In this paper we present and investigate a complex control framework based on Nonlinear Model Predictive Control (NMPC) to achieve the unstable equilibria, and Moving Horizon Estimation (MHE) to estimate the actual state and parameters of a Pendubot. This fast, under-actuated nonlinear mechatronic system apparently poses a challenging benchmark problem that might benefit from a nonlinear optimization scheme. To overcome the related computational difficulties we make use of the ACADO Code Generation tool allowing to export a highly efficient Gauss-Newton real-time iteration algorithm tailored to the nonlinear model dynamics while respecting imposed constraints. We show simulation results illustrating the overall control performance of the closed-loop system as well as the advantages of the nonlinear MHE-based NMPC scheme.
{"title":"Nonlinear Model Predictive Control with Moving Horizon Estimation of a Pendubot system","authors":"M. Gulan, M. Salaj, B. Rohal’-Ilkiv","doi":"10.1109/PC.2015.7169967","DOIUrl":"https://doi.org/10.1109/PC.2015.7169967","url":null,"abstract":"In this paper we present and investigate a complex control framework based on Nonlinear Model Predictive Control (NMPC) to achieve the unstable equilibria, and Moving Horizon Estimation (MHE) to estimate the actual state and parameters of a Pendubot. This fast, under-actuated nonlinear mechatronic system apparently poses a challenging benchmark problem that might benefit from a nonlinear optimization scheme. To overcome the related computational difficulties we make use of the ACADO Code Generation tool allowing to export a highly efficient Gauss-Newton real-time iteration algorithm tailored to the nonlinear model dynamics while respecting imposed constraints. We show simulation results illustrating the overall control performance of the closed-loop system as well as the advantages of the nonlinear MHE-based NMPC scheme.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122803559","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}
The presented paper introduces a relatively simple methodology for robust control system design in case of the limits on the control input signal. For this task efficient simulation and optimization tools of the MATLAB system are fruitfully exploited. The control system design is based on the algebraic approach resulting in the pole-placement problem to be solved. This task is addressed numerically using the standard MATLAB functions for nonlinear constrained optimization to meet both the constraints on the manipulated variable and robustness of the resultant closed-loop. Certain control quality criteria and a procedure are introduced for this purpose. The suggested algorithm is illustrated on the AMIRA DR300 servo-system controlled both in robust sense and with limited control action. Presented results show applicability of the suggested approach.
{"title":"Optimization of closed-loop poles for robust constrained control","authors":"F. Gazdoš, Jirí Marholt","doi":"10.1109/PC.2015.7169955","DOIUrl":"https://doi.org/10.1109/PC.2015.7169955","url":null,"abstract":"The presented paper introduces a relatively simple methodology for robust control system design in case of the limits on the control input signal. For this task efficient simulation and optimization tools of the MATLAB system are fruitfully exploited. The control system design is based on the algebraic approach resulting in the pole-placement problem to be solved. This task is addressed numerically using the standard MATLAB functions for nonlinear constrained optimization to meet both the constraints on the manipulated variable and robustness of the resultant closed-loop. Certain control quality criteria and a procedure are introduced for this purpose. The suggested algorithm is illustrated on the AMIRA DR300 servo-system controlled both in robust sense and with limited control action. Presented results show applicability of the suggested approach.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114209854","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}
This paper deals with the problem of interpolation of generated end-effector trajectories for application in robotics. For complex shaped trajectories there are often many high resolution coincident points generated from CAD/CAM systems or trajectory generators. The preprocessing (refining) is necessary for proceeding these points to the manipulator control system. Two interpolation methods are discussed: Line interpolation with polynomial blending and new proposed method Cubic spline interpolation with recalculated feed rate. Second introduced method describes how to interpolate the coincident points and compute the feed rate of the interpolation in order to reduce undesirable peaks in acceleration and ensure demanded position, velocity and acceleration profile along the trajectory. The new interpolation algorithm was implemented to the trajectory generator for complex pipe weld inspection robot. Experimental measurements made on control system of real prototype are finally presented for evaluation of proposed method performance.
{"title":"Interpolation method for robot trajectory planning","authors":"M. Svejda, Tomáš Čechura","doi":"10.1109/PC.2015.7169997","DOIUrl":"https://doi.org/10.1109/PC.2015.7169997","url":null,"abstract":"This paper deals with the problem of interpolation of generated end-effector trajectories for application in robotics. For complex shaped trajectories there are often many high resolution coincident points generated from CAD/CAM systems or trajectory generators. The preprocessing (refining) is necessary for proceeding these points to the manipulator control system. Two interpolation methods are discussed: Line interpolation with polynomial blending and new proposed method Cubic spline interpolation with recalculated feed rate. Second introduced method describes how to interpolate the coincident points and compute the feed rate of the interpolation in order to reduce undesirable peaks in acceleration and ensure demanded position, velocity and acceleration profile along the trajectory. The new interpolation algorithm was implemented to the trajectory generator for complex pipe weld inspection robot. Experimental measurements made on control system of real prototype are finally presented for evaluation of proposed method performance.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115616089","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}
G. Hulkó, C. Belavý, L. Bartalský, K. Ondrejkovic, M. Bartko
This paper deals with the control of the preheating process of a casting mould formulated as a distributed parameter system and using a programmable logic controller (PLC). The control process is first optimized by a simulation procedure using a distributed parameter control loop. The temporal part of the control synthesis is implemented on the PLC in order to control the preheating of the casting mould. A controlled preheating process is demonstrated on the experimental casting mould with embedded sensors and actuators.
{"title":"Control of the preheating of a casting mould as a distributed parameter system by PLC","authors":"G. Hulkó, C. Belavý, L. Bartalský, K. Ondrejkovic, M. Bartko","doi":"10.1109/PC.2015.7169987","DOIUrl":"https://doi.org/10.1109/PC.2015.7169987","url":null,"abstract":"This paper deals with the control of the preheating process of a casting mould formulated as a distributed parameter system and using a programmable logic controller (PLC). The control process is first optimized by a simulation procedure using a distributed parameter control loop. The temporal part of the control synthesis is implemented on the PLC in order to control the preheating of the casting mould. A controlled preheating process is demonstrated on the experimental casting mould with embedded sensors and actuators.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125052855","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}
C. Belavý, G. Hulkó, K. Ondrejkovic, M. Kubiš, L. Bartalský
In the paper, the robust control of temperature fields in the secondary cooling zone of the continuous casting process is presented. Temperature fields are represented by dynamic models in the form of a finite-dimensional approximation of distributed parameter systems. Models are created by means of validated finite element method modelling. The control synthesis is decomposed to the time and space domain. For the control synthesis with internal model control structure in the time domain, an uncertainty of the controlled system is considered and robust controllers are designed.
{"title":"Robust control of temperature field in continuous casting process as distributed parameter systems","authors":"C. Belavý, G. Hulkó, K. Ondrejkovic, M. Kubiš, L. Bartalský","doi":"10.1109/PC.2015.7169949","DOIUrl":"https://doi.org/10.1109/PC.2015.7169949","url":null,"abstract":"In the paper, the robust control of temperature fields in the secondary cooling zone of the continuous casting process is presented. Temperature fields are represented by dynamic models in the form of a finite-dimensional approximation of distributed parameter systems. Models are created by means of validated finite element method modelling. The control synthesis is decomposed to the time and space domain. For the control synthesis with internal model control structure in the time domain, an uncertainty of the controlled system is considered and robust controllers are designed.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125572839","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}
This paper presents results obtained by simulations of the exothermic semi-batch chemical reactor. The task was to suite chemical reactor dimensions to a specific process in such way, so that the process could run most effectively. An objective function which included also the reactor mathematical model was defined. The objective function was than modified to find even better results and necessary limitations and also penalizations were used to improve the dimensions searching. An evolutionary approach represented by the Self-Organizing Migrating Algorithm (SOMA) was used to minimize the defined function. Results obtained from simulations with the newly found dimensions were compared with original dimensions ones. The results showed feasibility of the dimensions design for a concrete case, the newly designed reactor embodied better performance. At the end, the possibility of the mathematical model used for the simulation refinement is mentioned.
{"title":"Proposal for a semibatch reactor model refinement suitable for its optimal geometry searching","authors":"L. Macků, D. Novosád","doi":"10.1109/PC.2015.7169952","DOIUrl":"https://doi.org/10.1109/PC.2015.7169952","url":null,"abstract":"This paper presents results obtained by simulations of the exothermic semi-batch chemical reactor. The task was to suite chemical reactor dimensions to a specific process in such way, so that the process could run most effectively. An objective function which included also the reactor mathematical model was defined. The objective function was than modified to find even better results and necessary limitations and also penalizations were used to improve the dimensions searching. An evolutionary approach represented by the Self-Organizing Migrating Algorithm (SOMA) was used to minimize the defined function. Results obtained from simulations with the newly found dimensions were compared with original dimensions ones. The results showed feasibility of the dimensions design for a concrete case, the newly designed reactor embodied better performance. At the end, the possibility of the mathematical model used for the simulation refinement is mentioned.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127856497","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}
Robust MPC is an advanced control strategy to optimize control performance subject to the constraints of the system inputs/outputs and in the presence of bounded disturbance. The paper presents novel MATLAB/Simulink MUP toolbox for on-line robust MPC design using LMIs. Software MUP represents an efficient and user-friendly tool. Therefore it is recommended to use this toolbox especially for educational purposes oriented on advanced process control. An illustrative case study of robust MPC design of the open-loop unstable system was investigated to demonstrate the basic features of the presented software.
{"title":"Software for efficient LMI-based robust MPC design","authors":"J. Oravec, M. Bakosová","doi":"10.1109/PC.2015.7169975","DOIUrl":"https://doi.org/10.1109/PC.2015.7169975","url":null,"abstract":"Robust MPC is an advanced control strategy to optimize control performance subject to the constraints of the system inputs/outputs and in the presence of bounded disturbance. The paper presents novel MATLAB/Simulink MUP toolbox for on-line robust MPC design using LMIs. Software MUP represents an efficient and user-friendly tool. Therefore it is recommended to use this toolbox especially for educational purposes oriented on advanced process control. An illustrative case study of robust MPC design of the open-loop unstable system was investigated to demonstrate the basic features of the presented software.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121185534","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}
M. Honek, L. Malinovský, K. Ondrejkovic, B. Rohal’-Ilkiv
This paper presents an approach intended for tracking of biological non-stationary signals. The proposed approach utilizes a Kalman filter autoregressive model together with a method for estimation of covariance matrices of the uncorrelated process noise and measurement noise. The method was tested in simulations, where the ability of tracking of a class of time varying autoregressive processes was the subject of our interest. The obtained results are promising in the meaning that the suggested algorithm is suitable to track the time varying autoregressive processes with sufficient accuracy.
{"title":"Tracking of non-stationary biological signals with utilizing of adaptive filtering method","authors":"M. Honek, L. Malinovský, K. Ondrejkovic, B. Rohal’-Ilkiv","doi":"10.1109/PC.2015.7169977","DOIUrl":"https://doi.org/10.1109/PC.2015.7169977","url":null,"abstract":"This paper presents an approach intended for tracking of biological non-stationary signals. The proposed approach utilizes a Kalman filter autoregressive model together with a method for estimation of covariance matrices of the uncorrelated process noise and measurement noise. The method was tested in simulations, where the ability of tracking of a class of time varying autoregressive processes was the subject of our interest. The obtained results are promising in the meaning that the suggested algorithm is suitable to track the time varying autoregressive processes with sufficient accuracy.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116342329","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}
In recent years, new control approaches have emerged to replace or augment conventional control engineering methods. The paper presents design, verification and comparison of two advanced methods (IMC, MPC) applied in the control of dynamic processes with complex dynamics. Development of advanced control methods based on robustness, optimality and prediction is an important and challenging task. The presented methods guarantee robust stability and high performance of manipulator control.
{"title":"Advanced complex dynamics process control","authors":"J. Cigánek, S. Kozák, F. Noge, F. Dietze","doi":"10.1109/PC.2015.7169948","DOIUrl":"https://doi.org/10.1109/PC.2015.7169948","url":null,"abstract":"In recent years, new control approaches have emerged to replace or augment conventional control engineering methods. The paper presents design, verification and comparison of two advanced methods (IMC, MPC) applied in the control of dynamic processes with complex dynamics. Development of advanced control methods based on robustness, optimality and prediction is an important and challenging task. The presented methods guarantee robust stability and high performance of manipulator control.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"14 Sect Epidemiol State Med 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134111351","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}
This paper deals with the robust discrete gain-scheduled controller design for uncertain linear parameter-varying (LPV) systems which ensures closed-loop stability and guaranteed cost for all scheduled parameter changes. The novel procedure is based on LPV paradigm, Lyapunov theory of stability and guaranteed cost from LQ theory. To access the performance quality a quadratic cost function is used, where weighting matrices are time varying matrices which depends on scheduled parameter. The obtained design procedures are in the form of bilinear matrix inequalities (BMI). The class of control structure includes decentralized fixed order output feedback like PID (PSD) controller. Numerical examples illustrate the effectiveness of the proposed approach.
{"title":"Robust discrete gain-scheduled controller design for uncertain LPV systems","authors":"Adrian Ilka, V. Veselý","doi":"10.1109/PC.2015.7169980","DOIUrl":"https://doi.org/10.1109/PC.2015.7169980","url":null,"abstract":"This paper deals with the robust discrete gain-scheduled controller design for uncertain linear parameter-varying (LPV) systems which ensures closed-loop stability and guaranteed cost for all scheduled parameter changes. The novel procedure is based on LPV paradigm, Lyapunov theory of stability and guaranteed cost from LQ theory. To access the performance quality a quadratic cost function is used, where weighting matrices are time varying matrices which depends on scheduled parameter. The obtained design procedures are in the form of bilinear matrix inequalities (BMI). The class of control structure includes decentralized fixed order output feedback like PID (PSD) controller. Numerical examples illustrate the effectiveness of the proposed approach.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"25 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123691674","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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