Pub Date : 2014-07-09DOI: 10.1109/CONTROL.2014.6915197
E. E. Ejegi, J. Rossiter, P. Trodden
This paper gives a concise survey of the control methods which have been applied to automatic generation control of power systems. Different control approaches have been categorized and a summary has been given of the context of application and strengths and weaknesses. Such a summary is an effective starting point for determining where future control research is likely to bring the most benefit to the emerging large scale and interconnected structures in the power supply market.
{"title":"A survey of techniques and opportunities in power system automatic generation control","authors":"E. E. Ejegi, J. Rossiter, P. Trodden","doi":"10.1109/CONTROL.2014.6915197","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915197","url":null,"abstract":"This paper gives a concise survey of the control methods which have been applied to automatic generation control of power systems. Different control approaches have been categorized and a summary has been given of the context of application and strengths and weaknesses. Such a summary is an effective starting point for determining where future control research is likely to bring the most benefit to the emerging large scale and interconnected structures in the power supply market.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131968767","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915120
Stefan Kersting, M. Buss
In this paper, we present a novel procedure for online identification of piecewise affine systems. We show how to identify the submodels of a piecewise affine system online, under the assumption of known switching boundaries and full state measurement. The adaptively identified subsystem parameters can be used for indirect adaptive control or online plant diagnosis and fault detection. The procedure proposed in this paper extends the well-studied series-parallel parameter identifiers in adaptive control to piecewise affine systems. Challenges that had to be solved for this extension are the additional constant input of the affine subsystems and the switching behavior which is a potential source of instability. We sketch the proof for both stability and parameter convergence of the proposed algorithm. Finally, numerical simulations validate the results and analyze the convergence speed of the estimated parameters.
{"title":"Online identification of piecewise affine systems","authors":"Stefan Kersting, M. Buss","doi":"10.1109/CONTROL.2014.6915120","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915120","url":null,"abstract":"In this paper, we present a novel procedure for online identification of piecewise affine systems. We show how to identify the submodels of a piecewise affine system online, under the assumption of known switching boundaries and full state measurement. The adaptively identified subsystem parameters can be used for indirect adaptive control or online plant diagnosis and fault detection. The procedure proposed in this paper extends the well-studied series-parallel parameter identifiers in adaptive control to piecewise affine systems. Challenges that had to be solved for this extension are the additional constant input of the affine subsystems and the switching behavior which is a potential source of instability. We sketch the proof for both stability and parameter convergence of the proposed algorithm. Finally, numerical simulations validate the results and analyze the convergence speed of the estimated parameters.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130050149","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915137
Ioannis Tsitsimpelis, C. J. Taylor
The research behind this article aims to reduce the operational costs and energy consumption of closed-environment growing systems, or grow-cells. Essentially a sealed building with a controlled environment, and insulated from outside lighting, grow-cells are configured to suit the particular crop being produced. The article briefly reviews the concept and preliminary work in relation to a prototype being developed by the authors and collaborating industry partner. Here, limitations in the temperature control system can lead to significant thermal gradients and poor efficiency. In this regard, the main focus of the article concerns a novel approach to thermal modelling that includes quantitative identification of spatial zones with similar thermal characteristics and the estimation of steady state temperature functions based on the heater and fan input voltages. These are combined with either a linear or a state-dependent parameter model, to represent the transient response. This approach yields a Hammerstein type model which, in this article, is optimised and evaluated using experimental data collected from 30 ther-mocouples distributed around an environmental test chamber.
{"title":"A 2 dimensional Hammerstein model for heating and ventilation control of conceptual thermal zones","authors":"Ioannis Tsitsimpelis, C. J. Taylor","doi":"10.1109/CONTROL.2014.6915137","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915137","url":null,"abstract":"The research behind this article aims to reduce the operational costs and energy consumption of closed-environment growing systems, or grow-cells. Essentially a sealed building with a controlled environment, and insulated from outside lighting, grow-cells are configured to suit the particular crop being produced. The article briefly reviews the concept and preliminary work in relation to a prototype being developed by the authors and collaborating industry partner. Here, limitations in the temperature control system can lead to significant thermal gradients and poor efficiency. In this regard, the main focus of the article concerns a novel approach to thermal modelling that includes quantitative identification of spatial zones with similar thermal characteristics and the estimation of steady state temperature functions based on the heater and fan input voltages. These are combined with either a linear or a state-dependent parameter model, to represent the transient response. This approach yields a Hammerstein type model which, in this article, is optimised and evaluated using experimental data collected from 30 ther-mocouples distributed around an environmental test chamber.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124156274","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915110
O. Araar, N. Aouf
Quadrotor helicopters have been the focus of many research works during the last decade. Thanks to their numerous appealing features, their applications are increasingly reported in the literature. Their main limitation, however, is their lightweight which makes them sensitive to external disturbances. The aim of this paper is to achieve robust trajectory following for a Quadro-UAV, in the presence of wind disturbances. Two nonlinear controllers are designed and discussed, the first controller is based on Feedback Linearisation, while the second is designed using a Backstepping approach. Numerical simulations are provided to support the controllers design and assess their robustness to wind gust disturbances.
{"title":"Quadrotor control for trajectory tracking in presence of wind disturbances","authors":"O. Araar, N. Aouf","doi":"10.1109/CONTROL.2014.6915110","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915110","url":null,"abstract":"Quadrotor helicopters have been the focus of many research works during the last decade. Thanks to their numerous appealing features, their applications are increasingly reported in the literature. Their main limitation, however, is their lightweight which makes them sensitive to external disturbances. The aim of this paper is to achieve robust trajectory following for a Quadro-UAV, in the presence of wind disturbances. Two nonlinear controllers are designed and discussed, the first controller is based on Feedback Linearisation, while the second is designed using a Backstepping approach. Numerical simulations are provided to support the controllers design and assess their robustness to wind gust disturbances.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124175864","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915130
Chen Qin, Z. Xiang, H. Karimi
This paper addresses the problem of fault detection for switched systems with time-varying delay using delta operator approach. By means of the delta operator systems, a fault detection observer is used as the residual generator. Based on the switched Lyapunov function approach, sufficient conditions for the existence of the fault detection observer are given in terms of linear matrix inequalities (LMIs). An example is provided to show the effectiveness and applicability of the proposed method.
{"title":"Robust fault detection for switched systems with time-varying delay using delta operator approach","authors":"Chen Qin, Z. Xiang, H. Karimi","doi":"10.1109/CONTROL.2014.6915130","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915130","url":null,"abstract":"This paper addresses the problem of fault detection for switched systems with time-varying delay using delta operator approach. By means of the delta operator systems, a fault detection observer is used as the residual generator. Based on the switched Lyapunov function approach, sufficient conditions for the existence of the fault detection observer are given in terms of linear matrix inequalities (LMIs). An example is provided to show the effectiveness and applicability of the proposed method.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116383656","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915188
S. Simani, S. Farsoni, P. Castaldi
In order to improve the safety, the reliability, the efficiency, and the sustainability of offshore wind turbine installations, thus avoiding expensive unplanned maintenance, the accommodation of faults in their earlier occurrence is fundamental. Therefore, the main contribution of this work consists of the development of a fault accommodation scheme applied to the control of a wind turbine nonlinear model. In particular, a data-driven strategy relying on fuzzy models is exploited to build the fault tolerant control scheme. Fuzzy theory is exploited here since it allows to approximate easily the unknown nonlinear model and manage uncertain data. Moreover, the fuzzy prototypes, which are directly identified from the wind turbine measurements, provide the reconstruction of the considered faults, thus leading to the direct design of the fault tolerant control module. In general, the nonlinearity of wind turbine system could generate complex analytic solutions. This aspect of the work, followed by the simpler strategy relying on fuzzy prototypes, represents the key point when on-line implementations are considered for a viable application of the proposed methodology. A realistic offshore wind turbine simulator is used to validate the achieved performances of the suggested methodology. Finally, comparisons with different fault tolerant control methods serve to highlight the advantages of the suggested approach.
{"title":"Fault tolerant control of an offshore wind turbine model via identified fuzzy prototypes","authors":"S. Simani, S. Farsoni, P. Castaldi","doi":"10.1109/CONTROL.2014.6915188","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915188","url":null,"abstract":"In order to improve the safety, the reliability, the efficiency, and the sustainability of offshore wind turbine installations, thus avoiding expensive unplanned maintenance, the accommodation of faults in their earlier occurrence is fundamental. Therefore, the main contribution of this work consists of the development of a fault accommodation scheme applied to the control of a wind turbine nonlinear model. In particular, a data-driven strategy relying on fuzzy models is exploited to build the fault tolerant control scheme. Fuzzy theory is exploited here since it allows to approximate easily the unknown nonlinear model and manage uncertain data. Moreover, the fuzzy prototypes, which are directly identified from the wind turbine measurements, provide the reconstruction of the considered faults, thus leading to the direct design of the fault tolerant control module. In general, the nonlinearity of wind turbine system could generate complex analytic solutions. This aspect of the work, followed by the simpler strategy relying on fuzzy prototypes, represents the key point when on-line implementations are considered for a viable application of the proposed methodology. A realistic offshore wind turbine simulator is used to validate the achieved performances of the suggested methodology. Finally, comparisons with different fault tolerant control methods serve to highlight the advantages of the suggested approach.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128337963","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915128
O. Araar, N. Aouf
Quadrotors low level control has attracted the attention of many research works over the last decade. In most of previous works, position stabilisation was achieved using nonlinear control techniques. In this paper, two full linear techniques based on optimal control theory are presented. The first, based on the L2 norm, is a Linear Quadratique Servo (LQ-Servo) controller. The second one, optimizes the L∞ norm and is designed using H∞ control approach. Emphasis is placed on the robustness to external disturbances and particularly wind gusts. Simulation results based on the full nonlinear model of the quadrotor are presented as a basis of comparison between the two controllers.
{"title":"Full linear control of a quadrotor UAV, LQ vs H∞","authors":"O. Araar, N. Aouf","doi":"10.1109/CONTROL.2014.6915128","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915128","url":null,"abstract":"Quadrotors low level control has attracted the attention of many research works over the last decade. In most of previous works, position stabilisation was achieved using nonlinear control techniques. In this paper, two full linear techniques based on optimal control theory are presented. The first, based on the L2 norm, is a Linear Quadratique Servo (LQ-Servo) controller. The second one, optimizes the L∞ norm and is designed using H∞ control approach. Emphasis is placed on the robustness to external disturbances and particularly wind gusts. Simulation results based on the full nonlinear model of the quadrotor are presented as a basis of comparison between the two controllers.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127074501","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915123
Thomas E. Kent, Arthur G. Richards
This paper explores the impact ground delay can have on designing and executing rendezvous operations such as formation flight. For a given formation pairing the route is fixed, speed policies are then generated to compensate for uncertainty in take-off times. Value Iteration is used to solve both the deterministic and stochastic Dynamic Programming problem for an entire state-space. The final optimal policies determine what course of action aircraft should take for any realization of delay. Finally a comparative case study shows that even with delay, formation flights can reach expected savings of 6.1% against flying solo.
{"title":"Accounting for the effect of ground delay on commercial formation flight","authors":"Thomas E. Kent, Arthur G. Richards","doi":"10.1109/CONTROL.2014.6915123","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915123","url":null,"abstract":"This paper explores the impact ground delay can have on designing and executing rendezvous operations such as formation flight. For a given formation pairing the route is fixed, speed policies are then generated to compensate for uncertainty in take-off times. Value Iteration is used to solve both the deterministic and stochastic Dynamic Programming problem for an entire state-space. The final optimal policies determine what course of action aircraft should take for any realization of delay. Finally a comparative case study shows that even with delay, formation flights can reach expected savings of 6.1% against flying solo.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130744858","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915109
Wesam M. Jasim, Dongbing Gu
This paper proposes a state feedback controller for the attitude stabilization problem of quadrotors. The quadrotor attitude is represented by unit quaternion and disturbance of the attitude model is taken into consideration. A robust controller is synthesized via H∞ optimal design approach. Solving the nonlinear H∞ optimal control problem using state feedback is meltdown to finding a solution to a Hamilton-Jacobi inequality. Based on the quadrotor attitude dynamics, an appropriate parameterized Lyapunov function is selected and the corresponding state feedback controller is derived. Then the parameters are found from a Hamilton-Jacobi inequality. The resultant state feedback controller can lead to closed-loop nonlinear system having L2-gain less than or equal to a constant γ, and establish the asymptotically stability of the closed-loop nonlinear system without external disturbance. The simulation provides the results to show the stability and the robust performance against to disturbance.
{"title":"H∞ for quadrotor attitude stabilization","authors":"Wesam M. Jasim, Dongbing Gu","doi":"10.1109/CONTROL.2014.6915109","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915109","url":null,"abstract":"This paper proposes a state feedback controller for the attitude stabilization problem of quadrotors. The quadrotor attitude is represented by unit quaternion and disturbance of the attitude model is taken into consideration. A robust controller is synthesized via H∞ optimal design approach. Solving the nonlinear H∞ optimal control problem using state feedback is meltdown to finding a solution to a Hamilton-Jacobi inequality. Based on the quadrotor attitude dynamics, an appropriate parameterized Lyapunov function is selected and the corresponding state feedback controller is derived. Then the parameters are found from a Hamilton-Jacobi inequality. The resultant state feedback controller can lead to closed-loop nonlinear system having L2-gain less than or equal to a constant γ, and establish the asymptotically stability of the closed-loop nonlinear system without external disturbance. The simulation provides the results to show the stability and the robust performance against to disturbance.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121307232","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 : 2014-07-09DOI: 10.1109/CONTROL.2014.6915228
Jingjing Liu, Hongbo Wang, Lili Zhang, Hongnian Yu, L. Vlădăreanu, A. Bruja, G. I. Alexandru
In recent years many researchers are trying to combine wheeled movement with legged movement or hopping movement to strengthen the robots adaptability to environment. Hybrid robots are playing a more and more important role in our modern life. However, their controls are mostly complicated. So in this paper we present a new solution for the wheeled hopping robot. Based on the mechanical design, this robot has two movement modes: wheeled and hopping movement mode. While the center of gravity of the mechanism is under the wheels center, the wheeled hopping robot which is like a tumbler can keep its stability even when the wheels' velocity is zero. In this paper, we firstly introduce the description and design of the wheeled hopping robot. Then we explain how to choose the robot parameters and lastly we describe, how the robot through hopping, successfully traverses obstacles and ditches.
{"title":"Design of a new solution for the wheeled hopping robot","authors":"Jingjing Liu, Hongbo Wang, Lili Zhang, Hongnian Yu, L. Vlădăreanu, A. Bruja, G. I. Alexandru","doi":"10.1109/CONTROL.2014.6915228","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915228","url":null,"abstract":"In recent years many researchers are trying to combine wheeled movement with legged movement or hopping movement to strengthen the robots adaptability to environment. Hybrid robots are playing a more and more important role in our modern life. However, their controls are mostly complicated. So in this paper we present a new solution for the wheeled hopping robot. Based on the mechanical design, this robot has two movement modes: wheeled and hopping movement mode. While the center of gravity of the mechanism is under the wheels center, the wheeled hopping robot which is like a tumbler can keep its stability even when the wheels' velocity is zero. In this paper, we firstly introduce the description and design of the wheeled hopping robot. Then we explain how to choose the robot parameters and lastly we describe, how the robot through hopping, successfully traverses obstacles and ditches.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121124713","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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