Pub Date : 2014-07-09DOI: 10.1109/CONTROL.2014.6915171
Hasmawati Antong, R. Dixon, C. Ward
The high redundancy actuator (HRA) concept is a novel approach to fault tolerant actuation. It refers to an actuator that consists of relatively large number of actuation elements, connected both in series and parallel to form a single actuator. This configuration improves the reliability and availability of the actuator and thus provides a high degree of fault tolerance. The HRA also reduces the need for over-sizing an actuator especially in safety-critical applications such as aerospace. HRA is suitable to a wide range of actuation technology but this paper focuses on a linear electromechanical actuator (EMA) due to its extensive application not only in industrial machinery but in aircraft and the aerospace industry in general. This paper presents ongoing and future work to demonstrate the concept of a fault tolerant system high redundancy actuator through a 3-by-4 series-in-parallel linear electromechanical actuator.
{"title":"Modelling and building of experimental rig for high redundancy actuator","authors":"Hasmawati Antong, R. Dixon, C. Ward","doi":"10.1109/CONTROL.2014.6915171","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915171","url":null,"abstract":"The high redundancy actuator (HRA) concept is a novel approach to fault tolerant actuation. It refers to an actuator that consists of relatively large number of actuation elements, connected both in series and parallel to form a single actuator. This configuration improves the reliability and availability of the actuator and thus provides a high degree of fault tolerance. The HRA also reduces the need for over-sizing an actuator especially in safety-critical applications such as aerospace. HRA is suitable to a wide range of actuation technology but this paper focuses on a linear electromechanical actuator (EMA) due to its extensive application not only in industrial machinery but in aircraft and the aerospace industry in general. This paper presents ongoing and future work to demonstrate the concept of a fault tolerant system high redundancy actuator through a 3-by-4 series-in-parallel linear electromechanical actuator.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"23 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":"121256460","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.2014.6915189
A. Bruja, L. Vlădăreanu, G. I. Alexandru, Hongbo Wang, Hongnian Yu, Jingjing Liu
The paper presents an innovative design for a wheeled hopping robot. Our main objective was to obtain a stable and efficient robot, which can jump over obstacles and has the ability to reach a certain ledge. The innovative design of our robot has the capability to jump to a certain distance even with a zero initial velocity provided by the wheels movement. Also, we took into consideration the wind speed which can prevent our robot to reach the desired destination, and compensated with an initial velocity on the direction of movement. For testing we designed a simulation which had as inputs different initial conditions to test and present the jumping capability of our robot in different jumping conditions. In the end we provide a jump area which the robot can reach for certain initial conditions, so we can later chose the optimal one for reaching the target position.
{"title":"The stability performances improvement through kinematic and dynamic modeling of the hopping robots","authors":"A. Bruja, L. Vlădăreanu, G. I. Alexandru, Hongbo Wang, Hongnian Yu, Jingjing Liu","doi":"10.1109/CONTROL.2014.6915189","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915189","url":null,"abstract":"The paper presents an innovative design for a wheeled hopping robot. Our main objective was to obtain a stable and efficient robot, which can jump over obstacles and has the ability to reach a certain ledge. The innovative design of our robot has the capability to jump to a certain distance even with a zero initial velocity provided by the wheels movement. Also, we took into consideration the wind speed which can prevent our robot to reach the desired destination, and compensated with an initial velocity on the direction of movement. For testing we designed a simulation which had as inputs different initial conditions to test and present the jumping capability of our robot in different jumping conditions. In the end we provide a jump area which the robot can reach for certain initial conditions, so we can later chose the optimal one for reaching the target position.","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":"116212808","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.2014.6915202
Peng Wang, T. Mei, Ji-you Zhang
This paper investigates the energy consumption of the lateral secondary active suspension for railway vehicles and studies the conditions for self-powered active suspension control. The influence of the performance index weighting factors to both the ride quality and the energy consumption is discussed based on the linear quadratic regulator (LQR) algorithm. Then the energy balance condition is analyzed. With low energy harvesting restriction, the self-powered condition can be achieved. At last, simulation results are provided to validate the feasibility of the self-powered suspension.
{"title":"Towards self-powered lateral active suspension for railway vehicles","authors":"Peng Wang, T. Mei, Ji-you Zhang","doi":"10.1109/CONTROL.2014.6915202","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915202","url":null,"abstract":"This paper investigates the energy consumption of the lateral secondary active suspension for railway vehicles and studies the conditions for self-powered active suspension control. The influence of the performance index weighting factors to both the ride quality and the energy consumption is discussed based on the linear quadratic regulator (LQR) algorithm. Then the energy balance condition is analyzed. With low energy harvesting restriction, the self-powered condition can be achieved. At last, simulation results are provided to validate the feasibility of the self-powered suspension.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"10 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":"121367920","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.2014.6915222
M. Ahmad, M. Eftekhari, T. Steffen, P. Rowley
This paper investigates the effect of model mismatch on the performance of model predictive control (MPC) when applied to the heating system. The controller uses a linear model and a quadratic cost function, while the actual process is non-linear in nature with a linear cost function. A genetic algorithm (NSGA II) is used to find the optimal solution to the actual problem and a number of variations, which are then compared the performance of the MPC controller. The results show that the model mismatch has a small but significant effect on the control performance, and it does prevent effective load shifting in certain situations.
{"title":"The effect of model and objective function mismatch in model predictive control (MPC) for a solar heating system with a heat pump","authors":"M. Ahmad, M. Eftekhari, T. Steffen, P. Rowley","doi":"10.1109/CONTROL.2014.6915222","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915222","url":null,"abstract":"This paper investigates the effect of model mismatch on the performance of model predictive control (MPC) when applied to the heating system. The controller uses a linear model and a quadratic cost function, while the actual process is non-linear in nature with a linear cost function. A genetic algorithm (NSGA II) is used to find the optimal solution to the actual problem and a number of variations, which are then compared the performance of the MPC controller. The results show that the model mismatch has a small but significant effect on the control performance, and it does prevent effective load shifting in certain situations.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"212 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":"131858805","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.2014.6915163
I. Yamamoto, Rui Zhu, J. Whidborne, Aryeh Marks
This paper describes the development of a disk-type flying robot with multiple rotors for use as an aerial observation platform. Models for the system are presented. A control system based on the optimal linear quadratic regulator is proposed. The controller is tested on the simulation model and shown to provide tracking of the reference trajectory and robustness against environmental disturbances.
{"title":"Research and design on a control system for a disk-type flying robot with multiple rotors","authors":"I. Yamamoto, Rui Zhu, J. Whidborne, Aryeh Marks","doi":"10.1109/CONTROL.2014.6915163","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915163","url":null,"abstract":"This paper describes the development of a disk-type flying robot with multiple rotors for use as an aerial observation platform. Models for the system are presented. A control system based on the optimal linear quadratic regulator is proposed. The controller is tested on the simulation model and shown to provide tracking of the reference trajectory and robustness against environmental disturbances.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"22 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":"131870866","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.2014.6915231
Yang Pan, F. Gao
The Octopus is a hexapod robot designed for research on emergency rescue missions in nuclear plants. The robot focused on load-bearing capability and adaptability in different unknown radiation scenarios. Compared with other legged robots, the main difference is that the robot applied 3 degree of freedom (DOF) parallel mechanism which improves the payload capability significantly. In this paper, first the background and the robot system is introduced. Then mechanism topology design methodology is mainly discussed. In our design process, the GF set theory is used which design the limb type from the end-effector requirements. Finally the relative experiments are briefly shown.
{"title":"Mechanism topology design for novel parallel-parallel hexapod robot","authors":"Yang Pan, F. Gao","doi":"10.1109/CONTROL.2014.6915231","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915231","url":null,"abstract":"The Octopus is a hexapod robot designed for research on emergency rescue missions in nuclear plants. The robot focused on load-bearing capability and adaptability in different unknown radiation scenarios. Compared with other legged robots, the main difference is that the robot applied 3 degree of freedom (DOF) parallel mechanism which improves the payload capability significantly. In this paper, first the background and the robot system is introduced. Then mechanism topology design methodology is mainly discussed. In our design process, the GF set theory is used which design the limb type from the end-effector requirements. Finally the relative experiments are briefly shown.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"10 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":"134448480","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.2014.6915186
Jordi Hernandez, M. Guadayol, V. Puig
Wind speed estimation is an important issue when addressing the control or the monitoring of a wind turbine. A realistic value of wind speed could be very useful to improve performance of wind turbine controllers, either for scheduling or as an extra feed forward term. In addition, it could also be useful for fault diagnosis and fault-tolerant control of the wind turbine. The objective of this work is to design and implement a wind speed estimator based on an Extended Kalman Filter (EKF) that uses a simplified nonlinear model and to compare the performance with experimental wind speed measurements. Even with such a simple model, the agreement with experimental data is significant, and shows great potential to be used by an advanced wind turbine controller.
{"title":"Wind speed estimation in wind turbines using EKF: Application to experimental data","authors":"Jordi Hernandez, M. Guadayol, V. Puig","doi":"10.1109/CONTROL.2014.6915186","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915186","url":null,"abstract":"Wind speed estimation is an important issue when addressing the control or the monitoring of a wind turbine. A realistic value of wind speed could be very useful to improve performance of wind turbine controllers, either for scheduling or as an extra feed forward term. In addition, it could also be useful for fault diagnosis and fault-tolerant control of the wind turbine. The objective of this work is to design and implement a wind speed estimator based on an Extended Kalman Filter (EKF) that uses a simplified nonlinear model and to compare the performance with experimental wind speed measurements. Even with such a simple model, the agreement with experimental data is significant, and shows great potential to be used by an advanced wind turbine controller.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"24 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":"134499442","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.2014.6915169
Jean Thomas, A. Hansson
Enumerative nonlinear model predictive control for speed tracking problem of linear induction motors has been presented in [1], where the authors show that this control scheme has better performance as compared to direct torque control. In this paper, the authors show that using a load observer for integral action, the performance can be further improved. Specifically simulation results show that a load observer results in better tracking properties and offers more robust control.
{"title":"Enumerative nonlinear model predictive control for linear induction motor using load observer","authors":"Jean Thomas, A. Hansson","doi":"10.1109/CONTROL.2014.6915169","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915169","url":null,"abstract":"Enumerative nonlinear model predictive control for speed tracking problem of linear induction motors has been presented in [1], where the authors show that this control scheme has better performance as compared to direct torque control. In this paper, the authors show that using a load observer for integral action, the performance can be further improved. Specifically simulation results show that a load observer results in better tracking properties and offers more robust control.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"71 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":"130298866","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.2014.6915129
J. Z. Jiang, S. Y. Zhang
The object of this paper is to identify the nonregular biquadratics that can be realized by a specific seven-element network. Renewed interest in the classical network synthesis arises in the synthesis of passive mechanical impedances. Recent work has shown that five-element networks are capable of realizing all regular biquadratics and a small portion of nonregular biquadratics. Based on the study of series-parallel six-element synthesis of biquadratics, a specific seven-element network was proposed, which is likely to realize a large range of nonregular biquadratics. The complete realizability conditions for this network will be defined and expressed in canonical form for biquadratics. The nonregular realizable region will then be explicitly characterized.
{"title":"Synthesis of biquadratic impedances with a specific seven-element network","authors":"J. Z. Jiang, S. Y. Zhang","doi":"10.1109/CONTROL.2014.6915129","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915129","url":null,"abstract":"The object of this paper is to identify the nonregular biquadratics that can be realized by a specific seven-element network. Renewed interest in the classical network synthesis arises in the synthesis of passive mechanical impedances. Recent work has shown that five-element networks are capable of realizing all regular biquadratics and a small portion of nonregular biquadratics. Based on the study of series-parallel six-element synthesis of biquadratics, a specific seven-element network was proposed, which is likely to realize a large range of nonregular biquadratics. The complete realizability conditions for this network will be defined and expressed in canonical form for biquadratics. The nonregular realizable region will then be explicitly characterized.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"13 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":"117321743","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.2014.6915205
E. H. Çopur, C. Freeman, B. Chu, D. S. Laila
Tremor is a common, debilitating movement condition commonly occurring in neurological disorders, with invasive and pharmacological treatment methods often ineffective. Functional electrical stimulation (FES) holds potential to supress tremor, but previous control methods have proven of limited success. This paper establishes the feasibility of using repetitive control, a framework which is able to eliminate the effect of periodic disturbances by including an internal model of the oscillation within the control structure. A model of the wrist is developed and two different repetitive control algorithms are applied to suppress tremor via stimulation of wrist flexors and extensors. Experimental results are compared with filter-based methods to establish the efficacy of the proposed approach.
{"title":"Repetitive control based tremor suppression using electrical stimulation","authors":"E. H. Çopur, C. Freeman, B. Chu, D. S. Laila","doi":"10.1109/CONTROL.2014.6915205","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915205","url":null,"abstract":"Tremor is a common, debilitating movement condition commonly occurring in neurological disorders, with invasive and pharmacological treatment methods often ineffective. Functional electrical stimulation (FES) holds potential to supress tremor, but previous control methods have proven of limited success. This paper establishes the feasibility of using repetitive control, a framework which is able to eliminate the effect of periodic disturbances by including an internal model of the oscillation within the control structure. A model of the wrist is developed and two different repetitive control algorithms are applied to suppress tremor via stimulation of wrist flexors and extensors. Experimental results are compared with filter-based methods to establish the efficacy of the proposed approach.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"23 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":"122966989","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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