Pub Date : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258698
A. Gholaminejad, J. Poshtan
Automatic fault diagnosis is one of the most essential part of industries. A diagnosis system with a good performance can be so effective in cost reduction and safety increase in different industries. Pattern recognition methods due to their simplicity and suitable operation are one of the most used methods. Besides induction motors are of the most important and applicable part of any industry. In this paper some of the most popular methods of pattern recognition used in fault diagnosis of induction motor's rotor and stator fault performance are discussed.
{"title":"A comparison between some pattern recognition based fault diagnosis methods of induction motor","authors":"A. Gholaminejad, J. Poshtan","doi":"10.1109/ICCIAUTOM.2017.8258698","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258698","url":null,"abstract":"Automatic fault diagnosis is one of the most essential part of industries. A diagnosis system with a good performance can be so effective in cost reduction and safety increase in different industries. Pattern recognition methods due to their simplicity and suitable operation are one of the most used methods. Besides induction motors are of the most important and applicable part of any industry. In this paper some of the most popular methods of pattern recognition used in fault diagnosis of induction motor's rotor and stator fault performance are discussed.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125760937","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258693
Zahra Fereidan Sfahani, A. Vali, V. Behnamgol
Although pure pursuit guidance law is widely applicable in military sector and for guidance of aerial robots, however it is less addressed in the field of guiding underwater vehicles, with a different application of industrial sector. The attempt in this paper is to utilize this guidance method for tracking underwater pipelines which is actually of high importance in oil industry. For this purpose and considering the existence of uncertainties and disturbances under the seas, a robust method should be utilized for controlling underwater vehicles. Therefore in this paper, considering nonlinear dynamics of these vehicles, sliding mode control method is utilized and in order to come close to real conditions and in order to consider the uncertainty of the system, some of the nonlinear factors existing in the dynamics of the modeled system are actually disregarded in the controller and then the created error in the output is compensated with controlling attempts.
{"title":"Pure pursuit guidance and sliding mode control of an autonomous underwater vehicle for pipeline tracking","authors":"Zahra Fereidan Sfahani, A. Vali, V. Behnamgol","doi":"10.1109/ICCIAUTOM.2017.8258693","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258693","url":null,"abstract":"Although pure pursuit guidance law is widely applicable in military sector and for guidance of aerial robots, however it is less addressed in the field of guiding underwater vehicles, with a different application of industrial sector. The attempt in this paper is to utilize this guidance method for tracking underwater pipelines which is actually of high importance in oil industry. For this purpose and considering the existence of uncertainties and disturbances under the seas, a robust method should be utilized for controlling underwater vehicles. Therefore in this paper, considering nonlinear dynamics of these vehicles, sliding mode control method is utilized and in order to come close to real conditions and in order to consider the uncertainty of the system, some of the nonlinear factors existing in the dynamics of the modeled system are actually disregarded in the controller and then the created error in the output is compensated with controlling attempts.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123680298","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258658
Y. Salehi, M. A. Sheikhi, M. Motaharifar, H. Taghirad
In this paper robust controller synthesis for a nonminimum phase (NMP) system in presence of actuator saturation is elaborated. The nonlinear model of a system is encapsulated with a nominal model and multiplicative uncertainties. Two robust control approaches namely mixed sensitivity H∞ and μ-synthesis are comparedfrom the robust stability and robust performance points of views. Finally, through simulation results it is demonstrated that both the robust controller approaches have superior performance compared to that of a conventional PID controller, while H∞ controller performs best.
{"title":"Robust control of a non-minimum phase system in presence of actuator saturation","authors":"Y. Salehi, M. A. Sheikhi, M. Motaharifar, H. Taghirad","doi":"10.1109/ICCIAUTOM.2017.8258658","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258658","url":null,"abstract":"In this paper robust controller synthesis for a nonminimum phase (NMP) system in presence of actuator saturation is elaborated. The nonlinear model of a system is encapsulated with a nominal model and multiplicative uncertainties. Two robust control approaches namely mixed sensitivity H∞ and μ-synthesis are comparedfrom the robust stability and robust performance points of views. Finally, through simulation results it is demonstrated that both the robust controller approaches have superior performance compared to that of a conventional PID controller, while H∞ controller performs best.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128770852","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258666
F. Baghbani, M. Akbarzadeh-T., M. Sistani
Here, an adaptive fuzzy control structure is proposed for the formation control problem of a class of uncertain affine nonlinear multi-agent systems. By introducing a position error and an appropriate artificial potential function, the formation control problem of the multi-agent system with fully unknown dynamics is solved. The agents should keep a desired distance from a time-varying reference as their virtual leader. The adaptive fuzzy controller for each agent includes terms of artificial potential function and H» robust concept. The fully unknown dynamics of each agent are approximated by fuzzy logic systems. Using Lyapunov stability theory, suitable adaptive laws are derived for the parameters of the fuzzy system, and the H» performance criteria of the overall structure is achieved. The proposed method is applied to the formation control of five cooperative inverted pendulum systems. Results show promising performance in presence of external sinusoidal disturbance and measurement noise.
{"title":"Adaptive fuzzy formation control for a class of uncertain nonlinear multi-agent systems","authors":"F. Baghbani, M. Akbarzadeh-T., M. Sistani","doi":"10.1109/ICCIAUTOM.2017.8258666","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258666","url":null,"abstract":"Here, an adaptive fuzzy control structure is proposed for the formation control problem of a class of uncertain affine nonlinear multi-agent systems. By introducing a position error and an appropriate artificial potential function, the formation control problem of the multi-agent system with fully unknown dynamics is solved. The agents should keep a desired distance from a time-varying reference as their virtual leader. The adaptive fuzzy controller for each agent includes terms of artificial potential function and H» robust concept. The fully unknown dynamics of each agent are approximated by fuzzy logic systems. Using Lyapunov stability theory, suitable adaptive laws are derived for the parameters of the fuzzy system, and the H» performance criteria of the overall structure is achieved. The proposed method is applied to the formation control of five cooperative inverted pendulum systems. Results show promising performance in presence of external sinusoidal disturbance and measurement noise.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129566613","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258669
Hamed Mehrivash, M. Shafiei
This paper investigates a Robust Model Predictive Control (RMPC) for interval discrete-time linear positive systems with time-delays. A transformation is applied to the interval linear time-delay positive system to turn it into an interval linear positive system without delay. Then a single-step linear programming-based robust model predictive controller with dynamic feedback is employed to optimally stabilize the system. All the stability conditions are in a form that can be solved by linprog Toolbox in Matlab which is more effective than LMIs for positive systems. Meanwhile, in the proposed method computational burden (off-line and on-line) is very low. Finally an illustrative example is presented to show the effectiveness of the proposed method.
{"title":"Robust model predictive control of discrete-time delayed positive systems","authors":"Hamed Mehrivash, M. Shafiei","doi":"10.1109/ICCIAUTOM.2017.8258669","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258669","url":null,"abstract":"This paper investigates a Robust Model Predictive Control (RMPC) for interval discrete-time linear positive systems with time-delays. A transformation is applied to the interval linear time-delay positive system to turn it into an interval linear positive system without delay. Then a single-step linear programming-based robust model predictive controller with dynamic feedback is employed to optimally stabilize the system. All the stability conditions are in a form that can be solved by linprog Toolbox in Matlab which is more effective than LMIs for positive systems. Meanwhile, in the proposed method computational burden (off-line and on-line) is very low. Finally an illustrative example is presented to show the effectiveness of the proposed method.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124525633","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258656
A. Poletykin, E. Jharko, N. Mengazetdinov, V. Promyslov
The paper is devoted to upper level control systems of NPP APCS (automated control systems of nuclear power plants). In the paper, a critical analysis of achievements in this area in the light of changes in the science, engineering, and society having taken places within the last 15 years is presented. Approaches to creating the new generation of upper level control systems for NPP APCS are considered. A description of new features of the next generation systems is proposed.
{"title":"Some issues of creating the new generation of upper level control systems of NPP APCS","authors":"A. Poletykin, E. Jharko, N. Mengazetdinov, V. Promyslov","doi":"10.1109/ICCIAUTOM.2017.8258656","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258656","url":null,"abstract":"The paper is devoted to upper level control systems of NPP APCS (automated control systems of nuclear power plants). In the paper, a critical analysis of achievements in this area in the light of changes in the science, engineering, and society having taken places within the last 15 years is presented. Approaches to creating the new generation of upper level control systems for NPP APCS are considered. A description of new features of the next generation systems is proposed.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121250718","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8373943
M. Fattahi
This paper presents a new method for design of controller in proton exchange membrane fuel cell (PEMFC) system for residential power generation. At first, the dynamical model of system consists of a fuel cell stack model, reformer model and DC/AC inverter is described. This model can be used to study the dynamical behavior of the system in stand-alone and grid connected mode. Then, fuzzy logic controller (FLC) and fuzzy sliding mode controller (FSMC) are studied to control the hydrogen flow of fuel cell in order to enhance the dynamical response of FC. It can be seen, the dynamical behavior of the system with FSMC is more improved as compared to that of the FLC in terms of hydrogen flow, output DC voltage of fuel cell and output power. Simulation results confirm our allegation.
{"title":"Fuzzy sliding mode control of hydrogen flow in PEM fuel cell system for residential power generation","authors":"M. Fattahi","doi":"10.1109/ICCIAUTOM.2017.8373943","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8373943","url":null,"abstract":"This paper presents a new method for design of controller in proton exchange membrane fuel cell (PEMFC) system for residential power generation. At first, the dynamical model of system consists of a fuel cell stack model, reformer model and DC/AC inverter is described. This model can be used to study the dynamical behavior of the system in stand-alone and grid connected mode. Then, fuzzy logic controller (FLC) and fuzzy sliding mode controller (FSMC) are studied to control the hydrogen flow of fuel cell in order to enhance the dynamical response of FC. It can be seen, the dynamical behavior of the system with FSMC is more improved as compared to that of the FLC in terms of hydrogen flow, output DC voltage of fuel cell and output power. Simulation results confirm our allegation.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117351373","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258695
H. Chehardoli, M. Homaeinezhad
This paper deals with second-order consensus of inter-connected heterogeneous vehicular platoons by considering collision avoidance and string stability. A second order differential equation is employed to describe the upper level dynamics of each vehicle. Both communication and parasitic delays are investigated in stability analysis. The communication topology of all traffic flow is assumed to be unidirectional. Constant time headway policy (CTHP) is used to adjust the interplatoon and intra-platoon spacing. By using the feedback information of preceding vehicle's acceleration, the closed-loop dynamics of platoon will be decoupled. By introducing new theorems, sufficient conditions on control parameters satisfying both inter / intra-platoon asymptotic stability, collision avoidance and string stability are derived. Simulation results are provided to illustrate the effectiveness of the proposed approaches.
{"title":"Second-order decentralized safe consensus of inter-connected heterogeneous vehicular platoons","authors":"H. Chehardoli, M. Homaeinezhad","doi":"10.1109/ICCIAUTOM.2017.8258695","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258695","url":null,"abstract":"This paper deals with second-order consensus of inter-connected heterogeneous vehicular platoons by considering collision avoidance and string stability. A second order differential equation is employed to describe the upper level dynamics of each vehicle. Both communication and parasitic delays are investigated in stability analysis. The communication topology of all traffic flow is assumed to be unidirectional. Constant time headway policy (CTHP) is used to adjust the interplatoon and intra-platoon spacing. By using the feedback information of preceding vehicle's acceleration, the closed-loop dynamics of platoon will be decoupled. By introducing new theorems, sufficient conditions on control parameters satisfying both inter / intra-platoon asymptotic stability, collision avoidance and string stability are derived. Simulation results are provided to illustrate the effectiveness of the proposed approaches.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115772403","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258705
S. Taghvaei, M. Eghtesad
Stability analysis of multi-agent dynamical systems has been an active area of research recently. In this paper, a configuration space approach is used to investigate the stability of a multi-agent system with first-order dynamics and continuous or discontinuous aggregating function interconnected through a digraph. This approach is shown to be a more convenient tool in modeling and investigating stability of the system. Describing the common case of a connected swarm graph in the configuration space form, the general mathematical model is proposed and the stability and finite time convergence of such consensus problem is proved through a Lyuponov Function approach. Moreover a novel discontinuous aggregating function is proposed which shows attractive and repulsive behavior without getting infinite value. Asymptotic stability is guaranteed for the model. Simulation results show the validity of the approach.
{"title":"Configuration space approach to analysis of consensus and formation","authors":"S. Taghvaei, M. Eghtesad","doi":"10.1109/ICCIAUTOM.2017.8258705","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258705","url":null,"abstract":"Stability analysis of multi-agent dynamical systems has been an active area of research recently. In this paper, a configuration space approach is used to investigate the stability of a multi-agent system with first-order dynamics and continuous or discontinuous aggregating function interconnected through a digraph. This approach is shown to be a more convenient tool in modeling and investigating stability of the system. Describing the common case of a connected swarm graph in the configuration space form, the general mathematical model is proposed and the stability and finite time convergence of such consensus problem is proved through a Lyuponov Function approach. Moreover a novel discontinuous aggregating function is proposed which shows attractive and repulsive behavior without getting infinite value. Asymptotic stability is guaranteed for the model. Simulation results show the validity of the approach.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131239767","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258706
Niloofar Gharesi, Zainab Ebrahimi, Anis Forouzandeh, M. Arefi
An autonomous underwater vehicle (AUV) is a section of a greater class of undersea systems which is recognized as unmanned underwater vehicles. This paper deals with tracking the desired depth of underactuated AUV. Firstly, the simplified model of underactuated AUV is acquired by considering the linear velocity in the heave direction is equivalent to zero. Following this, a linear extended state observer (LESO) is designed for compensating the nonlinearity and uncertainties that exist in the model as well as the external disturbance. Subsequently, a backstepping controller is designed and presented. Furthermore, the proposed controller guarantees the stability of the system by employing the Lyapunov stability theorem. Finally, the obtained outcomes from the simulation indicate the usefulness and robustness of the proposed technique against the external disturbances.
{"title":"Extended state observer-based backstepping control for depth tracking of the underactuated AUV","authors":"Niloofar Gharesi, Zainab Ebrahimi, Anis Forouzandeh, M. Arefi","doi":"10.1109/ICCIAUTOM.2017.8258706","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258706","url":null,"abstract":"An autonomous underwater vehicle (AUV) is a section of a greater class of undersea systems which is recognized as unmanned underwater vehicles. This paper deals with tracking the desired depth of underactuated AUV. Firstly, the simplified model of underactuated AUV is acquired by considering the linear velocity in the heave direction is equivalent to zero. Following this, a linear extended state observer (LESO) is designed for compensating the nonlinearity and uncertainties that exist in the model as well as the external disturbance. Subsequently, a backstepping controller is designed and presented. Furthermore, the proposed controller guarantees the stability of the system by employing the Lyapunov stability theorem. Finally, the obtained outcomes from the simulation indicate the usefulness and robustness of the proposed technique against the external disturbances.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121410793","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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