Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957466
R. Noack, T. Jeinsch, Adel Haghani, N. Weinhold
The applications of iterative learning control (ILC) in control of modern process and mechatronic system have received more attentions in recent years. This is due the fact that ILC does not depend on physical model of the system. In the application of ILC in automotive industry, the restriction is that these methods calculate the input value and the tuning of an available controller with fixed structure is not possible. To solve this problem a method is proposed in this paper which consists of two main steps: the first step is the calculation of an input variable, based on an ILC algorithm, and the second step is the optimization of the given parameters of the feedforward controller. The performance and effectiveness of the proposed method are shown with experiments on a test vehicle with an one stage turbocharged gasoline motor with wastegate.
{"title":"Data-driven self-tuning control by iterative learning control with application to optimize the control parameter of turbocharged engines","authors":"R. Noack, T. Jeinsch, Adel Haghani, N. Weinhold","doi":"10.1109/MMAR.2014.6957466","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957466","url":null,"abstract":"The applications of iterative learning control (ILC) in control of modern process and mechatronic system have received more attentions in recent years. This is due the fact that ILC does not depend on physical model of the system. In the application of ILC in automotive industry, the restriction is that these methods calculate the input value and the tuning of an available controller with fixed structure is not possible. To solve this problem a method is proposed in this paper which consists of two main steps: the first step is the calculation of an input variable, based on an ILC algorithm, and the second step is the optimization of the given parameters of the feedforward controller. The performance and effectiveness of the proposed method are shown with experiments on a test vehicle with an one stage turbocharged gasoline motor with wastegate.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129646039","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957350
Z. Ogonowski
The paper presents feedback control algorithm for active vehicle suspension systems. The algorithm uses internal model of the system which is composed with two parts: disturbances path and control path. The first is highly non-stationary while the second is constituted with relatively fixed-parameters. This difference justifies the use of limited authority adaptive control, where only disturbance path is subjected to identifycation. The controller is derived in a direct adaptive form where the parameters of the controller are identified directly. Pole placement methodology is also involved to provide a room for upper-layer optimization which allows for inclusion additional requirements, for example optimal contact between wheels and road surface.
{"title":"Active suspension with a limited authority adaptive control","authors":"Z. Ogonowski","doi":"10.1109/MMAR.2014.6957350","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957350","url":null,"abstract":"The paper presents feedback control algorithm for active vehicle suspension systems. The algorithm uses internal model of the system which is composed with two parts: disturbances path and control path. The first is highly non-stationary while the second is constituted with relatively fixed-parameters. This difference justifies the use of limited authority adaptive control, where only disturbance path is subjected to identifycation. The controller is derived in a direct adaptive form where the parameters of the controller are identified directly. Pole placement methodology is also involved to provide a room for upper-layer optimization which allows for inclusion additional requirements, for example optimal contact between wheels and road surface.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129898127","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957364
P. Leśniewski, A. Bartoszewicz
In this paper a novel non-switching type reaching law for quasi-sliding mode control of linear discrete time systems is proposed. The reaching law determines the sliding variable rate of change proportional to the negative value of the hyperbolic tangent of this variable. The approach proposed in this paper helps satisfy input and state constraints in the controlled system, and at the same time it does not unduly damp the system convergence rate in the vicinity of the sliding plane. In the second part of this paper we apply the proposed reaching law to solve the periodic review inventory management problem, with suppliers' constraints explicitly taken into account.
{"title":"Discrete time sliding mode inventory management — Hyperbolic tangent reaching law based approach","authors":"P. Leśniewski, A. Bartoszewicz","doi":"10.1109/MMAR.2014.6957364","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957364","url":null,"abstract":"In this paper a novel non-switching type reaching law for quasi-sliding mode control of linear discrete time systems is proposed. The reaching law determines the sliding variable rate of change proportional to the negative value of the hyperbolic tangent of this variable. The approach proposed in this paper helps satisfy input and state constraints in the controlled system, and at the same time it does not unduly damp the system convergence rate in the vicinity of the sliding plane. In the second part of this paper we apply the proposed reaching law to solve the periodic review inventory management problem, with suppliers' constraints explicitly taken into account.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130833678","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957319
P. Augusta, K. Gałkowski
In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat controllers. The algorithm is based on polynomial methods. It consists in solving a linear equation with bi-variate polynomials. Numerical example and simulations are included.
{"title":"An algorithm for design of deadbeat controllers of spatially invariant systems","authors":"P. Augusta, K. Gałkowski","doi":"10.1109/MMAR.2014.6957319","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957319","url":null,"abstract":"In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat controllers. The algorithm is based on polynomial methods. It consists in solving a linear equation with bi-variate polynomials. Numerical example and simulations are included.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128965124","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957457
D. Bazylev, A. Kremlev, A. Margun, K. Zimenko
This paper is devoted to the problem of stabilization of a biped robot that balances on a planar nonstationary board. The incline of the board on which the robot stands can vary arbitrarily. This article is a continuation of previous work. Here we present an improved control system of the robot, assembled on the basis of a robotic kit Bioloid. The main difference between this work and the previous one consists in a more profound study of robot path planning. Moreover, for a more accurate calculation of the desired trajectory, we change the data on which the desired path is determined. In the designed control system readings of the accelerometer and gyroscope installed in the robot torso are used.
{"title":"Control system of biped robot balancing on board","authors":"D. Bazylev, A. Kremlev, A. Margun, K. Zimenko","doi":"10.1109/MMAR.2014.6957457","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957457","url":null,"abstract":"This paper is devoted to the problem of stabilization of a biped robot that balances on a planar nonstationary board. The incline of the board on which the robot stands can vary arbitrarily. This article is a continuation of previous work. Here we present an improved control system of the robot, assembled on the basis of a robotic kit Bioloid. The main difference between this work and the previous one consists in a more profound study of robot path planning. Moreover, for a more accurate calculation of the desired trajectory, we change the data on which the desired path is determined. In the designed control system readings of the accelerometer and gyroscope installed in the robot torso are used.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125963121","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957331
Hao Sun, Thomas Meinlschmidt, H. Aschemann
A comparison of two passivity-based control strategies - with and without an integral control action - is proposed in this paper for the tracking control of a hydrostatic transmission, which is commercially used in working machines. An unknown leakage volume flow and a resulting load torque are taken into account as lumped disturbances. These disturbances and two unmeasurable state variables - the normalised swashplate angle and the normalised bent axis angle - are estimated by a nonlinear observer. Thereby, a high tracking accuracy can be achieved for the normalised bent axis angle and the angular velocity of the motor as controlled variables. The efficiency of the proposed controllers is demonstrated by both simulations and experiments.
{"title":"Passivity-based control of a hydrostatic transmission with unknown disturbances","authors":"Hao Sun, Thomas Meinlschmidt, H. Aschemann","doi":"10.1109/MMAR.2014.6957331","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957331","url":null,"abstract":"A comparison of two passivity-based control strategies - with and without an integral control action - is proposed in this paper for the tracking control of a hydrostatic transmission, which is commercially used in working machines. An unknown leakage volume flow and a resulting load torque are taken into account as lumped disturbances. These disturbances and two unmeasurable state variables - the normalised swashplate angle and the normalised bent axis angle - are estimated by a nonlinear observer. Thereby, a high tracking accuracy can be achieved for the normalised bent axis angle and the angular velocity of the motor as controlled variables. The efficiency of the proposed controllers is demonstrated by both simulations and experiments.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127265225","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957355
J. Sasiadek, A. Green, S. Ulrich, A. Krzyżak
We discuss nonadaptive and adaptive control strategies for tracking the end effector of a flexible robot with collocated and noncollocated sensors attached at the end effector and 0.5m from the elbow joint. Collocated joint sensors satisfy hyperstability conditions but are unable to capture nonminimum phase (NMP) response which is achieved by noncollocated sensors. Nonadaptive control with collocated and noncollocated sensors results in poor tracking, but adaptive control leads to excellent tracking regardless of sensor location. Nonparametric identification procedure for the flexible robot is also presented and its convergence is discussed.
{"title":"Nonparametric identification and control of flexible joint robot manipulator","authors":"J. Sasiadek, A. Green, S. Ulrich, A. Krzyżak","doi":"10.1109/MMAR.2014.6957355","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957355","url":null,"abstract":"We discuss nonadaptive and adaptive control strategies for tracking the end effector of a flexible robot with collocated and noncollocated sensors attached at the end effector and 0.5m from the elbow joint. Collocated joint sensors satisfy hyperstability conditions but are unable to capture nonminimum phase (NMP) response which is achieved by noncollocated sensors. Nonadaptive control with collocated and noncollocated sensors results in poor tracking, but adaptive control leads to excellent tracking regardless of sensor location. Nonparametric identification procedure for the flexible robot is also presented and its convergence is discussed.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127629515","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957422
A. Rauh, Luise Senkel, H. Aschemann
Control design for distributed parameter systems usually makes use of either finite volume or finite element approximations of the governing partial differential equations (PDEs). The aim of using both finite volume and finite element models is to obtain a finite-dimensional state-space representation of the dynamics which can be used directly for the design of feedback or feedforward controllers as well as state observers. However, finite volume models only provide a coarse description of flow and storage variables since these are assumed to be piecewise homogeneous in the corresponding volume elements. In contrast, finite element models exploit parameterizable ansatz functions such as polynomials for each element so that smooth representations of the before-mentioned quantities become possible. However, classical finite element techniques do not provide reliable measures for the quantification of the achievable approximation quality. This drawback is removed by the method of integrodifferential relations (MIDR). Simulations and experiments for the observer-based control of a spatially two-dimensional heat transfer process with distributed control inputs are presented in this paper to visualize differences between finite element models relying on the MIDR and finite volume representations.
{"title":"Finite volume and finite element models for real-time control and state estimation of two-dimensional heat transfer processes","authors":"A. Rauh, Luise Senkel, H. Aschemann","doi":"10.1109/MMAR.2014.6957422","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957422","url":null,"abstract":"Control design for distributed parameter systems usually makes use of either finite volume or finite element approximations of the governing partial differential equations (PDEs). The aim of using both finite volume and finite element models is to obtain a finite-dimensional state-space representation of the dynamics which can be used directly for the design of feedback or feedforward controllers as well as state observers. However, finite volume models only provide a coarse description of flow and storage variables since these are assumed to be piecewise homogeneous in the corresponding volume elements. In contrast, finite element models exploit parameterizable ansatz functions such as polynomials for each element so that smooth representations of the before-mentioned quantities become possible. However, classical finite element techniques do not provide reliable measures for the quantification of the achievable approximation quality. This drawback is removed by the method of integrodifferential relations (MIDR). Simulations and experiments for the observer-based control of a spatially two-dimensional heat transfer process with distributed control inputs are presented in this paper to visualize differences between finite element models relying on the MIDR and finite volume representations.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114388257","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957366
Walaa Gouda, W. Gomaa
In this paper, an approach to whole body motion planning for humanoid robots using only onboard sensing is presented. Reliable and accurate motion sequence of motions for humanoid robots operating in complex indoor environments is a prerequisite for robots to fulfill high-level task. The design of complex dynamic motions is achievable only through the use of robot kinematics, which is an application of geometry to the study of arbitrary robotic chains. A sequence of actions for avoiding obstacles including, step over actions, as well as step onto/down actions is presented. As demonstrated in simulation as well as real world experiments with NAO humanoid the validity of the approach is examined and evaluated.
{"title":"NAO humanoid robot motion planning based on its own kinematics","authors":"Walaa Gouda, W. Gomaa","doi":"10.1109/MMAR.2014.6957366","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957366","url":null,"abstract":"In this paper, an approach to whole body motion planning for humanoid robots using only onboard sensing is presented. Reliable and accurate motion sequence of motions for humanoid robots operating in complex indoor environments is a prerequisite for robots to fulfill high-level task. The design of complex dynamic motions is achievable only through the use of robot kinematics, which is an application of geometry to the study of arbitrary robotic chains. A sequence of actions for avoiding obstacles including, step over actions, as well as step onto/down actions is presented. As demonstrated in simulation as well as real world experiments with NAO humanoid the validity of the approach is examined and evaluated.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"141 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121337196","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957342
Pawel Ziubinski, D. Sierociuk
This paper presents generalization on the Improved Fractional Kalman Filter (ExFKF) for estimation over lossy network with packets delay. This generalization is based on the infinite dimensional form of a linear discrete fractional variable order state-space system and measurements equation augmentation. Some simulation cases are given in order to demonstrate the effectiveness of the proposed algorithms, with improvements in terms of estimation and smoothing results.
{"title":"Improved fractional Kalman filter for variable order systems with lossy and delayed network","authors":"Pawel Ziubinski, D. Sierociuk","doi":"10.1109/MMAR.2014.6957342","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957342","url":null,"abstract":"This paper presents generalization on the Improved Fractional Kalman Filter (ExFKF) for estimation over lossy network with packets delay. This generalization is based on the infinite dimensional form of a linear discrete fractional variable order state-space system and measurements equation augmentation. Some simulation cases are given in order to demonstrate the effectiveness of the proposed algorithms, with improvements in terms of estimation and smoothing results.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123115605","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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