Pub Date : 2019-10-01DOI: 10.1109/CCAC.2019.8921238
Katherin Duarte Barón, C. B. Pinilla, J. J. Gil
The parallel robots have entered the industry with the passage of time, being the mathematical model very important to the development of control strategies allowing obtain a better performance. So an analysis dynamic to find the parameters of the dynamic equation characteristic is made using the method of Euler - Lagrange, and expressions generals are found, so these can be used to other parallel robots with a major number of degrees of freedom. The simulation of the dynamic is made in Matlab, then a computed torque control is proposed and simulated using Matlab-Simulink. In this way, the performance of the controller can be analyzed.
{"title":"Dynamic Analysis And Simulation Of Computed Torque Control Of A Parallel Robot 3sps-Iu","authors":"Katherin Duarte Barón, C. B. Pinilla, J. J. Gil","doi":"10.1109/CCAC.2019.8921238","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921238","url":null,"abstract":"The parallel robots have entered the industry with the passage of time, being the mathematical model very important to the development of control strategies allowing obtain a better performance. So an analysis dynamic to find the parameters of the dynamic equation characteristic is made using the method of Euler - Lagrange, and expressions generals are found, so these can be used to other parallel robots with a major number of degrees of freedom. The simulation of the dynamic is made in Matlab, then a computed torque control is proposed and simulated using Matlab-Simulink. In this way, the performance of the controller can be analyzed.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115125945","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 : 2019-10-01DOI: 10.1109/CCAC.2019.8921247
J.P. Viana, V. Palacios, M. Sánchez, J. Espinosa
This paper presents a power system Secondary Voltage Regulation (SVC) strategy which aims to find the optimal position of shunt capacitors and shunt reactors available within a control area to lead the bus voltages to a predefined profile. An influence-based partitioning method is proposed, the buses are grouped according to their voltage sensitivity to the reactive power injected by controllable devices, a hierarchical clustering method is used for this purpose. The resulting optimization problem of each area is accelerated using a state independent linearization of the power flow equations. The proposed methodologies are applied to the Colombian-Ecuadorian power systems achieving a reduction of voltage deviation of one of the resulting areas after a disturbance.
{"title":"Multiarea Secondary Voltage Regulation with Optimal Shunt Elements Coordinated Maneuvers","authors":"J.P. Viana, V. Palacios, M. Sánchez, J. Espinosa","doi":"10.1109/CCAC.2019.8921247","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921247","url":null,"abstract":"This paper presents a power system Secondary Voltage Regulation (SVC) strategy which aims to find the optimal position of shunt capacitors and shunt reactors available within a control area to lead the bus voltages to a predefined profile. An influence-based partitioning method is proposed, the buses are grouped according to their voltage sensitivity to the reactive power injected by controllable devices, a hierarchical clustering method is used for this purpose. The resulting optimization problem of each area is accelerated using a state independent linearization of the power flow equations. The proposed methodologies are applied to the Colombian-Ecuadorian power systems achieving a reduction of voltage deviation of one of the resulting areas after a disturbance.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126792524","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 : 2019-10-01DOI: 10.1109/CCAC.2019.8921082
A. Insuasty, G. Coral, A. Pantoja
The management of urban traffic is a challenging task due to its complexity and importance in modern cities. This work propoeses two control strategies for a study case developed in a co-simulation platform between a specialized traffic simulator (VISSIM) and Matlab to implement the control methods. The proposed strategies (Particle Swarm Optimization and Replicator Dynamics) are compared with a fixed-time technique (Webster) to analize the influence of the adaptive methods on some performance indexes such as queue lenghts, vehicle fluxes, and fuel consumption in a real network.
{"title":"Control Strategies for Urban Traffic Tested in a Co-Simulation Framework","authors":"A. Insuasty, G. Coral, A. Pantoja","doi":"10.1109/CCAC.2019.8921082","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921082","url":null,"abstract":"The management of urban traffic is a challenging task due to its complexity and importance in modern cities. This work propoeses two control strategies for a study case developed in a co-simulation platform between a specialized traffic simulator (VISSIM) and Matlab to implement the control methods. The proposed strategies (Particle Swarm Optimization and Replicator Dynamics) are compared with a fixed-time technique (Webster) to analize the influence of the adaptive methods on some performance indexes such as queue lenghts, vehicle fluxes, and fuel consumption in a real network.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115866108","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 : 2019-10-01DOI: 10.1109/CCAC.2019.8921387
R. Mello, Sergio D. Sierra, M. Múnera, C. Cifuentes, Moisés R. N. Ribeiro, A. Frizera-Neto
Cloud robotics is expected to play an important role in Industry 4.0 automation processes. Nevertheless, cloud robotics research still lacks comprehensive analysis on implementation issues and standardization. Experimentation testbeds designed for cloud robotics may accelerate research by providing a range of solutions while relieving researchers from implementing the whole cloud robotics stack. In this work, we present a case study over a cloud robotics testbed infrastructure in which we implement a cloud-based real-time autonomous navigation service for autonomous unmanned ground vehicles (UGVs). An UGV located 4600 km away from the cloud platform makes use of such service to navigate throughout its environment, delegating to the cloud almost all computation. Results indicate the feasibility of real world cloud robotics implementations and we discuss the challenges and benefits of such approach.
{"title":"Cloud Robotics Experimentation Testbeds: a Cloud-Based Navigation Case Study","authors":"R. Mello, Sergio D. Sierra, M. Múnera, C. Cifuentes, Moisés R. N. Ribeiro, A. Frizera-Neto","doi":"10.1109/CCAC.2019.8921387","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921387","url":null,"abstract":"Cloud robotics is expected to play an important role in Industry 4.0 automation processes. Nevertheless, cloud robotics research still lacks comprehensive analysis on implementation issues and standardization. Experimentation testbeds designed for cloud robotics may accelerate research by providing a range of solutions while relieving researchers from implementing the whole cloud robotics stack. In this work, we present a case study over a cloud robotics testbed infrastructure in which we implement a cloud-based real-time autonomous navigation service for autonomous unmanned ground vehicles (UGVs). An UGV located 4600 km away from the cloud platform makes use of such service to navigate throughout its environment, delegating to the cloud almost all computation. Results indicate the feasibility of real world cloud robotics implementations and we discuss the challenges and benefits of such approach.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132112064","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 : 2019-10-01DOI: 10.1109/CCAC.2019.8921380
J. Barreiro‐Gomez, H. Tembine
In this paper, a MatLab-based toolbox to simulate Linear-Quadratic Mean-Field-Type Games (MFTGs) is presented. The toolbox consists of a first version that considers three different approaches for the one-dimensional case, i.e., Non-Cooperative, Fully-Cooperative and Co-opetitive MFTG scenarios are presented. In order to illustrate the use of the aforementioned tools, several examples are shown and the files corresponding to the developed functions are provided.
{"title":"MatLab Toolbox for Linear-Quadratic Mean-Field-Type Games: Version I","authors":"J. Barreiro‐Gomez, H. Tembine","doi":"10.1109/CCAC.2019.8921380","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921380","url":null,"abstract":"In this paper, a MatLab-based toolbox to simulate Linear-Quadratic Mean-Field-Type Games (MFTGs) is presented. The toolbox consists of a first version that considers three different approaches for the one-dimensional case, i.e., Non-Cooperative, Fully-Cooperative and Co-opetitive MFTG scenarios are presented. In order to illustrate the use of the aforementioned tools, several examples are shown and the files corresponding to the developed functions are provided.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134220008","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 : 2019-10-01DOI: 10.1109/CCAC.2019.8920983
Silvana Gamboa Benítez, Jackeline Abad Torres, E. Orduña
This paper presents a decentralized control of the generator’s internal angle for the removal of power deviation in transmission lines in an interconnected power system. This scheme incorporates the integral of the transferred power deviation through the lines as part of the governor’s control reference. The use of this signal produces a system response that is mathematically comparable to a second-order consensus which acts as a coupling law between the generators’ angle deviations that forces consensus. Mathematical results are presented for a linearized model whilst simulation results are produced for a non-linear model of the power system.
{"title":"Second-Order Consensus for Decentralized Transferred Power Deviation Control","authors":"Silvana Gamboa Benítez, Jackeline Abad Torres, E. Orduña","doi":"10.1109/CCAC.2019.8920983","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8920983","url":null,"abstract":"This paper presents a decentralized control of the generator’s internal angle for the removal of power deviation in transmission lines in an interconnected power system. This scheme incorporates the integral of the transferred power deviation through the lines as part of the governor’s control reference. The use of this signal produces a system response that is mathematically comparable to a second-order consensus which acts as a coupling law between the generators’ angle deviations that forces consensus. Mathematical results are presented for a linearized model whilst simulation results are produced for a non-linear model of the power system.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130515303","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 : 2019-10-01DOI: 10.1109/CCAC.2019.8921225
Andres F. Obando, Diego A. Munnoz
The main strategy to improve the productivity and performance of process with separation, reactions and classification is through the implementation of recycles of mass and energy. However, setting up recycles affect the general dynamic behavior of plants, doing them more sensitive to disturbance of low frequency. Strategies to design controllers for this kind of processes were proposed in the first middle of past century, focused in a linear analysis. Since then, no more relevant works have been proposed. This work presents an analysis of processes with recycle from state space point of view. Measures to quantify recycle effect on processes are defined, comparing the operation of the plant with ideal processes without recycle and total recycle. Those indexes are used finally to tune a PID controller that minimize the affection by recycle. Performance of proposed PID is compared with traditional designing methodologies for this kind of processes, proving to have the best regulation behavior facing disturbances.
{"title":"PID tuning methodology for processes with recycle","authors":"Andres F. Obando, Diego A. Munnoz","doi":"10.1109/CCAC.2019.8921225","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921225","url":null,"abstract":"The main strategy to improve the productivity and performance of process with separation, reactions and classification is through the implementation of recycles of mass and energy. However, setting up recycles affect the general dynamic behavior of plants, doing them more sensitive to disturbance of low frequency. Strategies to design controllers for this kind of processes were proposed in the first middle of past century, focused in a linear analysis. Since then, no more relevant works have been proposed. This work presents an analysis of processes with recycle from state space point of view. Measures to quantify recycle effect on processes are defined, comparing the operation of the plant with ideal processes without recycle and total recycle. Those indexes are used finally to tune a PID controller that minimize the affection by recycle. Performance of proposed PID is compared with traditional designing methodologies for this kind of processes, proving to have the best regulation behavior facing disturbances.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130819948","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 : 2019-10-01DOI: 10.1109/CCAC.2019.8921400
Esteban López, L. Gómez
This paper describes a method to avoid the presence of a competition between control error and observability in the objective function of NMPC implementations that are concerned with enhancing state estimation accuracy. This method involves solving a preliminary optimization to find suitable hard constraints that are included in the computation of the next control action to prompt the system to get closer to the reference even if observability terms are used instead of control error terms in the objective function. The proposed controller is illustrated and compared with an NMPC that allows the trade-off between both objectives to take place, with the former displaying a far better performance in state estimation accuracy than the latter.
{"title":"Avoiding Competing Objectives in Observability-Oriented Nonlinear Model Predictive Control","authors":"Esteban López, L. Gómez","doi":"10.1109/CCAC.2019.8921400","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921400","url":null,"abstract":"This paper describes a method to avoid the presence of a competition between control error and observability in the objective function of NMPC implementations that are concerned with enhancing state estimation accuracy. This method involves solving a preliminary optimization to find suitable hard constraints that are included in the computation of the next control action to prompt the system to get closer to the reference even if observability terms are used instead of control error terms in the objective function. The proposed controller is illustrated and compared with an NMPC that allows the trade-off between both objectives to take place, with the former displaying a far better performance in state estimation accuracy than the latter.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127847830","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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