fuente, G. I. Sainz-Palmero
In this paper Dynamic Independent Component Analysis (DICA) is used for detecting and diagnosing faults in a wastewater treatment plant. ICA is a method in which the goal is to decompose a set of multivariate data into a base of statistically independent components without loss of information. The DICA monitoring method applies ICA to the augmenting matrix with time-lagged variables. The basic idea of this approach is to use DICA to extract the essential independent components that drive the process in each situation, i.e, in normal operation and in different faulty situations, and to combine them with process monitoring techniques as I2, I2e and SPE for fault detection and diagnosis. The considered charts are compared with their minimum thresholds, with and without faults. The only one that does not violate its threshold tells us the actual system situation, i.e., identifies the fault. This method is applied to the simulation of a benchmark of the biological wastewater treatment process, which is characterized by a variety of fault sources with non-Gaussian characteristics. The simulation results clearly show the advantages of DICA monitoring in comparison with DPCA monitoring.
{"title":"Fault diagnosis in a wastewater treatment plant using dynamic Independent Component Analysis","authors":"T. Villegas, M. J. Fuente, G. I. Sainz-Palmero","doi":"10.1109/MED.2010.5547760","DOIUrl":"https://doi.org/10.1109/MED.2010.5547760","url":null,"abstract":"In this paper Dynamic Independent Component Analysis (DICA) is used for detecting and diagnosing faults in a wastewater treatment plant. ICA is a method in which the goal is to decompose a set of multivariate data into a base of statistically independent components without loss of information. The DICA monitoring method applies ICA to the augmenting matrix with time-lagged variables. The basic idea of this approach is to use DICA to extract the essential independent components that drive the process in each situation, i.e, in normal operation and in different faulty situations, and to combine them with process monitoring techniques as I2, I2e and SPE for fault detection and diagnosis. The considered charts are compared with their minimum thresholds, with and without faults. The only one that does not violate its threshold tells us the actual system situation, i.e., identifies the fault. This method is applied to the simulation of a benchmark of the biological wastewater treatment process, which is characterized by a variety of fault sources with non-Gaussian characteristics. The simulation results clearly show the advantages of DICA monitoring in comparison with DPCA monitoring.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"1 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":"131049055","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.2010.5547781
M. Mihoub, A. S. Nouri, R. Ben Abdennour
In this paper, the chattering phenomenon that characterizes discrete sliding mode systems is analyzed and illustrated by a simulation example. In order to resolve this problem, in case of relatively large parameter variations and/or external disturbances, a second order discrete sliding mode observer (2-DSMO) is proposed. A stability analysis of the proposed observer is developed and a real time application on a semi batch reactor is realized. The experimental results show a good performance in terms of precision of the state estimation and of chattering reduction.
{"title":"A chattering free second order discrete sliding mode observer: An experimentation on a chemical reactor","authors":"M. Mihoub, A. S. Nouri, R. Ben Abdennour","doi":"10.1109/MED.2010.5547781","DOIUrl":"https://doi.org/10.1109/MED.2010.5547781","url":null,"abstract":"In this paper, the chattering phenomenon that characterizes discrete sliding mode systems is analyzed and illustrated by a simulation example. In order to resolve this problem, in case of relatively large parameter variations and/or external disturbances, a second order discrete sliding mode observer (2-DSMO) is proposed. A stability analysis of the proposed observer is developed and a real time application on a semi batch reactor is realized. The experimental results show a good performance in terms of precision of the state estimation and of chattering reduction.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"14 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":"127604995","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.2010.5547702
L. Rodrigues
This paper presents an inverse optimality method to solve the Hamilton-Jacobi-Bellman equation for a class of second order nonlinear problems for which the cost is quadratic and the dynamics are affine in the input. The running cost that renders the control input optimal is also explicitly determined. One special feature of this method, as compared to other methods in the literature, is the fact that the solution is obtained directly for the control input without needing to assume or compute a value function first. Additionaly, the value function can also be obtained after one solves for the control input. A Lyapunov function that proves stability of the controller is also obtained for a subclass of problems.
{"title":"An inverse optimality method to solve a class of second order optimal control problems","authors":"L. Rodrigues","doi":"10.1109/MED.2010.5547702","DOIUrl":"https://doi.org/10.1109/MED.2010.5547702","url":null,"abstract":"This paper presents an inverse optimality method to solve the Hamilton-Jacobi-Bellman equation for a class of second order nonlinear problems for which the cost is quadratic and the dynamics are affine in the input. The running cost that renders the control input optimal is also explicitly determined. One special feature of this method, as compared to other methods in the literature, is the fact that the solution is obtained directly for the control input without needing to assume or compute a value function first. Additionaly, the value function can also be obtained after one solves for the control input. A Lyapunov function that proves stability of the controller is also obtained for a subclass of problems.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"53 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114042558","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.2010.5547883
G. S. Deaecto, J. Geromel, J. Daafouz
The main purpose of this paper is to design, in a discrete-time framework, a switching function together with a dynamic output feedback switched controller that render the associated closed-loop switched linear system globally asymptotically stable and impose a pre-specified upper bound to the ℒ2 gain from the exogenous input to the controlled output. Sufficient conditions for the existence of a solution are expressed in terms of Riccati-Metzler inequalities being numerically handled by means of any LMI solver coupled to a line search. Compared to the results available in the literature to date, the ones presented here lead, in general, to less conservative conditions. The paper ends with an example of practical importance consisting the control of a mass-spring system with two conflicting criteria, representing a simplified model of flexible structures.
{"title":"Full order dynamic output feedback ℋ∞ control design for discrete-time switched linear systems","authors":"G. S. Deaecto, J. Geromel, J. Daafouz","doi":"10.1109/MED.2010.5547883","DOIUrl":"https://doi.org/10.1109/MED.2010.5547883","url":null,"abstract":"The main purpose of this paper is to design, in a discrete-time framework, a switching function together with a dynamic output feedback switched controller that render the associated closed-loop switched linear system globally asymptotically stable and impose a pre-specified upper bound to the ℒ2 gain from the exogenous input to the controlled output. Sufficient conditions for the existence of a solution are expressed in terms of Riccati-Metzler inequalities being numerically handled by means of any LMI solver coupled to a line search. Compared to the results available in the literature to date, the ones presented here lead, in general, to less conservative conditions. The paper ends with an example of practical importance consisting the control of a mass-spring system with two conflicting criteria, representing a simplified model of flexible structures.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"6 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":"127468326","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.2010.5547733
Y. Bouteraa, J. Ghommam, N. Derbel, G. Poisson
In this article, an internal and an external synchronization have been investigated, in the presence of uncertain parameters. The proposed controller is designed to synchronize the movement of robot group following the same desired trajectory. To this effect, using a consensus algorithm, we provide an adaptive control under two different schemes. In the mutual synchronization topology, robots network requires only local neighbor-to- neighbor information exchange between robots. The interaction topology of agents network is represented using an undirected graph. However the objective of the external synchronization coordinated scheme is to design interconnections and feedback controllers for slaves, such that their positions and velocities synchronize to those of the leader robot. It's assumed that robots in cooperation or in coordination have the same joints number and equivalent joint work spaces.
{"title":"Adaptive synchronization control of multi-robot teams: Cooperative and coordinated schemes","authors":"Y. Bouteraa, J. Ghommam, N. Derbel, G. Poisson","doi":"10.1109/MED.2010.5547733","DOIUrl":"https://doi.org/10.1109/MED.2010.5547733","url":null,"abstract":"In this article, an internal and an external synchronization have been investigated, in the presence of uncertain parameters. The proposed controller is designed to synchronize the movement of robot group following the same desired trajectory. To this effect, using a consensus algorithm, we provide an adaptive control under two different schemes. In the mutual synchronization topology, robots network requires only local neighbor-to- neighbor information exchange between robots. The interaction topology of agents network is represented using an undirected graph. However the objective of the external synchronization coordinated scheme is to design interconnections and feedback controllers for slaves, such that their positions and velocities synchronize to those of the leader robot. It's assumed that robots in cooperation or in coordination have the same joints number and equivalent joint work spaces.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"117 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":"122439313","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：