Pub Date : 2014-12-11DOI: 10.1109/CCA.2014.6981568
Hiroaki Ishiyama, M. Yamakita
In this paper, an approach for speeding up Direct Filter (DF), which is a method to compute optimal filters for nonlinear systems, is proposed. DF is a nonparametric state estimation method, where the filter is designed from the plant data directly. Direct filtering employs a clever strategy of averaging two nonlinear functions trained from the training data to obtain optimal filters for a restricted class of nonlinear systems, with the assumption that plenty of data is available. The filter can then be used to predict future states. While a clever idea, its nonparametric nature makes it slow. The authors propose to use Support Vector Machine (SVM) to suppress the size of data. Since SVM learns support vectors, the authors propose that the support vectors are the actual data of interest, and thus should be used for the nonlinear function estimation employed by the direct filter. Experimental results show good speedups with minimal degradation.
{"title":"Support vector machine data reduction for Direct Filter","authors":"Hiroaki Ishiyama, M. Yamakita","doi":"10.1109/CCA.2014.6981568","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981568","url":null,"abstract":"In this paper, an approach for speeding up Direct Filter (DF), which is a method to compute optimal filters for nonlinear systems, is proposed. DF is a nonparametric state estimation method, where the filter is designed from the plant data directly. Direct filtering employs a clever strategy of averaging two nonlinear functions trained from the training data to obtain optimal filters for a restricted class of nonlinear systems, with the assumption that plenty of data is available. The filter can then be used to predict future states. While a clever idea, its nonparametric nature makes it slow. The authors propose to use Support Vector Machine (SVM) to suppress the size of data. Since SVM learns support vectors, the authors propose that the support vectors are the actual data of interest, and thus should be used for the nonlinear function estimation employed by the direct filter. Experimental results show good speedups with minimal degradation.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"601 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131775125","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.2014.6981451
A. Lekkas, T. Fossen
In this work, a guidance system for 2-D straight-path tracking applications of underactuated marine vessels exposed to unknown ocean currents is developed. A relative velocity kinematic model is considered, hence making the method suitable for underwater vehicles where absolute velocities might not be available. The total position error vector has two components, the along-track error (tangent to the path) and the cross-track error (normal to the path). Two adaptive nonlinear observers are designed in order to estimate the current components w.r.t. the path-fixed frame and the origin of the error dynamics is shown to be globally κ-exponentially stable. The guidance algorithm uses this information and generates appropriate relative surge speed reference trajectories for minimizing the along-track error, while an augmented version of the line-of-sight (LOS) guidance is designed for minimization of the cross-track error. Moreover, the estimates from the nonlinear observers can be used to compute the ocean current vector w.r.t. the inertial frame.
{"title":"Trajectory tracking and ocean current estimation for marine underactuated vehicles","authors":"A. Lekkas, T. Fossen","doi":"10.1109/CCA.2014.6981451","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981451","url":null,"abstract":"In this work, a guidance system for 2-D straight-path tracking applications of underactuated marine vessels exposed to unknown ocean currents is developed. A relative velocity kinematic model is considered, hence making the method suitable for underwater vehicles where absolute velocities might not be available. The total position error vector has two components, the along-track error (tangent to the path) and the cross-track error (normal to the path). Two adaptive nonlinear observers are designed in order to estimate the current components w.r.t. the path-fixed frame and the origin of the error dynamics is shown to be globally κ-exponentially stable. The guidance algorithm uses this information and generates appropriate relative surge speed reference trajectories for minimizing the along-track error, while an augmented version of the line-of-sight (LOS) guidance is designed for minimization of the cross-track error. Moreover, the estimates from the nonlinear observers can be used to compute the ocean current vector w.r.t. the inertial frame.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"Suppl 3 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":"128953292","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.2014.6981521
Hoai‐Nam Nguyen, R. Bourdais
This paper proposes a novel model predictive controller for polytopic linear parameter-varying (LPV) discrete-time systems with state and control constraints. It is assumed that the time-varying parameters are measured online, but their future behavior is uncertain and contained in a given polytope. The main idea is to use an interpolation technique to obtain a suitable terminal constrained set and suitable terminal cost together with one-step model predictive controller. At each time instant a quadratic programming problem is solved on-line. Proofs recursive feasibility and asymptotic stability are given.
{"title":"Quasi-min-max model predictive control for constrained LPV systems","authors":"Hoai‐Nam Nguyen, R. Bourdais","doi":"10.1109/CCA.2014.6981521","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981521","url":null,"abstract":"This paper proposes a novel model predictive controller for polytopic linear parameter-varying (LPV) discrete-time systems with state and control constraints. It is assumed that the time-varying parameters are measured online, but their future behavior is uncertain and contained in a given polytope. The main idea is to use an interpolation technique to obtain a suitable terminal constrained set and suitable terminal cost together with one-step model predictive controller. At each time instant a quadratic programming problem is solved on-line. Proofs recursive feasibility and asymptotic stability are given.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"1 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":"130716415","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.2014.6981324
Andreas Schwung, P. Berner, S. Osmic, M. Jost, M. Mönnigmann
This paper presents a novel approach to the control of compressor systems used for the supply of fuel gas to gas turbines in combined cycle power plants. A model for the compression system is derived first and special attention is paid to an accurate description of the compressor map. Due to the strong coupling of the nonlinear dynamics of the compression system a nonlinear decoupling control concept is required. The presented approach is based on a gain-scheduled decoupling controller. The proposed control concept is validated with a complex nonlinear simulation model of an industrial compressor.
{"title":"Nonlinear decoupling control of compressor systems for fast load transients in combined cycle power plants","authors":"Andreas Schwung, P. Berner, S. Osmic, M. Jost, M. Mönnigmann","doi":"10.1109/CCA.2014.6981324","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981324","url":null,"abstract":"This paper presents a novel approach to the control of compressor systems used for the supply of fuel gas to gas turbines in combined cycle power plants. A model for the compression system is derived first and special attention is paid to an accurate description of the compressor map. Due to the strong coupling of the nonlinear dynamics of the compression system a nonlinear decoupling control concept is required. The presented approach is based on a gain-scheduled decoupling controller. The proposed control concept is validated with a complex nonlinear simulation model of an industrial compressor.","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":"133683798","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.2014.6981323
Y. Abouelmahjoub, F. Giri, A. Abouloifa, F. Z. Chaoui, M. Kissaoui, A. Naitali
The problem of controlling single-phase half bridge shunt active power filter (HBSAPF) is addressed in this paper in presence of nonlinear loads of rectifier type. The control objective is twofold: (i) compensation of harmonic currents and the reactive power absorbed by the nonlinear load; (ii) regulation the DC bus voltage of the inverter. First an adaptive observer is designed to estimate the network voltage which is not accessible to measurement and the unknown parameters of the network internal impedance. Second, a nonlinear controller that involves two loops in cascade, an inner-loop is designed, using the Lyapunov approach, to provide the harmonic compensation and an outer-loop is designed to regulate the DC bus voltage of the inverter. The controller performances are illustrated by simulation in Matlab/Simulink environment.
{"title":"Nonlinear adaptive control of single phase half bridge shunt active power filter","authors":"Y. Abouelmahjoub, F. Giri, A. Abouloifa, F. Z. Chaoui, M. Kissaoui, A. Naitali","doi":"10.1109/CCA.2014.6981323","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981323","url":null,"abstract":"The problem of controlling single-phase half bridge shunt active power filter (HBSAPF) is addressed in this paper in presence of nonlinear loads of rectifier type. The control objective is twofold: (i) compensation of harmonic currents and the reactive power absorbed by the nonlinear load; (ii) regulation the DC bus voltage of the inverter. First an adaptive observer is designed to estimate the network voltage which is not accessible to measurement and the unknown parameters of the network internal impedance. Second, a nonlinear controller that involves two loops in cascade, an inner-loop is designed, using the Lyapunov approach, to provide the harmonic compensation and an outer-loop is designed to regulate the DC bus voltage of the inverter. The controller performances are illustrated by simulation in Matlab/Simulink environment.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"52 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":"133416254","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.2014.6981604
F. Paparella, K. Monk, Victor Winands, M. Lopes, D. Conley, J. Ringwood
The real-time control of wave energy converters requires the prediction of the wave elevation at the location of the device in order to maximize the power extracted from the waves. One possibility is to predict the future wave elevation by combining its past history with the spatial information coming from a sensor which measures the free surface elevation up-wave of the wave energy converter. As an application example, the paper focuses on the prediction of the wave elevation inside the chamber of the oscillating water column (OWC) for the PICO OWC plant in the Azores, and two different sensors for the measurement of the free surface elevation up-wave of the oscillating water column were tested. The study showed that the use of the additional information coming from the up-wave sensor does not significantly improve the linear prediction of the chamber wave elevation given by a forecasting model based only on the past values of the chamber wave elevation.
{"title":"Benefits of up-wave measurements in linear short-term wave forecasting for wave energy applications","authors":"F. Paparella, K. Monk, Victor Winands, M. Lopes, D. Conley, J. Ringwood","doi":"10.1109/CCA.2014.6981604","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981604","url":null,"abstract":"The real-time control of wave energy converters requires the prediction of the wave elevation at the location of the device in order to maximize the power extracted from the waves. One possibility is to predict the future wave elevation by combining its past history with the spatial information coming from a sensor which measures the free surface elevation up-wave of the wave energy converter. As an application example, the paper focuses on the prediction of the wave elevation inside the chamber of the oscillating water column (OWC) for the PICO OWC plant in the Azores, and two different sensors for the measurement of the free surface elevation up-wave of the oscillating water column were tested. The study showed that the use of the additional information coming from the up-wave sensor does not significantly improve the linear prediction of the chamber wave elevation given by a forecasting model based only on the past values of the chamber wave elevation.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"157 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":"132276130","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.2014.6981449
Aristomenis Tsopelakos, K. Vlachos, E. Papadopoulos
In this paper the design of a linear model predictive controller for a triangular floating platform is presented aiming at the stabilization of its linear and angular velocities as well as its position and orientation. Three rotating jets, located at the corners of the platform, control its motion. With this control configuration, the platform is over-actuated. The prediction, and optimization phase of the linear model predictive controller are presented in detail. Simulation results, in the presence of realistic environmental disturbances, are given that demonstrate the performance and robustness of the controller. The proposed controller is compared with a modelbased controller that was developed for the same platform in a prior work, and the superiority of the former concerning the dynamic positioning capabilities, and the power consumption is shown.
{"title":"Design of a linear model predictive controller for an overactuated triangular floating platform","authors":"Aristomenis Tsopelakos, K. Vlachos, E. Papadopoulos","doi":"10.1109/CCA.2014.6981449","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981449","url":null,"abstract":"In this paper the design of a linear model predictive controller for a triangular floating platform is presented aiming at the stabilization of its linear and angular velocities as well as its position and orientation. Three rotating jets, located at the corners of the platform, control its motion. With this control configuration, the platform is over-actuated. The prediction, and optimization phase of the linear model predictive controller are presented in detail. Simulation results, in the presence of realistic environmental disturbances, are given that demonstrate the performance and robustness of the controller. The proposed controller is compared with a modelbased controller that was developed for the same platform in a prior work, and the superiority of the former concerning the dynamic positioning capabilities, and the power consumption is shown.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"30 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":"133132871","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.2014.6981614
Sadaf Shariati, A. A. Franca, Berkay Oezer, R. Noske, D. Abel, A. Brockhinke
This paper deals with the modeling and control of thermo-acoustic instabilities in a combustion chamber, using a Helmholtz resonator approach and two-port elements. The perturbation of the pressure alongside the combustion chamber is modeled by one dimensional pressure waves, incorporating the turbulent effect of sudden cross sectional area changes in the duct. A non-linear flame model is used to describe the interactions between pressure and heat release oscillations. Finally, an offset-free MPC is designed to stabilize the thermo-acoustic instability in the experimental setup.
{"title":"Modeling and model predictive control of combustion instabilities in a multi-section combustion chamber using two-port elements","authors":"Sadaf Shariati, A. A. Franca, Berkay Oezer, R. Noske, D. Abel, A. Brockhinke","doi":"10.1109/CCA.2014.6981614","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981614","url":null,"abstract":"This paper deals with the modeling and control of thermo-acoustic instabilities in a combustion chamber, using a Helmholtz resonator approach and two-port elements. The perturbation of the pressure alongside the combustion chamber is modeled by one dimensional pressure waves, incorporating the turbulent effect of sudden cross sectional area changes in the duct. A non-linear flame model is used to describe the interactions between pressure and heat release oscillations. Finally, an offset-free MPC is designed to stabilize the thermo-acoustic instability in the experimental setup.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"24 5 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":"131683990","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.2014.6981370
T. Bächle, K. Graichen, M. Buchholz, K. Dietmayer
This contribution proposes a nonlinear model predictive control allocation algorithm for control of an over-actuated electric vehicle in challenging driving situations. Based on a recently published gradient-based real-time solver, the proposed scheme allows to implement a hierarchical control strategy for lateral and longitudinal control while optimally allocating wheel torques adhering to wheel slip and rate constraints. Incorporating nonlinear tire models enables the decoupled control of vehicle yaw moment and traction force. The performance is demonstrated on a comprehensive vehicle dynamics model.
{"title":"Vehicle dynamics control in challenging driving situations using nonlinear model predictive control allocation","authors":"T. Bächle, K. Graichen, M. Buchholz, K. Dietmayer","doi":"10.1109/CCA.2014.6981370","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981370","url":null,"abstract":"This contribution proposes a nonlinear model predictive control allocation algorithm for control of an over-actuated electric vehicle in challenging driving situations. Based on a recently published gradient-based real-time solver, the proposed scheme allows to implement a hierarchical control strategy for lateral and longitudinal control while optimally allocating wheel torques adhering to wheel slip and rate constraints. Incorporating nonlinear tire models enables the decoupled control of vehicle yaw moment and traction force. The performance is demonstrated on a comprehensive vehicle dynamics model.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"247 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":"115816962","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.2014.6981399
Y. Diaz-Mercado, M. Egerstedt
In this paper we investigate how much “mixing” one can impose on a team of nonholonomic unicycle robots. This notion is encoded through braids, and a controller is proposed that executes the braids while ensuring that the team is collision-free. Mixing bounds, the bounds on the amount of mixing possible under this braid controller, are also provided. Results are validated when they are implemented on a team of mobile robots which are cooperatively achieving desired mixing levels.
{"title":"Multi-robot mixing of nonholonomic mobile robots","authors":"Y. Diaz-Mercado, M. Egerstedt","doi":"10.1109/CCA.2014.6981399","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981399","url":null,"abstract":"In this paper we investigate how much “mixing” one can impose on a team of nonholonomic unicycle robots. This notion is encoded through braids, and a controller is proposed that executes the braids while ensuring that the team is collision-free. Mixing bounds, the bounds on the amount of mixing possible under this braid controller, are also provided. Results are validated when they are implemented on a team of mobile robots which are cooperatively achieving desired mixing levels.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"19 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":"114354753","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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