Pub Date : 2017-08-01DOI: 10.1109/MMAR.2017.8046965
Wojciech Giernacki, Talar Sadalla, Jarosław Gośliński, P. Kozierski, J. Coelho, S. Sladic
In this paper the synthesis of a rotational speed closed-loop control system based on a fractional-order proportional-integral (FOPI) controller is presented. In particular, it is proposed the use of the SCoMR-FOPI procedure as the controller tuning method for an unmanned aerial vehicle's propulsion unit. In this framework, both the Hermite-Biehler and Pontryagin theorems are used to predefine a stability region for the controller. Several simulations were conducted in order to try to answer the questions — is the FOPI controller good enough to be an alternative to more complex FOPID controllers? In what circumstances can it be advantageous over the ubiquitous PID? How robust this fractional-order controller is regarding the parametric uncertainty of considered propulsion unit model?
{"title":"Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller","authors":"Wojciech Giernacki, Talar Sadalla, Jarosław Gośliński, P. Kozierski, J. Coelho, S. Sladic","doi":"10.1109/MMAR.2017.8046965","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046965","url":null,"abstract":"In this paper the synthesis of a rotational speed closed-loop control system based on a fractional-order proportional-integral (FOPI) controller is presented. In particular, it is proposed the use of the SCoMR-FOPI procedure as the controller tuning method for an unmanned aerial vehicle's propulsion unit. In this framework, both the Hermite-Biehler and Pontryagin theorems are used to predefine a stability region for the controller. Several simulations were conducted in order to try to answer the questions — is the FOPI controller good enough to be an alternative to more complex FOPID controllers? In what circumstances can it be advantageous over the ubiquitous PID? How robust this fractional-order controller is regarding the parametric uncertainty of considered propulsion unit model?","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"65 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":"130836397","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.2017.8046871
W. Bożejko, Czeslaw Smutnicki, Mariusz Uchroński, M. Wodecki
Created in the 90s of the past century methods of constructing algorithms (metaheuristic), inspired by the no free lunch theorem of Wolpert and Macready, using specific properties of problems, do not meet present expectations of practitioners. Commonly used artificial intelligence algorithms in recent years have also proved to be ineffective in solving a large group of extremely difficult instances of various problems. In the work we present some empirical methods of exploration of solution space in optimization problems whose solutions are represented by permutations. While sampling the set of permissible solutions we designate the histogram of the frequency of occurrence of local minima and on this basis we verify the statistical hypothesis concerning the (normal) distribution of occurrence of these minima. Due to this process we can flexibly change the “radius” of the searched area. Computational experiments performed on examples of the job shop problem are promising and inspire to conduct further research in this direction.
{"title":"Big valley in scheduling problems landscape — Metaheuristics with reduced searching area","authors":"W. Bożejko, Czeslaw Smutnicki, Mariusz Uchroński, M. Wodecki","doi":"10.1109/MMAR.2017.8046871","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046871","url":null,"abstract":"Created in the 90s of the past century methods of constructing algorithms (metaheuristic), inspired by the no free lunch theorem of Wolpert and Macready, using specific properties of problems, do not meet present expectations of practitioners. Commonly used artificial intelligence algorithms in recent years have also proved to be ineffective in solving a large group of extremely difficult instances of various problems. In the work we present some empirical methods of exploration of solution space in optimization problems whose solutions are represented by permutations. While sampling the set of permissible solutions we designate the histogram of the frequency of occurrence of local minima and on this basis we verify the statistical hypothesis concerning the (normal) distribution of occurrence of these minima. Due to this process we can flexibly change the “radius” of the searched area. Computational experiments performed on examples of the job shop problem are promising and inspire to conduct further research in this direction.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"89 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":"126460471","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.2017.8046878
Z. Zaczkiewicz
The paper present new results of application the Laplace transform to fractional differential-algebraic systems with delays (DAD). Exponential evaluation of solutions to DAD systems with one delay is shown.
本文给出了拉普拉斯变换在分数阶时滞微分代数系统中的新结果。给出了一时滞DAD系统解的指数评价。
{"title":"On the application of Laplace transform to fractional differential-algebraic systems with delays","authors":"Z. Zaczkiewicz","doi":"10.1109/MMAR.2017.8046878","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046878","url":null,"abstract":"The paper present new results of application the Laplace transform to fractional differential-algebraic systems with delays (DAD). Exponential evaluation of solutions to DAD systems with one delay is shown.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"23 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":"127239320","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.2017.8046791
P. Nowak, Jacek Czeczot
In this paper, the practical verification of Active Disturbance Rejection Controller (ADRC) implementation for pneumatic setup is investigated. Apart from experimental results, the inverse half-rule is suggested to support ADRC tuning for the second order processes by adjusting the value of the scaling factor. This rule is based only on the approximation of the process step response by First Order plus Dead Time (FOPDT) model. The results show the practical applicability of the suggested tuning method and the superiority of ADRC control performance over the conventional PI controller.
{"title":"Practical verification of active disturbance rejection controller for the pneumatic setup","authors":"P. Nowak, Jacek Czeczot","doi":"10.1109/MMAR.2017.8046791","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046791","url":null,"abstract":"In this paper, the practical verification of Active Disturbance Rejection Controller (ADRC) implementation for pneumatic setup is investigated. Apart from experimental results, the inverse half-rule is suggested to support ADRC tuning for the second order processes by adjusting the value of the scaling factor. This rule is based only on the approximation of the process step response by First Order plus Dead Time (FOPDT) model. The results show the practical applicability of the suggested tuning method and the superiority of ADRC control performance over the conventional PI controller.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"359 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":"122754858","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.2017.8046890
T. Kaczorek, K. Borawski
The stability of time-invariant positive nonlinear systems is addressed. Necessary conditions for the stability of positive time-invariant continuous-time and discrete-time nonlinear systems are established. It is shown that the positive nonlinear systems are asymptotically stable only if the corresponding positive linear systems are asymptotically stable. Considerations are illustrated by numerical examples and simulations are performed in Matlab-Simulink environment.
{"title":"Stability of positive nonlinear systems","authors":"T. Kaczorek, K. Borawski","doi":"10.1109/MMAR.2017.8046890","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046890","url":null,"abstract":"The stability of time-invariant positive nonlinear systems is addressed. Necessary conditions for the stability of positive time-invariant continuous-time and discrete-time nonlinear systems are established. It is shown that the positive nonlinear systems are asymptotically stable only if the corresponding positive linear systems are asymptotically stable. Considerations are illustrated by numerical examples and simulations are performed in Matlab-Simulink environment.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"94 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":"121870987","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.2017.8046817
Mario Aldag, J. Horn
The performance of a gearless servo system is significantly degraded by mechanical resonances present in the system. For applications on a machine the parameters of the mechanical resonances differ from workpiece to workpiece and thus cannot be calculated a priori. Adaptive notch filters can dampen these unknown resonances online. In this paper an online mechanical resonance frequency identification algorithm and online notch filter depth tuning algorithm are presented which will be processed in a closed loop control system with a control frequency of 32 kHz in software. The performance of these algorithms is shown on a test axis and on a round table with a direct torque motor on a machine. It will furthermore be shown that multiple resonances present on the machine can be damped subsequently and the controller gains can be increased to improve the overall tracking performance.
{"title":"Damping of resonance peaks using adaptive notch filters in gearless servo drives","authors":"Mario Aldag, J. Horn","doi":"10.1109/MMAR.2017.8046817","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046817","url":null,"abstract":"The performance of a gearless servo system is significantly degraded by mechanical resonances present in the system. For applications on a machine the parameters of the mechanical resonances differ from workpiece to workpiece and thus cannot be calculated a priori. Adaptive notch filters can dampen these unknown resonances online. In this paper an online mechanical resonance frequency identification algorithm and online notch filter depth tuning algorithm are presented which will be processed in a closed loop control system with a control frequency of 32 kHz in software. The performance of these algorithms is shown on a test axis and on a round table with a direct torque motor on a machine. It will furthermore be shown that multiple resonances present on the machine can be damped subsequently and the controller gains can be increased to improve the overall tracking performance.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"5 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":"122442596","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.2017.8046820
R. Kern, N. Gehring
This paper presents a tracking controller for a long pneumatic transmission line modeled by a bidirectionally coupled system of partial differential equations (PDEs) and ordinary differential equations (ODEs). The feedforward part of the controller is designed by applying a flatness-based approach for hyperbolic PDEs to a second-order quasilinear model of the pneumatic system. The stabilizing feedback is derived by the application of a recently developed backstepping approach for coupled PDE-ODE systems to a different, more simple, linear model of the line. In simulations, the tracking controller is used to asymptotically stabilize a complex quasilinear third-order distributed parameter model of the pneumatic transmission line along a desired trajectory. This complex model has previously been shown to accurately reproduce the behavior of the pneumatic test bench considered.
{"title":"Tracking control for a long pneumatic transmission line","authors":"R. Kern, N. Gehring","doi":"10.1109/MMAR.2017.8046820","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046820","url":null,"abstract":"This paper presents a tracking controller for a long pneumatic transmission line modeled by a bidirectionally coupled system of partial differential equations (PDEs) and ordinary differential equations (ODEs). The feedforward part of the controller is designed by applying a flatness-based approach for hyperbolic PDEs to a second-order quasilinear model of the pneumatic system. The stabilizing feedback is derived by the application of a recently developed backstepping approach for coupled PDE-ODE systems to a different, more simple, linear model of the line. In simulations, the tracking controller is used to asymptotically stabilize a complex quasilinear third-order distributed parameter model of the pneumatic transmission line along a desired trajectory. This complex model has previously been shown to accurately reproduce the behavior of the pneumatic test bench considered.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"27 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":"128988998","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.2017.8046854
K. Urbanski, Krzysztof Nowopolski
The article proposes a method for estimating the shaft position of a synchronous motor with permanent magnets for the zero and very low speed range. Presented method involves a comparison of obtained shape of current hodograph to the reference pattern using the principal component analysis. The method is based on an analyzing of the high frequency currents, which are excited by high frequency additional voltages. Although this method imply the recognition of a currents hodograph, in a case of using this method, it is no necessity to calculating the ellipse position. The method can achieve satisfactory accuracy in a case the high asymmetry of the inductance, as well as in the case of small values of the inductance asymmetry ratio, also in the case of a presence of a measurement noise.
{"title":"Position estimation at zero speed for PMSM using the principal component analysis","authors":"K. Urbanski, Krzysztof Nowopolski","doi":"10.1109/MMAR.2017.8046854","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046854","url":null,"abstract":"The article proposes a method for estimating the shaft position of a synchronous motor with permanent magnets for the zero and very low speed range. Presented method involves a comparison of obtained shape of current hodograph to the reference pattern using the principal component analysis. The method is based on an analyzing of the high frequency currents, which are excited by high frequency additional voltages. Although this method imply the recognition of a currents hodograph, in a case of using this method, it is no necessity to calculating the ellipse position. The method can achieve satisfactory accuracy in a case the high asymmetry of the inductance, as well as in the case of small values of the inductance asymmetry ratio, also in the case of a presence of a measurement noise.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"19 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":"116885669","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.2017.8046808
M. Jastrzębski, J. Kabzinski, Przemysław Mosiołek
The proposed approach to the adaptive motion control in the presence of LuGre-type friction consists in the compensation of all components containing the internal model variable by a robust control term, based on a special “bounding function”. To minimize the chattering effect, this function is approximated by a linear-in-parameters model. The model is tuned on-line by the adaptive control, together with the remaining unknown parameters.
{"title":"Adaptive and robust motion control in presence of LuGre-type friction","authors":"M. Jastrzębski, J. Kabzinski, Przemysław Mosiołek","doi":"10.1109/MMAR.2017.8046808","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046808","url":null,"abstract":"The proposed approach to the adaptive motion control in the presence of LuGre-type friction consists in the compensation of all components containing the internal model variable by a robust control term, based on a special “bounding function”. To minimize the chattering effect, this function is approximated by a linear-in-parameters model. The model is tuned on-line by the adaptive control, together with the remaining unknown parameters.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"69 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":"115171464","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.2017.8046978
Arkadiusz Kwasigroch, Agnieszka Mikołajczyk, M. Grochowski
The paper presents the results of research on the use of Deep Neural Networks (DNN) for automatic classification of the skin lesions. The authors have focused on the most effective kind of DNNs for image processing, namely Convolutional Neural Networks (CNN). In particular, three kinds of CNN were analyzed: VGG19, Residual Networks (ResNet) and the hybrid of VGG19 CNN with the Support Vector Machine (SVM). The research was carried out with the use of database of over 10 000 images representing skin lesions: benign and malignant. Because of an uneven number of images representing different classes of lesions, the up-sampling of underrepresented class was applied. The comparison of the CNN structures with respect to the accuracy, sensitivity and specificity was performed using k-fold validation method.
{"title":"Deep neural networks approach to skin lesions classification — A comparative analysis","authors":"Arkadiusz Kwasigroch, Agnieszka Mikołajczyk, M. Grochowski","doi":"10.1109/MMAR.2017.8046978","DOIUrl":"https://doi.org/10.1109/MMAR.2017.8046978","url":null,"abstract":"The paper presents the results of research on the use of Deep Neural Networks (DNN) for automatic classification of the skin lesions. The authors have focused on the most effective kind of DNNs for image processing, namely Convolutional Neural Networks (CNN). In particular, three kinds of CNN were analyzed: VGG19, Residual Networks (ResNet) and the hybrid of VGG19 CNN with the Support Vector Machine (SVM). The research was carried out with the use of database of over 10 000 images representing skin lesions: benign and malignant. Because of an uneven number of images representing different classes of lesions, the up-sampling of underrepresented class was applied. The comparison of the CNN structures with respect to the accuracy, sensitivity and specificity was performed using k-fold validation method.","PeriodicalId":189753,"journal":{"name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"48 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":"125634423","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：