Pub Date : 2014-12-11DOI: 10.1109/CCA.2014.6981419
Saman Khodaverdian, Moritz Schneider, J. Adamy
In this article, a new approach for solving the synchronization problem for networks of heterogeneous linear systems is presented. The main idea is to decouple the states to be synchronized for every agent from the rest of the system dynamics, leading to an input-output decoupling control law. We present a decentralized control strategy for homogenizing the transient behaviors of the agents. Further, for every agent the same reference signal, which can be generated by identical exosystems, is applied leading to synchronization. A numerical example illustrates the efficiency of the design procedure.
{"title":"Synchronizing networks of heterogeneous linear systems via input-output decoupling","authors":"Saman Khodaverdian, Moritz Schneider, J. Adamy","doi":"10.1109/CCA.2014.6981419","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981419","url":null,"abstract":"In this article, a new approach for solving the synchronization problem for networks of heterogeneous linear systems is presented. The main idea is to decouple the states to be synchronized for every agent from the rest of the system dynamics, leading to an input-output decoupling control law. We present a decentralized control strategy for homogenizing the transient behaviors of the agents. Further, for every agent the same reference signal, which can be generated by identical exosystems, is applied leading to synchronization. A numerical example illustrates the efficiency of the design procedure.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"29 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":"124937946","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.2014.6981623
Yuping Li
Supervisory control of the Main Southern Channel is considered based on the technique of model predictive control. The main objective is to minimize the water losses through the channel, while regulating the water-levels in the channel to be within the operation bounds, and satisfying water-demands at the downstream irrigation area as well.
{"title":"On supervisory control of the Main Southern Channel","authors":"Yuping Li","doi":"10.1109/CCA.2014.6981623","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981623","url":null,"abstract":"Supervisory control of the Main Southern Channel is considered based on the technique of model predictive control. The main objective is to minimize the water losses through the channel, while regulating the water-levels in the channel to be within the operation bounds, and satisfying water-demands at the downstream irrigation area as well.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"13 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":"121600911","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.2014.6981349
M. Ogawa, Hiroshi Endo, Hiroyuki Fukuda, H. Kodama, Toshio Sugimoto, H. Soneda, Masao Kondo
This paper proposes a cooling control method that reduces spikes in CPU temperature that occur due to fluctuation in the utilization of information communication technology (ICT) equipment based on model predictive control (MPC) for a modular datacenter. To cope with the fluctuations, the proposed method not only considers the server power consumption using a prediction model, but also switches between an MPC controller and a necessary-air-volume controller based on the rate at which server power consumption rises. The MPC controller controls the CPU temperature in order to do three things simultaneously: avoid throttling the operation of the CPU, reduce as much as possible the power consumed by data center cooling fans, and adjust for the effects of fluctuations. The necessary-air-volume controller calculates the command value of the revolution speed of the cooling fans to supply the air volume required during maximum CPU utilization. The results of our control simulation show that the proposed control method can drastically reduce spikes in CPU temperature. The proposed method provided energy savings of more than 37.6% compared to the conventional control method under conditions where the CPU utilization is 80% and the fresh air temperature is 20°C.
{"title":"Cooling control restraining effects due to ICT equipment utilization of disturbance based on model predictive control for modular data center","authors":"M. Ogawa, Hiroshi Endo, Hiroyuki Fukuda, H. Kodama, Toshio Sugimoto, H. Soneda, Masao Kondo","doi":"10.1109/CCA.2014.6981349","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981349","url":null,"abstract":"This paper proposes a cooling control method that reduces spikes in CPU temperature that occur due to fluctuation in the utilization of information communication technology (ICT) equipment based on model predictive control (MPC) for a modular datacenter. To cope with the fluctuations, the proposed method not only considers the server power consumption using a prediction model, but also switches between an MPC controller and a necessary-air-volume controller based on the rate at which server power consumption rises. The MPC controller controls the CPU temperature in order to do three things simultaneously: avoid throttling the operation of the CPU, reduce as much as possible the power consumed by data center cooling fans, and adjust for the effects of fluctuations. The necessary-air-volume controller calculates the command value of the revolution speed of the cooling fans to supply the air volume required during maximum CPU utilization. The results of our control simulation show that the proposed control method can drastically reduce spikes in CPU temperature. The proposed method provided energy savings of more than 37.6% compared to the conventional control method under conditions where the CPU utilization is 80% and the fresh air temperature is 20°C.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"60 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":"124190293","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.2014.6981425
A. Muñoz‐Vázquez, Vicente Parra‐Vega, A. Sánchez‐Orta, O. García, Carlos Izaguirre
The model-free sliding mode control based on fractional order sliding surface is built upon: i) An absolutely continuous control structure that does not require the exact dynamic model to induce a fractional sliding motion in finite time, and ii) A methodology to design fractional references with a clear counterpart in the frequency domain is proposed. This in order to improve the system response, in particular the transient period, and to generate a high-performance during the sliding motion. Numerical simulations support the proposal and illustrates the closed-loop system, which provides a better insight of the proposed scheme.
{"title":"Attitude tracking control of a quadrotor based on absolutely continuous fractional integral sliding modes","authors":"A. Muñoz‐Vázquez, Vicente Parra‐Vega, A. Sánchez‐Orta, O. García, Carlos Izaguirre","doi":"10.1109/CCA.2014.6981425","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981425","url":null,"abstract":"The model-free sliding mode control based on fractional order sliding surface is built upon: i) An absolutely continuous control structure that does not require the exact dynamic model to induce a fractional sliding motion in finite time, and ii) A methodology to design fractional references with a clear counterpart in the frequency domain is proposed. This in order to improve the system response, in particular the transient period, and to generate a high-performance during the sliding motion. Numerical simulations support the proposal and illustrates the closed-loop system, which provides a better insight of the proposed scheme.","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":"125171346","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.2014.6981534
D. Caiado, J. M. Lemos, J. M. Igreja
This article addresses the problem of obtaining reduced complexity models of multi-reach water delivery canals that are suitable for robust and linear parameter varying (LPV) control design. In the first stage, by applying a method known from the literature, a finite dimensional rational transfer function of a priori defined order is obtained for each canal reach by linearizing the Saint-Venant equations. Then, by using block diagrams algebra, these different models are combined with linearized gate models in order to obtain the overall canal model. In what concerns the control design objectives, this approach has the advantages of providing a model with prescribed order and to quantify the high frequency uncertainty due to model approximation. A case study with a 3-reach canal is presented, and the resulting model is compared with experimental data.
{"title":"Modeling for control design of a multi-reach water canal","authors":"D. Caiado, J. M. Lemos, J. M. Igreja","doi":"10.1109/CCA.2014.6981534","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981534","url":null,"abstract":"This article addresses the problem of obtaining reduced complexity models of multi-reach water delivery canals that are suitable for robust and linear parameter varying (LPV) control design. In the first stage, by applying a method known from the literature, a finite dimensional rational transfer function of a priori defined order is obtained for each canal reach by linearizing the Saint-Venant equations. Then, by using block diagrams algebra, these different models are combined with linearized gate models in order to obtain the overall canal model. In what concerns the control design objectives, this approach has the advantages of providing a model with prescribed order and to quantify the high frequency uncertainty due to model approximation. A case study with a 3-reach canal is presented, and the resulting model is compared with experimental data.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"17 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":"125726084","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.2014.6981387
S. Panza, M. Lovera
Helicopter flight control law design including rotor state feedback is considered and an approach based on structured H∞ control, capable of guaranteeing stability and performance robustness, is proposed. The framework also encompasses fault tolerance with respect to failures of the rotor state sensors. Simulation results comparing the proposed approach to results from the literature are presented and discussed.
{"title":"Rotor state feedback in helicopter flight control: Robustness and fault tolerance","authors":"S. Panza, M. Lovera","doi":"10.1109/CCA.2014.6981387","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981387","url":null,"abstract":"Helicopter flight control law design including rotor state feedback is considered and an approach based on structured H∞ control, capable of guaranteeing stability and performance robustness, is proposed. The framework also encompasses fault tolerance with respect to failures of the rotor state sensors. Simulation results comparing the proposed approach to results from the literature are presented and discussed.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"2014 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":"128017269","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.2014.6981585
A. Rauh, Ole Krägenbring, Lukas Pröhl, H. Aschemann
In previous work, it has been shown that sensitivity-based procedures can be employed effectively for the design of predictive control strategies, for the implementation of state estimators as well as for the offline and online identification of system parameters. These procedures were used, on the one hand, for control of dynamic processes which perform a certain task only once and, on the other hand, also for the control of systems that are operated in a repetitive manner. The latter class of applications is hence closely related to the design of iterative learning control strategies. A common feature of all sensitivity-based approaches implemented so far by the authors is that the control signals are piecewise constant on an equidistant time discretization mesh. However, this assumption may make the computation of differential sensitivities inefficient if long control horizons are taken into account for learning-type controllers of processes with a fast dynamics. Therefore, this assumption is removed in the current paper, both by a control parameterization using polynomial ansatz functions and by a computation of optimal switching points for piecewise constant control signals. The adaptive discretization scheme of the latter approach allows for obeying predefined performance constraints with a minimum memory demand. These procedures are demonstrated by simulations for a prototypical high-speed rack feeder system.
{"title":"Sensitivity-based approaches for an efficient design of learning-type controllers of a flexible high-speed rack feeder system","authors":"A. Rauh, Ole Krägenbring, Lukas Pröhl, H. Aschemann","doi":"10.1109/CCA.2014.6981585","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981585","url":null,"abstract":"In previous work, it has been shown that sensitivity-based procedures can be employed effectively for the design of predictive control strategies, for the implementation of state estimators as well as for the offline and online identification of system parameters. These procedures were used, on the one hand, for control of dynamic processes which perform a certain task only once and, on the other hand, also for the control of systems that are operated in a repetitive manner. The latter class of applications is hence closely related to the design of iterative learning control strategies. A common feature of all sensitivity-based approaches implemented so far by the authors is that the control signals are piecewise constant on an equidistant time discretization mesh. However, this assumption may make the computation of differential sensitivities inefficient if long control horizons are taken into account for learning-type controllers of processes with a fast dynamics. Therefore, this assumption is removed in the current paper, both by a control parameterization using polynomial ansatz functions and by a computation of optimal switching points for piecewise constant control signals. The adaptive discretization scheme of the latter approach allows for obeying predefined performance constraints with a minimum memory demand. These procedures are demonstrated by simulations for a prototypical high-speed rack feeder system.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"102 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":"128569804","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.2014.6981487
R. Tahmasebi, H. Alizadeh, Saman Rahimi, B. Boulet
In this paper, the robust force control of a solenoid actuator is studied. Such control problem is of interest in the study of gear shifting control in electric vehicles (EVs) equipped with an automated manual transmission (AMT). Experimental system identification together with the finite element method (FEM) is the approach considered in this paper to model the dynamic behavior of the solenoid actuator as well as the system uncertainties. Using experimental system identification, a dynamic model of the actuator is obtained and a nonlinear algebraic model of the electromagnetic force versus current and air gap is proposed. Using the properties of the magnetic materials and the geometry of the actuator, an FEM analysis is performed using Magnet® - Infolytica software - to obtain the dynamics of the nominal system and verify the system identification result. Considering the inherent uncertainty of the physical parameter involved in the actuation system as well as the measurement errors, an uncertainty analysis is performed to obtain the dynamic uncertainty model of the solenoid system. Moreover, considering the application of such actuator in the gear shifting process, the closed-loop performance objectives are defined with respect to the desired gear shifting quality. Knowing both the nominal system model and the uncertainty model, an H∞ robust controller is designed. The performance of the resulting robust closed-loop control system is examined for the nominal and perturbed systems and is shown to satisfy the objectives.
{"title":"Robust H∞ force control of a solenoid actuator using experimental data and finite element method","authors":"R. Tahmasebi, H. Alizadeh, Saman Rahimi, B. Boulet","doi":"10.1109/CCA.2014.6981487","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981487","url":null,"abstract":"In this paper, the robust force control of a solenoid actuator is studied. Such control problem is of interest in the study of gear shifting control in electric vehicles (EVs) equipped with an automated manual transmission (AMT). Experimental system identification together with the finite element method (FEM) is the approach considered in this paper to model the dynamic behavior of the solenoid actuator as well as the system uncertainties. Using experimental system identification, a dynamic model of the actuator is obtained and a nonlinear algebraic model of the electromagnetic force versus current and air gap is proposed. Using the properties of the magnetic materials and the geometry of the actuator, an FEM analysis is performed using Magnet® - Infolytica software - to obtain the dynamics of the nominal system and verify the system identification result. Considering the inherent uncertainty of the physical parameter involved in the actuation system as well as the measurement errors, an uncertainty analysis is performed to obtain the dynamic uncertainty model of the solenoid system. Moreover, considering the application of such actuator in the gear shifting process, the closed-loop performance objectives are defined with respect to the desired gear shifting quality. Knowing both the nominal system model and the uncertainty model, an H∞ robust controller is designed. The performance of the resulting robust closed-loop control system is examined for the nominal and perturbed systems and is shown to satisfy the objectives.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"133 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":"115976911","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.2014.6981459
O. Gaye, O. Pagès, A. Hajjaji
This communication deals with the robust H∞ stabilization of the semilinear partial differential system using Lyapunov theory. The time derivative of this Lyapunov function can be made strictly negative definite by an appropriate choice of controls. In general, it is difficult to control partial differential systems. In order to simplify the design procedure of control law, a fuzzy partial differential system based on fuzzy interpolation approach is proposed. Based on this distributed model, the distributed robust control design is proposed to attenuate disturbances via solving linear matrix inequalities (LMIs). Finally, numerical results are presented and discussed to illustrate the effectiveness of the proposed approach.
{"title":"Robust control design of semilinear parabolic partial differential systems: A fuzzy approach","authors":"O. Gaye, O. Pagès, A. Hajjaji","doi":"10.1109/CCA.2014.6981459","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981459","url":null,"abstract":"This communication deals with the robust H∞ stabilization of the semilinear partial differential system using Lyapunov theory. The time derivative of this Lyapunov function can be made strictly negative definite by an appropriate choice of controls. In general, it is difficult to control partial differential systems. In order to simplify the design procedure of control law, a fuzzy partial differential system based on fuzzy interpolation approach is proposed. Based on this distributed model, the distributed robust control design is proposed to attenuate disturbances via solving linear matrix inequalities (LMIs). Finally, numerical results are presented and discussed to illustrate the effectiveness of the proposed approach.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"28 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":"125117022","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.2014.6981615
M. Taktak-Meziou, A. Chemori, J. Ghommam, N. Derbel
This paper presents a prediction-based optimal gain selection in Robust Integral Sign of the Error (RISE) based Neural Network (NN) approach. Previous research has shown that combining a feedforward term with a feedback control element yields an asymptotically stable closed-loop system. The proposed approach adds a prediction-based optimal technique which minimizes a quadratic performance index to calculate an optimal feedback gain. The resulting novel controller, called P-RISE-NN, is applied for a track following problem of a Hard-Disc-Drive servo-system. Simulation studies are used to show the efficiency of the proposed control scheme and its robustness against external disturbances and parametric uncertainties in the system. The authors believe that the proposed control solution combining RISE with a predictive control approach has never been conducted before.
{"title":"A prediction-based optimal gain selection in RISE feedback control for hard disk drive","authors":"M. Taktak-Meziou, A. Chemori, J. Ghommam, N. Derbel","doi":"10.1109/CCA.2014.6981615","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981615","url":null,"abstract":"This paper presents a prediction-based optimal gain selection in Robust Integral Sign of the Error (RISE) based Neural Network (NN) approach. Previous research has shown that combining a feedforward term with a feedback control element yields an asymptotically stable closed-loop system. The proposed approach adds a prediction-based optimal technique which minimizes a quadratic performance index to calculate an optimal feedback gain. The resulting novel controller, called P-RISE-NN, is applied for a track following problem of a Hard-Disc-Drive servo-system. Simulation studies are used to show the efficiency of the proposed control scheme and its robustness against external disturbances and parametric uncertainties in the system. The authors believe that the proposed control solution combining RISE with a predictive control approach has never been conducted before.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"42 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":"124036972","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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