Pub Date : 2013-01-09DOI: 10.1109/CCA.2012.6402399
I. Petersen
This paper applies recent results on the robust stability of nonlinear quantum systems to the case of a Josephson junction in a resonant cavity. The Josephson junction is characterized by a Hamiltonian operator which contains a non-quadratic term involving a cosine function. This leads to a sector bounded nonlinearity which enables the previously developed theory to be applied to this system in order to analyze its stability.
{"title":"Quantum robust stability of a small Josephson junction in a resonant cavity","authors":"I. Petersen","doi":"10.1109/CCA.2012.6402399","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402399","url":null,"abstract":"This paper applies recent results on the robust stability of nonlinear quantum systems to the case of a Josephson junction in a resonant cavity. The Josephson junction is characterized by a Hamiltonian operator which contains a non-quadratic term involving a cosine function. This leads to a sector bounded nonlinearity which enables the previously developed theory to be applied to this system in order to analyze its stability.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128310854","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 : 2012-12-01DOI: 10.1109/CCA.2012.6402417
I. Mizumoto, R. Kohzawa
In this paper, we deal with a tip position control problem of a flexible arm with dead zone for the control input torque. A design method of a passivity based adaptive output feedback control for nonlinear nonminmum-phase flexible arm systems will be presented. To realize an adaptive output feedback control for nonminimum-phase control systems, we introduce a parallel feedforward compensator (PFC) so as to satisfy the OFEP (Output Feedback Exponentially Passive) conditions and design an adaptive feedforward input with a structure of neural networks in order to remove undesired vibration and the steady-state bias error from the PFC output and input dead zone. The effectiveness of the proposed method is examined through experiments for a flexible arm with dead zone.
{"title":"Control of a flexible arm with input dead zone by a passivity based adaptive output feedback","authors":"I. Mizumoto, R. Kohzawa","doi":"10.1109/CCA.2012.6402417","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402417","url":null,"abstract":"In this paper, we deal with a tip position control problem of a flexible arm with dead zone for the control input torque. A design method of a passivity based adaptive output feedback control for nonlinear nonminmum-phase flexible arm systems will be presented. To realize an adaptive output feedback control for nonminimum-phase control systems, we introduce a parallel feedforward compensator (PFC) so as to satisfy the OFEP (Output Feedback Exponentially Passive) conditions and design an adaptive feedforward input with a structure of neural networks in order to remove undesired vibration and the steady-state bias error from the PFC output and input dead zone. The effectiveness of the proposed method is examined through experiments for a flexible arm with dead zone.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127318033","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 : 2012-12-01DOI: 10.1109/CCA.2012.6402456
Atsushi Baba, S. Adachi
In this paper we propose an accurate state of charge (SOC) estimation method for a lithium-ion battery for hybrid electric vehicle (HEV) and electric vehicles (EV) use. Although it is important to accurately determine the SOC of a battery to achieve maximum efficiency and safety, none of the existing methods has achieved this perfectly. To address this issue, a model-based approach using a cascaded combination of two Kalman filters, “Series Kalman Filters,” is proposed and implemented. Its validity is verified by performing a series of simulations under a basic HEV operating environment.
{"title":"State of charge estimation of lithium-ion battery using Kalman filters","authors":"Atsushi Baba, S. Adachi","doi":"10.1109/CCA.2012.6402456","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402456","url":null,"abstract":"In this paper we propose an accurate state of charge (SOC) estimation method for a lithium-ion battery for hybrid electric vehicle (HEV) and electric vehicles (EV) use. Although it is important to accurately determine the SOC of a battery to achieve maximum efficiency and safety, none of the existing methods has achieved this perfectly. To address this issue, a model-based approach using a cascaded combination of two Kalman filters, “Series Kalman Filters,” is proposed and implemented. Its validity is verified by performing a series of simulations under a basic HEV operating environment.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122207189","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 : 2012-10-05DOI: 10.1109/CCA.2012.6402664
A. Filieri, C. Ghezzi, A. Leva, M. Maggio
Discrete Time Markov Chains (DTMCs) and Continuous Time Markov Chains (CTMCs) are often used to model various types of phenomena, such as, for example, the behavior of software products. In that case, Markov chains are widely used to describe possible time-varying behavior of “self-adaptive” software systems, where the transition from one state to another represents alternative choices at the software code level, taken according to a certain probability distribution. From a control-theoretical standpoint, some of these probabilities can be interpreted as control signals and others can just be observed. However, the translation between a DTMC or CTMC model and a corresponding first principle model, that can be used to design a control system is not immediate. This paper investigates a possible solution for translating a CTMC model into a dynamic system, with focus on the control of computing systems components. Notice that DTMC models can be translated as well, providing additional information.
{"title":"Discrete-time dynamic modeling for software and services composition as an extension of the Markov chain approach","authors":"A. Filieri, C. Ghezzi, A. Leva, M. Maggio","doi":"10.1109/CCA.2012.6402664","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402664","url":null,"abstract":"Discrete Time Markov Chains (DTMCs) and Continuous Time Markov Chains (CTMCs) are often used to model various types of phenomena, such as, for example, the behavior of software products. In that case, Markov chains are widely used to describe possible time-varying behavior of “self-adaptive” software systems, where the transition from one state to another represents alternative choices at the software code level, taken according to a certain probability distribution. From a control-theoretical standpoint, some of these probabilities can be interpreted as control signals and others can just be observed. However, the translation between a DTMC or CTMC model and a corresponding first principle model, that can be used to design a control system is not immediate. This paper investigates a possible solution for translating a CTMC model into a dynamic system, with focus on the control of computing systems components. Notice that DTMC models can be translated as well, providing additional information.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125782079","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 : 2012-10-04DOI: 10.1109/CCA.2012.6402692
O. Brend, C. Freeman, M. French
Impaired arm function has a significant impact on the quality of life of stroke sufferers. Research has shown that the application of functional electrical stimulation (FES) to assist their movement over repeated attempts at a task is effective in restoring function. However, current FES control systems lack robustness to changes in plant dynamics caused by fatigue and spasticity. This paper details the application of a multiple model adaptive control algorithm that has the potential to overcome this problem. It is shown in an experimental setting that an adaptive estimation mechanism is able to detect changes in the true plant through optimal disturbance estimation. Finally, the performance of the algorithm is compared with that of fixed optimal controllers. These initial results suggest that the application of estimation-based multiple model switched adaptive control (EMMSAC) can increase the potential of FES-based rehabilitation through improved controller accuracy.
{"title":"Application of multiple model adaptive control to upper limb stroke rehabilitation","authors":"O. Brend, C. Freeman, M. French","doi":"10.1109/CCA.2012.6402692","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402692","url":null,"abstract":"Impaired arm function has a significant impact on the quality of life of stroke sufferers. Research has shown that the application of functional electrical stimulation (FES) to assist their movement over repeated attempts at a task is effective in restoring function. However, current FES control systems lack robustness to changes in plant dynamics caused by fatigue and spasticity. This paper details the application of a multiple model adaptive control algorithm that has the potential to overcome this problem. It is shown in an experimental setting that an adaptive estimation mechanism is able to detect changes in the true plant through optimal disturbance estimation. Finally, the performance of the algorithm is compared with that of fixed optimal controllers. These initial results suggest that the application of estimation-based multiple model switched adaptive control (EMMSAC) can increase the potential of FES-based rehabilitation through improved controller accuracy.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121059430","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402349
Asya Zakhar'eva, A. Matveev, Michael Hoy, A. Savkin
We consider the problem of capturing a target by a team of kinematically controlled non-holonomic Dubins-like vehicles based on range-only measurements. Every vehicle has access to the distance to the target and the distances to the companions from the given disc sector centered at this vehicle. The objective is to drive all vehicles to the circle of the prescribed radius centered at the target, to uniformly distribute them along this circle, and to ensure the pre-specified speed and direction of their motion along the circle. A decentralized control law is proposed and investigated. Mathematically rigorous proofs of its convergence and stability, as well as collision avoidance property are presented; the performance of the control law is illustrated by computer simulations.
{"title":"A strategy for target capturing with collision avoidance for non-holonomic robots with sector vision and range-only measurements","authors":"Asya Zakhar'eva, A. Matveev, Michael Hoy, A. Savkin","doi":"10.1109/CCA.2012.6402349","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402349","url":null,"abstract":"We consider the problem of capturing a target by a team of kinematically controlled non-holonomic Dubins-like vehicles based on range-only measurements. Every vehicle has access to the distance to the target and the distances to the companions from the given disc sector centered at this vehicle. The objective is to drive all vehicles to the circle of the prescribed radius centered at the target, to uniformly distribute them along this circle, and to ensure the pre-specified speed and direction of their motion along the circle. A decentralized control law is proposed and investigated. Mathematically rigorous proofs of its convergence and stability, as well as collision avoidance property are presented; the performance of the control law is illustrated by computer simulations.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115149699","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402695
U. Fechner, R. Schmehl
Kite power is a promising innovative technology for converting wind energy into electricity at a higher capacity factor and, for many applications, at a lower cost than conventional wind turbines. However, accessing this potential depends substantially on the availability of sophisticated control systems. Delft University of Technology is developing a kite power generator which operates a tethered inflatable membrane wing in a pumping cycle. The flight trajectory is controlled by an actuator unit suspended below the wing and communicates with the ground station control centre via a fast and reliable wireless link. The link is also used to transmit the data of the on-board sensors to the ground. In a future wind park of many kite power systems, the individual kites and ground stations have to communicate among each other, to avoid collisions and to optimize the total energy output of the park. A preparatory analysis has shown that the current prototype would significantly benefit from a distributed control system approach, achieving higher efficiency and increased operational flexibility. For larger installations a distributed control system would be mandatory anyway. For these reasons, a distributed control system with a flexible architecture has been developed. The unique design and first test results are presented.
{"title":"Design of a distributed kite power control system","authors":"U. Fechner, R. Schmehl","doi":"10.1109/CCA.2012.6402695","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402695","url":null,"abstract":"Kite power is a promising innovative technology for converting wind energy into electricity at a higher capacity factor and, for many applications, at a lower cost than conventional wind turbines. However, accessing this potential depends substantially on the availability of sophisticated control systems. Delft University of Technology is developing a kite power generator which operates a tethered inflatable membrane wing in a pumping cycle. The flight trajectory is controlled by an actuator unit suspended below the wing and communicates with the ground station control centre via a fast and reliable wireless link. The link is also used to transmit the data of the on-board sensors to the ground. In a future wind park of many kite power systems, the individual kites and ground stations have to communicate among each other, to avoid collisions and to optimize the total energy output of the park. A preparatory analysis has shown that the current prototype would significantly benefit from a distributed control system approach, achieving higher efficiency and increased operational flexibility. For larger installations a distributed control system would be mandatory anyway. For these reasons, a distributed control system with a flexible architecture has been developed. The unique design and first test results are presented.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127440641","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402675
A. Luzi, J. Biannic, D. Peaucelle, J. Mignot
This paper studies time-varying structures for satellite attitude control systems. The considered satellites are from the Myriade family developed by the French Space Agency (CNES). Analysis of the existing control law and control requirements show that model reference control is suitable provided that the reference model is time-varying. A model reference linear parameter varying (LPV) strategy is thus considered and a synthesis procedure ensuring closed-loop stability and tracking of a time varying model is given. A different time-varying scheme allowing model following is simple adaptive control (SAC). After recalling the stability conditions for this structure, the two control laws are compared and applied to a simulation model of the DEMETER satellite, part of the Myriade program.
{"title":"Time varying attitude control strategies for the Myriade satellites","authors":"A. Luzi, J. Biannic, D. Peaucelle, J. Mignot","doi":"10.1109/CCA.2012.6402675","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402675","url":null,"abstract":"This paper studies time-varying structures for satellite attitude control systems. The considered satellites are from the Myriade family developed by the French Space Agency (CNES). Analysis of the existing control law and control requirements show that model reference control is suitable provided that the reference model is time-varying. A model reference linear parameter varying (LPV) strategy is thus considered and a synthesis procedure ensuring closed-loop stability and tracking of a time varying model is given. A different time-varying scheme allowing model following is simple adaptive control (SAC). After recalling the stability conditions for this structure, the two control laws are compared and applied to a simulation model of the DEMETER satellite, part of the Myriade program.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126049783","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402716
J. Silva, J. Sousa, F. Pereira
This paper is concerned with the synthesis of optimal feedback controllers for nonlinear continuous-time systems with switching costs. The design approach is based on dynamic programming techniques. Robustness with respect to model uncertainty and bounded disturbances is encompassed by considering an adversarial input. The problem is solved in the framework of zero-sum differential games. Controller specifications include state and input constraints. A numerical algorithm for the synthesis of the controller is described.
{"title":"Dynamic programming based feedback control for systems with switching costs","authors":"J. Silva, J. Sousa, F. Pereira","doi":"10.1109/CCA.2012.6402716","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402716","url":null,"abstract":"This paper is concerned with the synthesis of optimal feedback controllers for nonlinear continuous-time systems with switching costs. The design approach is based on dynamic programming techniques. Robustness with respect to model uncertainty and bounded disturbances is encompassed by considering an adversarial input. The problem is solved in the framework of zero-sum differential games. Controller specifications include state and input constraints. A numerical algorithm for the synthesis of the controller is described.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123547338","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402667
T. Green, R. Razavi-Far, R. Izadi-Zamanabadi, H. Niemann
This paper investigates the problem of plant-wide performance optimisation seen from an industrial perspective. The refrigeration system is used as a case study, because it has a distributed control architecture and operates in steady state conditions, which is common for many industrial applications in the process industry. The paper addresses the fact that dynamic performance of the system is important, to ensure optimal changes between different operation conditions. To enable optimisation of the dynamic controller behaviour a method for designing the required excitation signal is presented. Furthermore, invasive weed optimisation is used to find the optimal parameters for local controllers based on the plant wide performance measure.
{"title":"Plant-wide performance optimisation - The refrigeration system case","authors":"T. Green, R. Razavi-Far, R. Izadi-Zamanabadi, H. Niemann","doi":"10.1109/CCA.2012.6402667","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402667","url":null,"abstract":"This paper investigates the problem of plant-wide performance optimisation seen from an industrial perspective. The refrigeration system is used as a case study, because it has a distributed control architecture and operates in steady state conditions, which is common for many industrial applications in the process industry. The paper addresses the fact that dynamic performance of the system is important, to ensure optimal changes between different operation conditions. To enable optimisation of the dynamic controller behaviour a method for designing the required excitation signal is presented. Furthermore, invasive weed optimisation is used to find the optimal parameters for local controllers based on the plant wide performance measure.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125317840","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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