Pub Date : 2014-12-11DOI: 10.1109/CCA.2014.6981584
Jing Lu, Felix Berkel, T. Nagel, D. Görges, Steven Liu
On the one hand electric vehicles are seen as a key technology for an environmentally friendly and carbon neutral mobility, while on the other hand they impose new challenges on today's electric power grid. This paper deals with a combination of energy and parking management for a parking area with electric vehicles to reduce the impact of EVs on the electric power grid and efficiently use charging infrastructure. In total two different operation methods are proposed both using mixed integer programming.
{"title":"Integrated energy and parking management for parking areas with electric vehicles","authors":"Jing Lu, Felix Berkel, T. Nagel, D. Görges, Steven Liu","doi":"10.1109/CCA.2014.6981584","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981584","url":null,"abstract":"On the one hand electric vehicles are seen as a key technology for an environmentally friendly and carbon neutral mobility, while on the other hand they impose new challenges on today's electric power grid. This paper deals with a combination of energy and parking management for a parking area with electric vehicles to reduce the impact of EVs on the electric power grid and efficiently use charging infrastructure. In total two different operation methods are proposed both using mixed integer programming.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115723909","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981357
Yusuke Ichijo, T. Murao, H. Kawai, M. Fujita
This paper investigates iterative learning control based on passivity for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. Firstly, a brief summary of dynamics of 2DOF robot manipulators with antagonistic bi-articular muscles is given. Next, an error dynamics of the bi-articular manipulator for iterative learning control that has an output strictly passivity property is constructed. Then, we propose an iterative learning control law for the bi-articular manipulator. The proposed torque input does not need the parameters for the accurate models. Convergence analysis of the closed-loop system is carried out based on passivity. Finally, simulation results are presented in order to confirm the effectiveness of the proposed control law.
{"title":"Passivity-based iterative learning control for 2DOF robot manipulators with antagonistic bi-articular muscles","authors":"Yusuke Ichijo, T. Murao, H. Kawai, M. Fujita","doi":"10.1109/CCA.2014.6981357","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981357","url":null,"abstract":"This paper investigates iterative learning control based on passivity for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. Firstly, a brief summary of dynamics of 2DOF robot manipulators with antagonistic bi-articular muscles is given. Next, an error dynamics of the bi-articular manipulator for iterative learning control that has an output strictly passivity property is constructed. Then, we propose an iterative learning control law for the bi-articular manipulator. The proposed torque input does not need the parameters for the accurate models. Convergence analysis of the closed-loop system is carried out based on passivity. Finally, simulation results are presented in order to confirm the effectiveness of the proposed control law.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"175 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116961873","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981398
Kazuya Sato, N. Yamaguchi, J. Kuroda
This paper considers a formation control for leader and follower type multi robot systems. An alternative error function is given to achieve relative state deviation between followers. Also, a simple formation control strategy of multi robot systems is given. We can easily apply our method for the actual systems, because our proposed method does not contain a sign function. To show the effectiveness of our approach, simulation and experimental results are given.
{"title":"A simple structure formation control of multi robots using augmented reality technology","authors":"Kazuya Sato, N. Yamaguchi, J. Kuroda","doi":"10.1109/CCA.2014.6981398","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981398","url":null,"abstract":"This paper considers a formation control for leader and follower type multi robot systems. An alternative error function is given to achieve relative state deviation between followers. Also, a simple formation control strategy of multi robot systems is given. We can easily apply our method for the actual systems, because our proposed method does not contain a sign function. To show the effectiveness of our approach, simulation and experimental results are given.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"398 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120882337","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981551
T. Vu, S. O’Driscoll, J. Ringwood
Driven by the requirement for a fairly accurate and fast simulation of a variable frequency digital controlled flyback converter, this paper develops a control-oriented mathematical model, which retains the essential dynamic characteristics of the real system, but offers significant computational complexity reduction compared to a full modelling approach. In addition to the model simplification, an approach to further improve the simulation speed, through a specific implementation of the differential equation solver, is also considered. To verify the accuracy of the proposed model, different tests with both open-loop and closed-loop flyback converters are performed. The results from both simulation and experiment show good agreement in all the test cases.
{"title":"Control-oriented modelling and simulation of a variable-frequency efficiency-optimized flyback converter","authors":"T. Vu, S. O’Driscoll, J. Ringwood","doi":"10.1109/CCA.2014.6981551","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981551","url":null,"abstract":"Driven by the requirement for a fairly accurate and fast simulation of a variable frequency digital controlled flyback converter, this paper develops a control-oriented mathematical model, which retains the essential dynamic characteristics of the real system, but offers significant computational complexity reduction compared to a full modelling approach. In addition to the model simplification, an approach to further improve the simulation speed, through a specific implementation of the differential equation solver, is also considered. To verify the accuracy of the proposed model, different tests with both open-loop and closed-loop flyback converters are performed. The results from both simulation and experiment show good agreement in all the test cases.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127468329","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981422
Rafael P. Costa, J. M. Lemos, J. Mota, J. Xavier
This article presents a distributed model predictive controller (MPC) based on linear models that use input/output plant data and D-ADMM optimization. The use of input/output models has the advantage of not requiring a Kalman filter to estimate the plant state. The D-ADMM algorithm solves the optimization problem associated to a cost function that is the sum of the control agents private costs, being a modification of the Alternating Direction of Multipliers (ADMM) algorithm that requires no central node and implies a significant reduction in the communication among adjacent nodes. The distributed MPC is obtained for the special case of a linear graph. An application to distributed control of a water delivery canal is presented to illustrate the algorithm.
{"title":"D-ADMM based distributed MPC with input-output models","authors":"Rafael P. Costa, J. M. Lemos, J. Mota, J. Xavier","doi":"10.1109/CCA.2014.6981422","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981422","url":null,"abstract":"This article presents a distributed model predictive controller (MPC) based on linear models that use input/output plant data and D-ADMM optimization. The use of input/output models has the advantage of not requiring a Kalman filter to estimate the plant state. The D-ADMM algorithm solves the optimization problem associated to a cost function that is the sum of the control agents private costs, being a modification of the Alternating Direction of Multipliers (ADMM) algorithm that requires no central node and implies a significant reduction in the communication among adjacent nodes. The distributed MPC is obtained for the special case of a linear graph. An application to distributed control of a water delivery canal is presented to illustrate the algorithm.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"236 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127504625","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981578
A. Grancharova, Sorin Olaru
In this paper, an approach to explicit interpolation-based MPC of constrained nonlinear systems is proposed, which is based on the ideas in [9], [10] for explicit constrained control of linear systems by applying interpolation techniques. The developed approach can be considered as an extension of the method in [9], [10] in the following directions: (i) nonlinear discrete-time systems are considered, which are regulated to the origin by solving an NMPC problem, (ii) a method for construction of a convex approximation of the feasible set for the formulated NMPC problem is suggested, (iii) the vertex control (the control values at the vertices of the approximate feasible set) is determined by solving the NMPC problem, instead of maximizing the control action, (iv) an algorithm for explicit interpolation-based NMPC is developed, where the explicit approximate solution is defined on a simplicial partition of the convex approximate feasible set. The proposed approach is illustrated on a numerical example.
{"title":"Explicit interpolation-based nonlinear model predictive control with a convex approximation of the feasible set","authors":"A. Grancharova, Sorin Olaru","doi":"10.1109/CCA.2014.6981578","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981578","url":null,"abstract":"In this paper, an approach to explicit interpolation-based MPC of constrained nonlinear systems is proposed, which is based on the ideas in [9], [10] for explicit constrained control of linear systems by applying interpolation techniques. The developed approach can be considered as an extension of the method in [9], [10] in the following directions: (i) nonlinear discrete-time systems are considered, which are regulated to the origin by solving an NMPC problem, (ii) a method for construction of a convex approximation of the feasible set for the formulated NMPC problem is suggested, (iii) the vertex control (the control values at the vertices of the approximate feasible set) is determined by solving the NMPC problem, instead of maximizing the control action, (iv) an algorithm for explicit interpolation-based NMPC is developed, where the explicit approximate solution is defined on a simplicial partition of the convex approximate feasible set. The proposed approach is illustrated on a numerical example.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124906210","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981624
W. Ahmad
We address the discrete time control of a team of mobile robots reaching a consensus in terms of the same heading angle. In fact, our discrete time control strategy is inspired from Vicsek's model for decentralized coordination of a team of agents. Some researchers have already shown appearance of a cyclic behaviour in Vicsek's model. The existence of a cyclic behaviour prevents the mobile robots to reach a constant heading angle. We define simple rules for the quantized control of mobile robots to reach a constant heading. The simulation study has revealed that a cyclic behaviour of discrete time Vicsek's model can be avoided by the use of an alternate biased strategy bringing the calculated heading angle of a mobile robot to a quantized level. We update the discrete time individual heading angle of a mobile robot based on the self biased or neighbour biased strategy. A number of numerical simulations have been performed to check the avoidance of a cyclic behaviour in the discrete time swarm of mobile robots meeting constraints.
{"title":"Decentralized control of mobile robotic sensors: Vicsek's model revisited","authors":"W. Ahmad","doi":"10.1109/CCA.2014.6981624","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981624","url":null,"abstract":"We address the discrete time control of a team of mobile robots reaching a consensus in terms of the same heading angle. In fact, our discrete time control strategy is inspired from Vicsek's model for decentralized coordination of a team of agents. Some researchers have already shown appearance of a cyclic behaviour in Vicsek's model. The existence of a cyclic behaviour prevents the mobile robots to reach a constant heading angle. We define simple rules for the quantized control of mobile robots to reach a constant heading. The simulation study has revealed that a cyclic behaviour of discrete time Vicsek's model can be avoided by the use of an alternate biased strategy bringing the calculated heading angle of a mobile robot to a quantized level. We update the discrete time individual heading angle of a mobile robot based on the self biased or neighbour biased strategy. A number of numerical simulations have been performed to check the avoidance of a cyclic behaviour in the discrete time swarm of mobile robots meeting constraints.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125129549","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981501
V. Spinu, S. Lisi, M. Lazar
Buck converters are ubiquitous in modern electronics, providing well regulated supply voltage to processing units and other integrated circuits, as well as to many other loads. In many applications, e.g., power supplies for processors, the reference for the output is piecewise constant, and typically the power converter must effectively reject disturbances due to fast changes in the load behavior. Furthermore, the stress on the converter components must be kept within specified limits to ensure increased life-time and high reliability of the end equipment. To answer this challenge, this paper investigates a previously proposed set-theoretic method for constrained reference tracking, and extends the approach towards handling additive disturbances which can be either measured or estimated. Within the method a nominally stabilizing control law and the associated domain of attraction are exploited to define the tracking control law which inherits the domain of attraction from the stabilizing one even in the presence of bounded additive disturbance. The approach is experimentally validated on a real-life buck converter and the measurement results are provided. Although, the control solution is illustrated on a buck converter only, the result is generic, and can be applied to any power converter with a linear averaged model.
{"title":"Constrained reference tracking for a high-speed buck converter","authors":"V. Spinu, S. Lisi, M. Lazar","doi":"10.1109/CCA.2014.6981501","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981501","url":null,"abstract":"Buck converters are ubiquitous in modern electronics, providing well regulated supply voltage to processing units and other integrated circuits, as well as to many other loads. In many applications, e.g., power supplies for processors, the reference for the output is piecewise constant, and typically the power converter must effectively reject disturbances due to fast changes in the load behavior. Furthermore, the stress on the converter components must be kept within specified limits to ensure increased life-time and high reliability of the end equipment. To answer this challenge, this paper investigates a previously proposed set-theoretic method for constrained reference tracking, and extends the approach towards handling additive disturbances which can be either measured or estimated. Within the method a nominally stabilizing control law and the associated domain of attraction are exploited to define the tracking control law which inherits the domain of attraction from the stabilizing one even in the presence of bounded additive disturbance. The approach is experimentally validated on a real-life buck converter and the measurement results are provided. Although, the control solution is illustrated on a buck converter only, the result is generic, and can be applied to any power converter with a linear averaged model.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123437789","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981346
A. Pyrkin, A. Bobtsov, S. Kolyubin, O. Borisov, V. Gromov, S. Aranovskiy
In the paper an output control approach for a class of nonlinear MIMO systems is presented. A multicopter with four symmetrical rotors, i.e. a quadcopter, is chosen to illustrate proposed adaptive control approach based on the high-gain principle, so-called, “consecutive compensator”. Output controller is designed by decomposition of the mathematical model on two parts. The first one is a static MIMO transformation (more precisely, in the considering case a system of linear equations which relates control signals for actuators and virtual control inputs). The second one is a few SISO channels. Such trick allows to design a control law in two steps. At the first step we design virtual controls for each SISO channel. Here we apply the mentioned systematic approach “consecutive compensator”, which also allows to cancel unknown wind disturbances changing their values and directions negligibly slowly. Then after the inverse MIMO transformation we get control signals for actuators.
{"title":"Output controller for quadcopters with wind disturbance cancellation","authors":"A. Pyrkin, A. Bobtsov, S. Kolyubin, O. Borisov, V. Gromov, S. Aranovskiy","doi":"10.1109/CCA.2014.6981346","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981346","url":null,"abstract":"In the paper an output control approach for a class of nonlinear MIMO systems is presented. A multicopter with four symmetrical rotors, i.e. a quadcopter, is chosen to illustrate proposed adaptive control approach based on the high-gain principle, so-called, “consecutive compensator”. Output controller is designed by decomposition of the mathematical model on two parts. The first one is a static MIMO transformation (more precisely, in the considering case a system of linear equations which relates control signals for actuators and virtual control inputs). The second one is a few SISO channels. Such trick allows to design a control law in two steps. At the first step we design virtual controls for each SISO channel. Here we apply the mentioned systematic approach “consecutive compensator”, which also allows to cancel unknown wind disturbances changing their values and directions negligibly slowly. Then after the inverse MIMO transformation we get control signals for actuators.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123547889","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 : 2014-12-11DOI: 10.1109/CCA.2014.6981424
Francesco Tedesco, C. Ocampo‐Martinez, A. Casavola, V. Puig
This paper proposes the application of a distributed command governor (DCG) strategy for the operational control of drinking water networks (DWN). This approach is very suitable to this kind of management problems given the large-scale and complex nature of DWNs, the relevant effect of persistent disturbances (water demands) over the network evolutions and their marginal stability feature. The performance improvement offered by DCG is compared with the consideration of two non-centralized model predictive control (MPC) approaches already proposed for the same management purposes and within the same context. The paper also discusses the effectiveness of all strategies and highlights the advantages of each approach. The Barcelona DWN is considered as the case study for the assessment analysis.
{"title":"A distributed command governor strategy for the operational control of drinking water networks","authors":"Francesco Tedesco, C. Ocampo‐Martinez, A. Casavola, V. Puig","doi":"10.1109/CCA.2014.6981424","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981424","url":null,"abstract":"This paper proposes the application of a distributed command governor (DCG) strategy for the operational control of drinking water networks (DWN). This approach is very suitable to this kind of management problems given the large-scale and complex nature of DWNs, the relevant effect of persistent disturbances (water demands) over the network evolutions and their marginal stability feature. The performance improvement offered by DCG is compared with the consideration of two non-centralized model predictive control (MPC) approaches already proposed for the same management purposes and within the same context. The paper also discusses the effectiveness of all strategies and highlights the advantages of each approach. The Barcelona DWN is considered as the case study for the assessment analysis.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"947 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116436747","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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