Pub Date : 2014-12-11DOI: 10.1109/CCA.2014.6981452
A. Dòria-Cerezo, J. Acosta, Á. Castaño, E. Fossas
The control design proposed here is based on a general framework of control of nonlinear systems with state-&-input constraints, recently proposed by some of the authors in [1] (summary available in [2]). Thus, this is part of a series of real applications to support the theoretical results. In particular, here the result is applied to the problem of dynamic positioning of ships with nonlinear position constraints. The solution proposed solves the problem by means of diffeomorphisms which transform the nonlinear constrained control problem into an unconstrained one. A real scenario of the ship crossing through a strait has been tested in a realistic simulator developed by a world leader shipbuilding company [3]. As a plus, the solution proposed could alleviate the computational burden of motion planning in dynamic positioning of ships.
{"title":"Nonlinear state-constrained control. Application to the dynamic positioning of ships","authors":"A. Dòria-Cerezo, J. Acosta, Á. Castaño, E. Fossas","doi":"10.1109/CCA.2014.6981452","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981452","url":null,"abstract":"The control design proposed here is based on a general framework of control of nonlinear systems with state-&-input constraints, recently proposed by some of the authors in [1] (summary available in [2]). Thus, this is part of a series of real applications to support the theoretical results. In particular, here the result is applied to the problem of dynamic positioning of ships with nonlinear position constraints. The solution proposed solves the problem by means of diffeomorphisms which transform the nonlinear constrained control problem into an unconstrained one. A real scenario of the ship crossing through a strait has been tested in a realistic simulator developed by a world leader shipbuilding company [3]. As a plus, the solution proposed could alleviate the computational burden of motion planning in dynamic positioning of ships.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"26 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":"132583028","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.2014.6981482
J. Emery, B. Dehning, C. Pereira, J. L. S. Blasco, S. Cantin, M. Tognolini, B. Schneider, K. Henzer, M. Starkier
The Beam Instrumentation group of the European Organization for Nuclear Research (CERN) has been developing an instrument called the Beam Wire Scanner (BWS) for the past few years. This system is used to measure the size of proton beams in the Large Hadron Collider (LHC) and its injector chain. An electro-mechanical system moves a very thin wire of 30 μm through the particle beam and measures the induced radiation losses generated by this interaction. The actuator, based on a Permanent Magnet Synchronous Motor (PMSM), a solid rotor resolver and an in-house designed high precision optical encoder are located in underground installations and have to cope with large irradiation levels. Another difference with respect to its predecessors is the placement of all moving parts in the vacuum. The control electronics is situated far away from the beam tunnels to minimize the destructive impact of ionizing particles. Challenges arise from the long distance between these two parts, up to 250 meters, and the high scanning speed of the wire of up to 20 ms1, with a target position accuracy as low as 5 μm rms. This paper describes the challenges of the BWS design, details the current status and introduces the philosophy of its conception to the IEEE control application community.
{"title":"A fast and accurate wire scanner instrument for the CERN accelerators to cope with severe environmental constraints and an increased demand for availability","authors":"J. Emery, B. Dehning, C. Pereira, J. L. S. Blasco, S. Cantin, M. Tognolini, B. Schneider, K. Henzer, M. Starkier","doi":"10.1109/CCA.2014.6981482","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981482","url":null,"abstract":"The Beam Instrumentation group of the European Organization for Nuclear Research (CERN) has been developing an instrument called the Beam Wire Scanner (BWS) for the past few years. This system is used to measure the size of proton beams in the Large Hadron Collider (LHC) and its injector chain. An electro-mechanical system moves a very thin wire of 30 μm through the particle beam and measures the induced radiation losses generated by this interaction. The actuator, based on a Permanent Magnet Synchronous Motor (PMSM), a solid rotor resolver and an in-house designed high precision optical encoder are located in underground installations and have to cope with large irradiation levels. Another difference with respect to its predecessors is the placement of all moving parts in the vacuum. The control electronics is situated far away from the beam tunnels to minimize the destructive impact of ionizing particles. Challenges arise from the long distance between these two parts, up to 250 meters, and the high scanning speed of the wire of up to 20 ms1, with a target position accuracy as low as 5 μm rms. This paper describes the challenges of the BWS design, details the current status and introduces the philosophy of its conception to the IEEE control application community.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"71 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":"122220244","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.2014.6981331
M. Martinez-Gardea, Iordan J. Mares Guzman, S. Gennaro, C. A. Lúa
An experimental comparison of two control techniques applied to a quarter of a vehicle ABS, Antilock Braking System, laboratory setup is presented. The first technique is a basic PID controller and the second one is a nonlinear control method through error feedback using Control Lyapunov Function techniques.
{"title":"Experimental comparison of linear and nonlinear controllers applied to an Antilock Braking System","authors":"M. Martinez-Gardea, Iordan J. Mares Guzman, S. Gennaro, C. A. Lúa","doi":"10.1109/CCA.2014.6981331","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981331","url":null,"abstract":"An experimental comparison of two control techniques applied to a quarter of a vehicle ABS, Antilock Braking System, laboratory setup is presented. The first technique is a basic PID controller and the second one is a nonlinear control method through error feedback using Control Lyapunov Function techniques.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"8 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":"117178692","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.2014.6981508
Neil Abroug, E. Laroche
In most cases where robots have a physical interaction with humans, it is needed to minimize the feeling of the robot opposition to the human movement during the free movement phase. This is usually done by minimizing the robot interaction port apparent impedance. This task is particularly challenging in presence of a flexibility between the actuator and the considered interaction port. In this paper, we propose a new approach that minimizes the robot arm apparent impedance to the absolutely minimal achievable impedance ensuring passivity on the interaction port. Impedance minimization is formulated as a particular standard two-block H∞ problem. Passivity constraint is considered using the positive real lemma applied to the admittance of the interaction port. The resulting problem is a structured H∞ problem for which solvers based on non-smooth optimization have been recently developed. The proposed methodology was evaluated experimentally on a testbed and allowed to obtain very satisfying results.
{"title":"Structured H∞ framework for impedance minimization on robot arm with compliant actuation","authors":"Neil Abroug, E. Laroche","doi":"10.1109/CCA.2014.6981508","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981508","url":null,"abstract":"In most cases where robots have a physical interaction with humans, it is needed to minimize the feeling of the robot opposition to the human movement during the free movement phase. This is usually done by minimizing the robot interaction port apparent impedance. This task is particularly challenging in presence of a flexibility between the actuator and the considered interaction port. In this paper, we propose a new approach that minimizes the robot arm apparent impedance to the absolutely minimal achievable impedance ensuring passivity on the interaction port. Impedance minimization is formulated as a particular standard two-block H∞ problem. Passivity constraint is considered using the positive real lemma applied to the admittance of the interaction port. The resulting problem is a structured H∞ problem for which solvers based on non-smooth optimization have been recently developed. The proposed methodology was evaluated experimentally on a testbed and allowed to obtain very satisfying results.","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":"115580078","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.2014.6981601
W. Lombardi, M. Altieri, Y. Akgul, D. Puschini, S. Lesecq
During the last decade, Dynamic Voltage and Frequency Scaling (DVFS) techniques have been widely proposed to improve integrated circuit power efficiency. In the present work, an optimal control is proposed to jointly control the voltage and frequency transient periods of both the supply voltage and clock frequency actuators. This control law is based on a multivariable optimal controller for trajectory tracking with an integrator. At the same time it ensures the global system stability and promotes design reuse, the proposed controller also increases the system performance during the transition. Simulation results with MatLab Simulink are also provided to show the effectiveness of the technique. Moreover, Register Transfer Level (RTL) simulation shows that the proposed control can be implemented in hardware within a chip.
{"title":"Multivariable voltage and frequency control for DVFS management","authors":"W. Lombardi, M. Altieri, Y. Akgul, D. Puschini, S. Lesecq","doi":"10.1109/CCA.2014.6981601","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981601","url":null,"abstract":"During the last decade, Dynamic Voltage and Frequency Scaling (DVFS) techniques have been widely proposed to improve integrated circuit power efficiency. In the present work, an optimal control is proposed to jointly control the voltage and frequency transient periods of both the supply voltage and clock frequency actuators. This control law is based on a multivariable optimal controller for trajectory tracking with an integrator. At the same time it ensures the global system stability and promotes design reuse, the proposed controller also increases the system performance during the transition. Simulation results with MatLab Simulink are also provided to show the effectiveness of the technique. Moreover, Register Transfer Level (RTL) simulation shows that the proposed control can be implemented in hardware within a chip.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"15 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":"117007288","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.2014.6981540
Miguel Parada Contzen, J. Raisch
Switched linear systems are present in a wide range of engineering applications. Even though they have been systematically addressed in the past, stability conditions are usually conservative and often valid for special cases only. In this paper we propose a novel approach using polytopic systems theory, which allows us to treat general switched linear systems by LMI tools. We propose an alternative proof for the well-known common quadratic Lyapunov stability condition. This proof is then extended to less restrictive stability conditions.
{"title":"A polytopic approach to switched linear systems","authors":"Miguel Parada Contzen, J. Raisch","doi":"10.1109/CCA.2014.6981540","DOIUrl":"https://doi.org/10.1109/CCA.2014.6981540","url":null,"abstract":"Switched linear systems are present in a wide range of engineering applications. Even though they have been systematically addressed in the past, stability conditions are usually conservative and often valid for special cases only. In this paper we propose a novel approach using polytopic systems theory, which allows us to treat general switched linear systems by LMI tools. We propose an alternative proof for the well-known common quadratic Lyapunov stability condition. This proof is then extended to less restrictive stability conditions.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"40 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":"116648981","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.2014.6981419
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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：