Pub Date : 2019-12-01DOI: 10.1109/ICC47138.2019.9123182
Zahra Rahimi Afzal, P. Prabhakar, P. Prabhakar
In this paper, we address the problem of synthesizing optimal path plans in 2D subject to spatio-temporal and thermal constraints. Our solution consists of reducing the path planning problem to a Mixed Integer Linear Programming (MILP) problem. The challenge is in encoding the “implication” constraints in the path planning problem using only conjunctions that are permitted by the MILP formulation. Our experimental analysis using an implementation of the encoding in a Python toolbox demonstrates the feasibility of our approach in generating the optimal plans.
{"title":"Optimal tool path planning for 3D printing with spatio-temporal and thermal constraints","authors":"Zahra Rahimi Afzal, P. Prabhakar, P. Prabhakar","doi":"10.1109/ICC47138.2019.9123182","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123182","url":null,"abstract":"In this paper, we address the problem of synthesizing optimal path plans in 2D subject to spatio-temporal and thermal constraints. Our solution consists of reducing the path planning problem to a Mixed Integer Linear Programming (MILP) problem. The challenge is in encoding the “implication” constraints in the path planning problem using only conjunctions that are permitted by the MILP formulation. Our experimental analysis using an implementation of the encoding in a Python toolbox demonstrates the feasibility of our approach in generating the optimal plans.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134118135","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 : 2019-12-01DOI: 10.1109/ICC47138.2019.9123168
R. A. Razak, Srikant Sukumar, Hoam Chung
In this paper, we consider the problem of estimating a scalar field using mobile sensor networks equipped with sensors which can measure the value of the field at their instantaneous location. The scalar field to be estimated is assumed to be represented by positive definite radial basis kernels and we use techniques from adaptive control and Lyapunov analysis to prove the stability of the proposed estimation algorithm. The convergence of the estimated parameter values to the true values is guaranteed by planning the motion of the mobile sensors to satisfy persistence-like conditions.
{"title":"Estimating Scalar Fields with Mobile Sensor Networks","authors":"R. A. Razak, Srikant Sukumar, Hoam Chung","doi":"10.1109/ICC47138.2019.9123168","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123168","url":null,"abstract":"In this paper, we consider the problem of estimating a scalar field using mobile sensor networks equipped with sensors which can measure the value of the field at their instantaneous location. The scalar field to be estimated is assumed to be represented by positive definite radial basis kernels and we use techniques from adaptive control and Lyapunov analysis to prove the stability of the proposed estimation algorithm. The convergence of the estimated parameter values to the true values is guaranteed by planning the motion of the mobile sensors to satisfy persistence-like conditions.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122858096","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 : 2019-12-01DOI: 10.1109/ICC47138.2019.9123163
A. Ranjan, Sikha Hota, N. Singh
This paper discusses the problem of intercepting stationary targets with all possible desired impact angles in a two-dimensional (2D) engagement scenario. The field of view limit of the on-board seeker is considered for designing the guidance law to avoid losing the target while following the missile trajectory, and which makes it feasible for practical applications. A three-stage Pure Proportional Navigation (PPN) guidance law is proposed for attaining impact angle control over the entire angular range, which is an extension of the two stage pure proportional navigation guidance law (2pPPN) existed in the literature. The proposed guidance law is simulated against a stationary target using a kinematic model of a missile to demonstrate the efficiency of the presented scheme.
{"title":"Three-Stage Proportional Navigation for Intercepting Stationary Targets with Impact Angle Constraints","authors":"A. Ranjan, Sikha Hota, N. Singh","doi":"10.1109/ICC47138.2019.9123163","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123163","url":null,"abstract":"This paper discusses the problem of intercepting stationary targets with all possible desired impact angles in a two-dimensional (2D) engagement scenario. The field of view limit of the on-board seeker is considered for designing the guidance law to avoid losing the target while following the missile trajectory, and which makes it feasible for practical applications. A three-stage Pure Proportional Navigation (PPN) guidance law is proposed for attaining impact angle control over the entire angular range, which is an extension of the two stage pure proportional navigation guidance law (2pPPN) existed in the literature. The proposed guidance law is simulated against a stationary target using a kinematic model of a missile to demonstrate the efficiency of the presented scheme.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127688679","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 : 2019-12-01DOI: 10.1109/icc47138.2019.9123244
{"title":"ICC 2019 Front Matters","authors":"","doi":"10.1109/icc47138.2019.9123244","DOIUrl":"https://doi.org/10.1109/icc47138.2019.9123244","url":null,"abstract":"","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"67 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114145017","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 : 2019-12-01DOI: 10.1109/ICC47138.2019.9123195
N S S Sanjeevi, Bharg Mehta, Madhu Vadali
F1exible manipulators, due to their applicability in performing complex tasks, where their rigid link counterparts underperform, are gaining importance. However, the dynamics of flexible manipulators are not fully understood owing to their complex non-linear behaviour. In the current work, we propose a comprehensive 6 degrees-of-freedom finite element method based framework to model the dynamics of flexible manipulators. The predictions of the model, when applied for a simple cantilever beam, shows a good match with theoretical results. For further validation, a simple experimental setup was developed that emulates a flexible manipulator. The comparison results that experimental results closely match the predictions of the model, thus validating the modelling framework.
{"title":"Preliminaries on Dynamic Modelling of Flexible Manipulators","authors":"N S S Sanjeevi, Bharg Mehta, Madhu Vadali","doi":"10.1109/ICC47138.2019.9123195","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123195","url":null,"abstract":"F1exible manipulators, due to their applicability in performing complex tasks, where their rigid link counterparts underperform, are gaining importance. However, the dynamics of flexible manipulators are not fully understood owing to their complex non-linear behaviour. In the current work, we propose a comprehensive 6 degrees-of-freedom finite element method based framework to model the dynamics of flexible manipulators. The predictions of the model, when applied for a simple cantilever beam, shows a good match with theoretical results. For further validation, a simple experimental setup was developed that emulates a flexible manipulator. The comparison results that experimental results closely match the predictions of the model, thus validating the modelling framework.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131061911","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 : 2019-12-01DOI: 10.1109/ICC47138.2019.9123238
Shubham Khandelwal, K. Detroja
Designing fixed order controllers for multivariable systems is one of the most important and challenging problems in process industries. Simple control design techniques, which are applicable to a wide range of small and large scale processes, must be developed. With this motivation, a decoupling control design method well suited for large scale systems is proposed in this manuscript. The proposed design despite being simple, not only ensures effective performance but also accounts for the closed loop integrity and robustness requirements. The proposed method allows operation in dual modes viz. decoupling and decentralized, with the same controller settings. This facilitates seamless switching between the two modes. Simulations have been performed on various benchmark multivariable processes to verify the wide applicability, superior performance, and robustness of the proposed method.
{"title":"Control design for dual mode operation in large scale multivariable systems","authors":"Shubham Khandelwal, K. Detroja","doi":"10.1109/ICC47138.2019.9123238","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123238","url":null,"abstract":"Designing fixed order controllers for multivariable systems is one of the most important and challenging problems in process industries. Simple control design techniques, which are applicable to a wide range of small and large scale processes, must be developed. With this motivation, a decoupling control design method well suited for large scale systems is proposed in this manuscript. The proposed design despite being simple, not only ensures effective performance but also accounts for the closed loop integrity and robustness requirements. The proposed method allows operation in dual modes viz. decoupling and decentralized, with the same controller settings. This facilitates seamless switching between the two modes. Simulations have been performed on various benchmark multivariable processes to verify the wide applicability, superior performance, and robustness of the proposed method.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"543 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134160071","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 : 2019-12-01DOI: 10.1109/ICC47138.2019.9123174
Vivek Yogi, L. Vachhani
In this work we investigate the possibility of using an Android smartphone as the standalone sensor pack cum processor for a mobile robot. In addition to sensors and processing ability the smartphone has various communication infrastructure and a modern operating system. We also discuss the architecture of minimal hardware ground mobile robot using android smartphone and the approaches to robot software development using android smartphone as primary controller. A discussion of existing libraries and tools that can be leveraged to enable quick development is discussed. A trajectory tracking experiment is presented to demonstrate the working of the presented architecture.
{"title":"Commercial-off-the-shelf (COTS) solution for Robot Sensing and Control","authors":"Vivek Yogi, L. Vachhani","doi":"10.1109/ICC47138.2019.9123174","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123174","url":null,"abstract":"In this work we investigate the possibility of using an Android smartphone as the standalone sensor pack cum processor for a mobile robot. In addition to sensors and processing ability the smartphone has various communication infrastructure and a modern operating system. We also discuss the architecture of minimal hardware ground mobile robot using android smartphone and the approaches to robot software development using android smartphone as primary controller. A discussion of existing libraries and tools that can be leveraged to enable quick development is discussed. A trajectory tracking experiment is presented to demonstrate the working of the presented architecture.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134070722","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 : 2019-12-01DOI: 10.1109/ICC47138.2019.9123228
K. Sundar, S. Manyam, P. Sujit, D. Casbeer
We consider a coordinated routing problem involving an aerial and a ground vehicle for surveillance and reconnaissance mission. We are given a set of targets from which data has to be collected using a capacity-constrained aerial vehicle i.e., the aerial vehicle can hold data collected from at most a pre-specified number of targets. The aerial vehicle has to periodically upload the collected data to the ground vehicle by performing a rendezvous with the ground vehicle. This rendezvous can serve other additional purposes like recharging etc. The ground vehicle is assumed to travel with a nominal speed and the aerial vehicle is assumed to have a nominal speed range. This paper aims to compute a feasible path for the aerial vehicle that visits all the targets, identify rendezvous points for the two vehicles, compute a path for the ground vehicle through the rendezvous points so that the total travel cost of both the vehicles is a minimum. A novel technique to enforce constraints that model a feasible rendezvous for both the vehicles using their respective speed ranges is proposed. A variable neighborhood search algorithm is developed to compute near optimal paths for both the vehicles that satisfy these constraints. Finally, computational experiments that corroborate the effectiveness of the proposed algorithm are also presented.
{"title":"Coordinated Air-Ground Vehicle Routing with Timing Constraints","authors":"K. Sundar, S. Manyam, P. Sujit, D. Casbeer","doi":"10.1109/ICC47138.2019.9123228","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123228","url":null,"abstract":"We consider a coordinated routing problem involving an aerial and a ground vehicle for surveillance and reconnaissance mission. We are given a set of targets from which data has to be collected using a capacity-constrained aerial vehicle i.e., the aerial vehicle can hold data collected from at most a pre-specified number of targets. The aerial vehicle has to periodically upload the collected data to the ground vehicle by performing a rendezvous with the ground vehicle. This rendezvous can serve other additional purposes like recharging etc. The ground vehicle is assumed to travel with a nominal speed and the aerial vehicle is assumed to have a nominal speed range. This paper aims to compute a feasible path for the aerial vehicle that visits all the targets, identify rendezvous points for the two vehicles, compute a path for the ground vehicle through the rendezvous points so that the total travel cost of both the vehicles is a minimum. A novel technique to enforce constraints that model a feasible rendezvous for both the vehicles using their respective speed ranges is proposed. A variable neighborhood search algorithm is developed to compute near optimal paths for both the vehicles that satisfy these constraints. Finally, computational experiments that corroborate the effectiveness of the proposed algorithm are also presented.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129822415","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 : 2019-12-01DOI: 10.1109/ICC47138.2019.9123224
Salahudden, D. Giri, S. Dey, B. K. Mukherjee
This paper proposes a novel fault-tolerant control algorithm for angular rate stabilization of satellite system. The control algorithm belongs to the class of super-twisting sliding mode control theorem applicable to relative degree one systems which ensures chattering free control input and also finite-time convergence. Lyapunov stability theorem is used to prove finite-time stability of the closed loop system under designed control input. The expression of convergence time is calculated and is found to be independent of initial conditions. Numerical simulations verify the effectiveness of the proposed control algorithm.
{"title":"Angular rate stabilization using fixed-time continuous sliding mode control","authors":"Salahudden, D. Giri, S. Dey, B. K. Mukherjee","doi":"10.1109/ICC47138.2019.9123224","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123224","url":null,"abstract":"This paper proposes a novel fault-tolerant control algorithm for angular rate stabilization of satellite system. The control algorithm belongs to the class of super-twisting sliding mode control theorem applicable to relative degree one systems which ensures chattering free control input and also finite-time convergence. Lyapunov stability theorem is used to prove finite-time stability of the closed loop system under designed control input. The expression of convergence time is calculated and is found to be independent of initial conditions. Numerical simulations verify the effectiveness of the proposed control algorithm.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130081013","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 : 2019-12-01DOI: 10.1109/ICC47138.2019.9123169
Ark Dev, Sumant Anand, Mrinal Kanti Sarkar
The paper investigates prediction-based sliding mode load frequency control (LFC) with unknown input and output (I/O) time delays using delay estimation. The control architecture consists of a prediction-based super twisting control (STC), higher order sliding mode observer (HOSMO), disturbance observer and a delay estimator. The unknown round trip delay (algebraic sum of I/O delays) is estimated using a gradient descent algorithm. Single area power system model is considered to validate the effectiveness of the proposed architecture. The sliding surface is designed based on predictor states and estimated disturbance. The efficacy of the control scheme lies in finite time convergence of frequency under load disturbance with I/O time delays. Furthermore, frequency deviation in hybrid power system is also observed with an integration of wind and solar energies. Asymptotic stability is theoretically proved using Lyapunov functional candidate and verified using simulation.
{"title":"Prediction-Based Sliding Mode Load Frequency Control with Unknown I/O Time Delays using Delay and Disturbance Estimation","authors":"Ark Dev, Sumant Anand, Mrinal Kanti Sarkar","doi":"10.1109/ICC47138.2019.9123169","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123169","url":null,"abstract":"The paper investigates prediction-based sliding mode load frequency control (LFC) with unknown input and output (I/O) time delays using delay estimation. The control architecture consists of a prediction-based super twisting control (STC), higher order sliding mode observer (HOSMO), disturbance observer and a delay estimator. The unknown round trip delay (algebraic sum of I/O delays) is estimated using a gradient descent algorithm. Single area power system model is considered to validate the effectiveness of the proposed architecture. The sliding surface is designed based on predictor states and estimated disturbance. The efficacy of the control scheme lies in finite time convergence of frequency under load disturbance with I/O time delays. Furthermore, frequency deviation in hybrid power system is also observed with an integration of wind and solar energies. Asymptotic stability is theoretically proved using Lyapunov functional candidate and verified using simulation.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115156724","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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