Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547874
D. Ichalal, B. Marx, J. Ragot, D. Maquin
A new actuator fault tolerant control strategy is proposed for nonlinear Takagi-Sugeno (T-S) systems. The control law aims to compensate the actuator faults and allows the system states to track a reference corresponding to a fault free situation. The design of such a control law requires the knowledge of the faults, this task is achieved with a proportional integral observer (PIO). The robust stability of the system with the fault tolerant control law is analyzed with the Lyapunov theory and the ℒ2 optimization. Sufficient stability conditions are obtained in terms of linear matrix inequalities (LMIs). The gains of the FTC are obtained by solving these LMIs. A simulation example is finally proposed.
{"title":"Observer based actuator fault tolerant control for nonlinear Takagi-Sugeno systems : an LMI approach","authors":"D. Ichalal, B. Marx, J. Ragot, D. Maquin","doi":"10.1109/MED.2010.5547874","DOIUrl":"https://doi.org/10.1109/MED.2010.5547874","url":null,"abstract":"A new actuator fault tolerant control strategy is proposed for nonlinear Takagi-Sugeno (T-S) systems. The control law aims to compensate the actuator faults and allows the system states to track a reference corresponding to a fault free situation. The design of such a control law requires the knowledge of the faults, this task is achieved with a proportional integral observer (PIO). The robust stability of the system with the fault tolerant control law is analyzed with the Lyapunov theory and the ℒ2 optimization. Sufficient stability conditions are obtained in terms of linear matrix inequalities (LMIs). The gains of the FTC are obtained by solving these LMIs. A simulation example is finally proposed.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"65 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":"124374154","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.2010.5547883
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.2010.5547816
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.2010.5547652
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.2010.5547762
A. Benaicha, G. Mourot, Mohamed Guerfel, K. BenOthman, J. Ragot
In this paper, a new method is proposed to determine the structure of PCA models for system diagnosis. This method based on the principle of variable reconstruction determines PCA models in order to optimize detection and isolation of simple and multiple faults affecting redundant or non redundant variables. This new method has been validated by a simulation example of a nonlinear system.
{"title":"A new method for determining PCA models for system diagnosis","authors":"A. Benaicha, G. Mourot, Mohamed Guerfel, K. BenOthman, J. Ragot","doi":"10.1109/MED.2010.5547762","DOIUrl":"https://doi.org/10.1109/MED.2010.5547762","url":null,"abstract":"In this paper, a new method is proposed to determine the structure of PCA models for system diagnosis. This method based on the principle of variable reconstruction determines PCA models in order to optimize detection and isolation of simple and multiple faults affecting redundant or non redundant variables. This new method has been validated by a simulation example of a nonlinear system.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"70 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":"134462164","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.2010.5547666
R. Gessing
It is shown that for strongly nonlinear plants taken from MATLAB Neural Network (NN) Control Systems Demos, the conventional controllers PD and P, which fulfill the demands of formulated in the paper the Criterion RD1 (Relative Degree =1), are significantly better then NN controllers appearing in these Demos. Moreover the conventional controllers operate well for significantly larger changes of the reference signal without the need of their re-tuning.
{"title":"Whether and when the conventional controllers may operate well with nonlinear plants","authors":"R. Gessing","doi":"10.1109/MED.2010.5547666","DOIUrl":"https://doi.org/10.1109/MED.2010.5547666","url":null,"abstract":"It is shown that for strongly nonlinear plants taken from MATLAB Neural Network (NN) Control Systems Demos, the conventional controllers PD and P, which fulfill the demands of formulated in the paper the Criterion RD1 (Relative Degree =1), are significantly better then NN controllers appearing in these Demos. Moreover the conventional controllers operate well for significantly larger changes of the reference signal without the need of their re-tuning.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"27 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133291883","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.2010.5547611
P. Ignaciuk, A. Bartoszewicz
In systems with deterministic and constant delay Smith predictor offers a very efficient method for compensating dead-time. However, it is vulnerable to model uncertainties and parameter changes, in particular to delay variations. In this paper, we provide an alternative solution for compensating dead-time in systems with uncertain and time-varying delay. Two compensator structures are proposed - one for linear systems with known nominal delay (and unknown variation pattern), and another for nonlinear plants and/or systems with unknown delay. The proposed solutions retain conceptual simplicity of the traditional Smith compensator and are applicable to a large variety of control problems as demonstrated in case studies.
{"title":"Dead-time compensation through direct input measurement in systems with unknown time-varying delay","authors":"P. Ignaciuk, A. Bartoszewicz","doi":"10.1109/MED.2010.5547611","DOIUrl":"https://doi.org/10.1109/MED.2010.5547611","url":null,"abstract":"In systems with deterministic and constant delay Smith predictor offers a very efficient method for compensating dead-time. However, it is vulnerable to model uncertainties and parameter changes, in particular to delay variations. In this paper, we provide an alternative solution for compensating dead-time in systems with uncertain and time-varying delay. Two compensator structures are proposed - one for linear systems with known nominal delay (and unknown variation pattern), and another for nonlinear plants and/or systems with unknown delay. The proposed solutions retain conceptual simplicity of the traditional Smith compensator and are applicable to a large variety of control problems as demonstrated in case studies.","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":"124333810","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}
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