Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046792
K. Kula
This paper presents the control system of water level in double tank system with free flow, which uses in its structure a nonlinear model of the plant taking into account the dependence of the time constants on the value of the controlled variable. A model that reflects the properties of an object and is a part of the controller allows significant to shorten the settling time if the liquid is regulating in the upper regions of the tank.
{"title":"Open-loop control system of liquid level in double tank cascade system","authors":"K. Kula","doi":"10.1109/MMAR.2017.8046792","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046792","url":null,"abstract":"This paper presents the control system of water level in double tank system with free flow, which uses in its structure a nonlinear model of the plant taking into account the dependence of the time constants on the value of the controlled variable. A model that reflects the properties of an object and is a part of the controller allows significant to shorten the settling time if the liquid is regulating in the upper regions of the tank.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130814595","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046816
R. Stanisławski, Marek Rydel, K. Latawiec, M. Lukaniszyn, M. Galek
The paper presents a comparative analysis of extended horizon model predictive control deployed for two various state prediction algorithms designed for discrete-time fractional-order state space systems. The first one is a finite fractional difference state predictor derived on the basis of a finite-length approximation of the fractional-order state space system. The second one is a BTA-based integer-order state space approximation of the fractional-order system. Simulation results show that second approach is more promising.
{"title":"A comparative analysis of two methods for model predictive control of fractional-order systems","authors":"R. Stanisławski, Marek Rydel, K. Latawiec, M. Lukaniszyn, M. Galek","doi":"10.1109/MMAR.2017.8046816","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046816","url":null,"abstract":"The paper presents a comparative analysis of extended horizon model predictive control deployed for two various state prediction algorithms designed for discrete-time fractional-order state space systems. The first one is a finite fractional difference state predictor derived on the basis of a finite-length approximation of the fractional-order state space system. The second one is a BTA-based integer-order state space approximation of the fractional-order system. Simulation results show that second approach is more promising.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127944925","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046919
Pawel Smyczynski, Lukasz Starzec, G. Granosik
This paper contains presentation of the flexible control system for an autonomous UAV (unmanned air vehicle). The complete description of hardware and software solutions used to realize autonomous flight are presented in this work. Main objective of the research was to develop software which provides ease of adjustment and extendibility to drone system with different equipment. Presented system is utilizable on various hardware platforms and is capable of realizing different missions with minimal adjustments. Described concept significantly simplifies designing complex system by introducing modular architecture. Presented method of dividing software components into modules with single functionality minimizes amount of work necessary to adjust system in case of changes in hardware. Presented general concept of system architecture is backed up with real life working model designed for tracking and landing on moving target. This paper contains detailed description of algorithms used in the project. Landing area detection is accomplished with vision system. Canny's edge detection algorithm with contour shape analysis algorithm is used for marker detection. Lucas-Kanade optical flow algorithm is applied for tracking detected pattern. Mission planning is realized as dedicated state machine developed for this particular task. System design is built with use of ROS (Robot Operating System) and is utilizing its subscriber-publisher method of data exchange between separated software units. Especially designed frame is used as hardware platform. Exemplary system is realized with Raspberry Pi 3 as onboard computer and Pixhawk flight controller. This concept and the exemplary system is a result of preparation for Mohamed Bin Zayed International Robotic Challenge 2017 in Abu Dhabi. Results from experiments performed as trials for the competition and future prospects are presented in this paper.
{"title":"Autonomous drone control system for object tracking: Flexible system design with implementation example","authors":"Pawel Smyczynski, Lukasz Starzec, G. Granosik","doi":"10.1109/MMAR.2017.8046919","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046919","url":null,"abstract":"This paper contains presentation of the flexible control system for an autonomous UAV (unmanned air vehicle). The complete description of hardware and software solutions used to realize autonomous flight are presented in this work. Main objective of the research was to develop software which provides ease of adjustment and extendibility to drone system with different equipment. Presented system is utilizable on various hardware platforms and is capable of realizing different missions with minimal adjustments. Described concept significantly simplifies designing complex system by introducing modular architecture. Presented method of dividing software components into modules with single functionality minimizes amount of work necessary to adjust system in case of changes in hardware. Presented general concept of system architecture is backed up with real life working model designed for tracking and landing on moving target. This paper contains detailed description of algorithms used in the project. Landing area detection is accomplished with vision system. Canny's edge detection algorithm with contour shape analysis algorithm is used for marker detection. Lucas-Kanade optical flow algorithm is applied for tracking detected pattern. Mission planning is realized as dedicated state machine developed for this particular task. System design is built with use of ROS (Robot Operating System) and is utilizing its subscriber-publisher method of data exchange between separated software units. Especially designed frame is used as hardware platform. Exemplary system is realized with Raspberry Pi 3 as onboard computer and Pixhawk flight controller. This concept and the exemplary system is a result of preparation for Mohamed Bin Zayed International Robotic Challenge 2017 in Abu Dhabi. Results from experiments performed as trials for the competition and future prospects are presented in this paper.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129240616","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046855
Piotr Skupin, M. Metzger, Piotr Laszczyk, M. Niedzwiedz
The main goal is to design a hybrid exothermic chemical reactor that exhibits hysteresis or oscillatory behavior. Then, the hybrid system can be used as a benchmark plant for testing new control algorithms. In the hybrid reactor, the reactor vessel and jacket are real, but the reaction heat is simulated by means of the electric heater and a mathematical model of the process. Because in the real hybrid reactor the heating power is limited by its maximum value and the reactor content is not well-mixed, the paper discusses the influence of these factors on the dynamical behavior of the hybrid system. It is shown that the hysteresis or oscillatory behavior can be intensified, when the reactor content is poorly mixed. Furthermore, modification of the reaction parameters may also intensify the hysteresis behavior in the presence of heating power saturation.
{"title":"Dynamical behavior of the hybrid exothermic chemical reactor with imperfect mixing","authors":"Piotr Skupin, M. Metzger, Piotr Laszczyk, M. Niedzwiedz","doi":"10.1109/MMAR.2017.8046855","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046855","url":null,"abstract":"The main goal is to design a hybrid exothermic chemical reactor that exhibits hysteresis or oscillatory behavior. Then, the hybrid system can be used as a benchmark plant for testing new control algorithms. In the hybrid reactor, the reactor vessel and jacket are real, but the reaction heat is simulated by means of the electric heater and a mathematical model of the process. Because in the real hybrid reactor the heating power is limited by its maximum value and the reactor content is not well-mixed, the paper discusses the influence of these factors on the dynamical behavior of the hybrid system. It is shown that the hysteresis or oscillatory behavior can be intensified, when the reactor content is poorly mixed. Furthermore, modification of the reaction parameters may also intensify the hysteresis behavior in the presence of heating power saturation.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126778473","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046818
Z. Ogonowski, S. Ogonowski
The paper presents models and estimation algorithm of the air stream velocities in pneumatic material transport for supervisory and direct control layers of electromagnetic milling system. The algorithm uses redundant measurement system and identifies parameters of the first principle model to increase reliability of the measurements and to give rise of the fault detection system.
{"title":"Estimation problems of pneumatic transport system for electromagnetic grinding","authors":"Z. Ogonowski, S. Ogonowski","doi":"10.1109/MMAR.2017.8046818","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046818","url":null,"abstract":"The paper presents models and estimation algorithm of the air stream velocities in pneumatic material transport for supervisory and direct control layers of electromagnetic milling system. The algorithm uses redundant measurement system and identifies parameters of the first principle model to increase reliability of the measurements and to give rise of the fault detection system.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126282174","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046843
Michal Fratczak, P. Nowak, Piotr Laszczyk
In this paper, the possibility of Multi-Input Single-Output control of the heat distribution processes is investigated. Based on the validated model of the example experimental setup, the static and dynamical properties of the process are investigated and discussed in terms of control performance and efficiency. Two potential manipulating variables are considered and different control strategies are discussed, including control by only single manipulating variable and by the proper and simultaneous adjustment of both of them. The energy efficiency is also considered.
{"title":"Dynamical aspects of multi-input single-output control for heat distribution processes: Case study","authors":"Michal Fratczak, P. Nowak, Piotr Laszczyk","doi":"10.1109/MMAR.2017.8046843","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046843","url":null,"abstract":"In this paper, the possibility of Multi-Input Single-Output control of the heat distribution processes is investigated. Based on the validated model of the example experimental setup, the static and dynamical properties of the process are investigated and discussed in terms of control performance and efficiency. Two potential manipulating variables are considered and different control strategies are discussed, including control by only single manipulating variable and by the proper and simultaneous adjustment of both of them. The energy efficiency is also considered.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122311423","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046895
S. Palis, A. Kienle
Parametrization of process models is an important task and often the first step in process control and monitoring. For continuous fluidized bed spray granulation, being often described by population balance models parameter estimation is particularly challenging due to the infinite-dimensional state space. In this contribution a Lyapunov-based approach is used to derive the appropriate online parameter estimation laws for a fluidized bed spray granulation with external sieve-mill cycle.
{"title":"Online parameter identification for continuous fluidized bed spray granulation with external sieve-mill cycle","authors":"S. Palis, A. Kienle","doi":"10.1109/MMAR.2017.8046895","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046895","url":null,"abstract":"Parametrization of process models is an important task and often the first step in process control and monitoring. For continuous fluidized bed spray granulation, being often described by population balance models parameter estimation is particularly challenging due to the infinite-dimensional state space. In this contribution a Lyapunov-based approach is used to derive the appropriate online parameter estimation laws for a fluidized bed spray granulation with external sieve-mill cycle.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130152663","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046950
K. Tchoń, J. Ratajczak
This paper proposes an extension of the concept of the General Lagrangian Jacobian Inverse from driftless to control affine robotic systems, and presents the corresponding Jacobian motion planning algorithm in the parametric form. A specific choice of the Lagrangian is recommended. The motion planning algorithm is applied to the motion planning problem of a free-floating space manipulator with non-zero momentum. A conjecture is formulated that for this specific choice of the Lagrangian the motion planning algorithm outperforms the other Jacobian algorithms in terms of the length of the resulting robot trajectory.
{"title":"General Lagrangian Jacobian motion planning algorithm for affine robotic systems with application to a space manipulator","authors":"K. Tchoń, J. Ratajczak","doi":"10.1109/MMAR.2017.8046950","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046950","url":null,"abstract":"This paper proposes an extension of the concept of the General Lagrangian Jacobian Inverse from driftless to control affine robotic systems, and presents the corresponding Jacobian motion planning algorithm in the parametric form. A specific choice of the Lagrangian is recommended. The motion planning algorithm is applied to the motion planning problem of a free-floating space manipulator with non-zero momentum. A conjecture is formulated that for this specific choice of the Lagrangian the motion planning algorithm outperforms the other Jacobian algorithms in terms of the length of the resulting robot trajectory.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113985308","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046912
K. Belda, L. Pavelková
This paper deals with a discrete predictive control design for motion control of robotic systems. The design considers time-varying state-space robot model. It is assumed that used robot state has to be estimated from measured robot outputs. These outputs represent controlled quantities including a bounded noise. Considering this arrangement, the paper introduces a novel solution to the state and noise parameter estimations based on linear programming that is incorporated in the control design. Estimated states are utilised for updating state-dependent elements in the robot model and for control design itself. Estimated noise parameters are employed in advanced tuning of control parameters, namely penalisation matrices. The proposed theoretical outcomes are demonstrated on one multi-input multi-output robot-manipulator as a specific representative of robotic systems.
{"title":"Online tuned model predictive control for robotic systems with bounded noise","authors":"K. Belda, L. Pavelková","doi":"10.1109/MMAR.2017.8046912","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046912","url":null,"abstract":"This paper deals with a discrete predictive control design for motion control of robotic systems. The design considers time-varying state-space robot model. It is assumed that used robot state has to be estimated from measured robot outputs. These outputs represent controlled quantities including a bounded noise. Considering this arrangement, the paper introduces a novel solution to the state and noise parameter estimations based on linear programming that is incorporated in the control design. Estimated states are utilised for updating state-dependent elements in the robot model and for control design itself. Estimated noise parameters are employed in advanced tuning of control parameters, namely penalisation matrices. The proposed theoretical outcomes are demonstrated on one multi-input multi-output robot-manipulator as a specific representative of robotic systems.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122435565","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 : 2017-08-01DOI: 10.1109/MMAR.2017.8046806
Z. Zwierzewicz
The paper considers the problem of ship autopilot design based on Bech's model of the vessel. Since the ship model is highly nonlinear and the state vector is not completely measurable, the control system synthesis is performed by means of output feedback linearization method combined with a state observer. Due to considerable parameter variations and other substantial uncertainties a robust-adaptive version of the method has been applied. The whole control system is able to ensure tracking performance on the H∞ optimal attenuation level. This is the so-called H∞ tracking problem in an adaptive system. Simulations of the ship course-changing process have confirmed a good performance of the proposed controller.
{"title":"Design of ship course-keeping system via robust adaptive approach","authors":"Z. Zwierzewicz","doi":"10.1109/MMAR.2017.8046806","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046806","url":null,"abstract":"The paper considers the problem of ship autopilot design based on Bech's model of the vessel. Since the ship model is highly nonlinear and the state vector is not completely measurable, the control system synthesis is performed by means of output feedback linearization method combined with a state observer. Due to considerable parameter variations and other substantial uncertainties a robust-adaptive version of the method has been applied. The whole control system is able to ensure tracking performance on the H∞ optimal attenuation level. This is the so-called H∞ tracking problem in an adaptive system. Simulations of the ship course-changing process have confirmed a good performance of the proposed controller.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122438335","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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