Pub Date : 2012-10-01DOI: 10.1109/CCA.2012.6402687
Alexander Sievert, C. Wiesener, A. Arndt, W. Drewelow, O. Simanski
Heart assist devices provide mechanical circulatory support for patients with end-stage heart failure. Extracorporeal blood pumps are applied to adult and pediatric patients in the case of uni- and biventricular assistance. Modern driving units provide more mobility what is an immense benefit to the quality of life of the patients. The treated heart assist device in this article is the EXCOR system (Berlin Heart GmbH, Germany), which is a pneumatically driven extracorporeal assist device. It allows uni- and biventricular heart support. The automatic control system should match the pump output to the metabolic needs by controlling the piston movement and the enclosed air mass in the pneumatic system. This paper describes the design of a control system for the extracorporeal assist device. A developed model is used for controller synthesis. This model is based on modified basic physical equations and optimized for practical applications.
{"title":"Control of an extracorporeal heart assist device","authors":"Alexander Sievert, C. Wiesener, A. Arndt, W. Drewelow, O. Simanski","doi":"10.1109/CCA.2012.6402687","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402687","url":null,"abstract":"Heart assist devices provide mechanical circulatory support for patients with end-stage heart failure. Extracorporeal blood pumps are applied to adult and pediatric patients in the case of uni- and biventricular assistance. Modern driving units provide more mobility what is an immense benefit to the quality of life of the patients. The treated heart assist device in this article is the EXCOR system (Berlin Heart GmbH, Germany), which is a pneumatically driven extracorporeal assist device. It allows uni- and biventricular heart support. The automatic control system should match the pump output to the metabolic needs by controlling the piston movement and the enclosed air mass in the pneumatic system. This paper describes the design of a control system for the extracorporeal assist device. A developed model is used for controller synthesis. This model is based on modified basic physical equations and optimized for practical applications.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"547 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":"116386594","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.2012.6402452
Jheng-Ying Jiang, J. Tu, Hao-Ting Yang
Advanced finite element dynamic substructuring tests using innovative signal-based control strategies are presented in this paper. Substructuring tests decompose an entire structural system into parts. Nonlinear and critical components are physically tested at full size, whilst the remainder is simulated numerically in real-time. The success of the tests depends on two major requirements: (1) a robust controller to synchronize the numerical and physical responses; (2) fast, stable and accurate numerical simulation techniques. Hence, the proposed new substructuring strategies use a signal-based approach to design robust controllers, and develop real-time finite element methods to guarantee simulation accuracy. Signal-based controllers are advantageous, because their designs do not require a priori knowledge of the numerical and physical components. Implementation studies of a beam-spring-damper dynamically substructured system verify the effectiveness of the proposed new testing techniques.
{"title":"Real-time finite element dynamic substructuring using signal-based control strategies","authors":"Jheng-Ying Jiang, J. Tu, Hao-Ting Yang","doi":"10.1109/CCA.2012.6402452","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402452","url":null,"abstract":"Advanced finite element dynamic substructuring tests using innovative signal-based control strategies are presented in this paper. Substructuring tests decompose an entire structural system into parts. Nonlinear and critical components are physically tested at full size, whilst the remainder is simulated numerically in real-time. The success of the tests depends on two major requirements: (1) a robust controller to synchronize the numerical and physical responses; (2) fast, stable and accurate numerical simulation techniques. Hence, the proposed new substructuring strategies use a signal-based approach to design robust controllers, and develop real-time finite element methods to guarantee simulation accuracy. Signal-based controllers are advantageous, because their designs do not require a priori knowledge of the numerical and physical components. Implementation studies of a beam-spring-damper dynamically substructured system verify the effectiveness of the proposed new testing techniques.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"55 5 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":"117315894","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.2012.6402340
A. Savkin, Chao Wang
We present a simple biologically inspired strategy for navigation a unicycle-like robot towards a target while avoiding collisions with moving obstacles. Mathematically rigorous analysis of the proposed approach is provided. The convergence and performance of the algorithm is demonstrated via extensive computer simulations.
{"title":"A reactive algorithm for safe navigation of a wheeled mobile robot among moving obstacles","authors":"A. Savkin, Chao Wang","doi":"10.1109/CCA.2012.6402340","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402340","url":null,"abstract":"We present a simple biologically inspired strategy for navigation a unicycle-like robot towards a target while avoiding collisions with moving obstacles. Mathematically rigorous analysis of the proposed approach is provided. The convergence and performance of the algorithm is demonstrated via extensive computer simulations.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"33 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":"129576835","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.2012.6402689
D. Hernández, Wen Yu, Xiaoou Li
Both neural network and sliding mode can compensate the steady-state error of proportional-derivative (PD) control. PD control with neural compensation is smooth, but it is not asymptotically stable. PD control with sliding mode is asymptotically stable, but the chattering is big. This paper first analyzes the asymptotic stability of PD control with parallel neural networks and the first-order sliding mode compensation. Then a serial compensation structure is proposed. In the serial compensation, a dead-zone neural PD control assures that the regulation error is bounded. And a super-twisting second-order sliding-mode is used to guarantee finite time convergence of the sliding mode PD control.
{"title":"Robot PD control with parallel/serial neural network and sliding mode compensations","authors":"D. Hernández, Wen Yu, Xiaoou Li","doi":"10.1109/CCA.2012.6402689","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402689","url":null,"abstract":"Both neural network and sliding mode can compensate the steady-state error of proportional-derivative (PD) control. PD control with neural compensation is smooth, but it is not asymptotically stable. PD control with sliding mode is asymptotically stable, but the chattering is big. This paper first analyzes the asymptotic stability of PD control with parallel neural networks and the first-order sliding mode compensation. Then a serial compensation structure is proposed. In the serial compensation, a dead-zone neural PD control assures that the regulation error is bounded. And a super-twisting second-order sliding-mode is used to guarantee finite time convergence of the sliding mode PD control.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"1 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":"128754201","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.2012.6402354
S. Oudin, G. Ferreres, G. Puyou, P. Mouyon
This paper describes the application of an indirect LFT (Linear Fractional Transformation) -based adaptive control scheme to a rigid transport aircraft, with emphasis on the lateral axis. The plant parameters, namely the stability derivatives, are estimated online using a Recursive Least Squares technique. A modal approach is used to directly synthesize the static output feedback LFT controller, scheduled as a function of the parameters to be estimated, in order to reduce the online computational time and complexity. The study of the stability and H∞/L2 performance of the adaptive closed loop is performed by the analysis of an LFT gain-scheduled closed loop which depends on the true values of the plant parameters and on the estimation error. Using this offline method, based on μ analysis, the adaptive aircraft control scheme is shown to be robust with respect to a large transient and asymptotic estimation error, as confirmed by time-domain results on a nonlinear six degree-of-freedom simulator.
{"title":"Adaptive LFT control of a transport aircraft on the lateral axis","authors":"S. Oudin, G. Ferreres, G. Puyou, P. Mouyon","doi":"10.1109/CCA.2012.6402354","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402354","url":null,"abstract":"This paper describes the application of an indirect LFT (Linear Fractional Transformation) -based adaptive control scheme to a rigid transport aircraft, with emphasis on the lateral axis. The plant parameters, namely the stability derivatives, are estimated online using a Recursive Least Squares technique. A modal approach is used to directly synthesize the static output feedback LFT controller, scheduled as a function of the parameters to be estimated, in order to reduce the online computational time and complexity. The study of the stability and H∞/L2 performance of the adaptive closed loop is performed by the analysis of an LFT gain-scheduled closed loop which depends on the true values of the plant parameters and on the estimation error. Using this offline method, based on μ analysis, the adaptive aircraft control scheme is shown to be robust with respect to a large transient and asymptotic estimation error, as confirmed by time-domain results on a nonlinear six degree-of-freedom simulator.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"80 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":"128262228","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.2012.6402646
A. Korodi
Considering that the main objective of a photovoltaic (PV) system is to extract the maximum power that the PV panel can produce, the current work approaches the maximum power point tracking (MPPT) strategies. The paper presents a method that implements the knowledge base of a knowledge driven MPPT structure using a classical search algorithm. The knowledge base is represented by a two-dimensional Lookup table that through is support points associates the maximum power point (MPP) voltage or current coordinates to certain values of two basic external disturbances (solar radiation and temperature of the PV panel). After detecting and storing intermediary MPP coordinates, the Lookup table is set up using the Inverse Distance Weighting method. The detailed case study shows satisfactory results.
{"title":"Building a Knowledge base to obtain the maximum power point for a PV panel","authors":"A. Korodi","doi":"10.1109/CCA.2012.6402646","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402646","url":null,"abstract":"Considering that the main objective of a photovoltaic (PV) system is to extract the maximum power that the PV panel can produce, the current work approaches the maximum power point tracking (MPPT) strategies. The paper presents a method that implements the knowledge base of a knowledge driven MPPT structure using a classical search algorithm. The knowledge base is represented by a two-dimensional Lookup table that through is support points associates the maximum power point (MPP) voltage or current coordinates to certain values of two basic external disturbances (solar radiation and temperature of the PV panel). After detecting and storing intermediary MPP coordinates, the Lookup table is set up using the Inverse Distance Weighting method. The detailed case study shows satisfactory results.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"2 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":"124005346","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.2012.6402341
Chenguang Yang, B. Xu, Hongbin Ma, P. Culverhouse
This paper presents adaptive asymptotic tracking control of a class of uncertain strict-feedback discrete-time nonlinear systems subjected to parametric and nonparametric model uncertainties with unknown periodic time delay. Using states information in the past instant to compensate for non-parametric uncertainties at the current instant, constructive adaptive control is developed based on predicted future states. The designed adaptive control guarantees the bounded-ness of all the closed-loop signals and achieves asymptotic tracking performance.
{"title":"Adaptive asymptotic tracking control of strict-feedback nonlinear discrete-time system with periodic time delay","authors":"Chenguang Yang, B. Xu, Hongbin Ma, P. Culverhouse","doi":"10.1109/CCA.2012.6402341","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402341","url":null,"abstract":"This paper presents adaptive asymptotic tracking control of a class of uncertain strict-feedback discrete-time nonlinear systems subjected to parametric and nonparametric model uncertainties with unknown periodic time delay. Using states information in the past instant to compensate for non-parametric uncertainties at the current instant, constructive adaptive control is developed based on predicted future states. The designed adaptive control guarantees the bounded-ness of all the closed-loop signals and achieves asymptotic tracking performance.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"210 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":"114328932","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.2012.6402658
T. Nakakuki, Makoto Ogawa, C. Ishii
This paper proposes a robust nonlinear controller for a stage control of a vertical scanner in atomic force micro-scope to improve a settling time compared to a conventional PI controller, which results in a faster scanning on a sample surface. The physical model of the whole measurement system with respect to a vertical stage control is mainly described by two linear subsystems and a nonlinear and nonsmooth subsystem with a unmatched disturbance generated from a change of shape in a sample surface. First, we propose an approximation model in which a nonsmoothness that is generated by repetitive collisions between cantilever and sample surface is virtually converted into an additional nonsmooth disturbance. Then, the control problem is to design a feedback controller to compensate the two unmatched disturbances as fast as possible. With the object of a specification of a general AFM product, we assume that only output signal is available. Then, a controller including both a softened switching action and a PI compensator is introduced. Simulation results show our superiority in fast response compared to a conventional PI controller.
{"title":"Nonlinear robust stage control of atomic force microscope","authors":"T. Nakakuki, Makoto Ogawa, C. Ishii","doi":"10.1109/CCA.2012.6402658","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402658","url":null,"abstract":"This paper proposes a robust nonlinear controller for a stage control of a vertical scanner in atomic force micro-scope to improve a settling time compared to a conventional PI controller, which results in a faster scanning on a sample surface. The physical model of the whole measurement system with respect to a vertical stage control is mainly described by two linear subsystems and a nonlinear and nonsmooth subsystem with a unmatched disturbance generated from a change of shape in a sample surface. First, we propose an approximation model in which a nonsmoothness that is generated by repetitive collisions between cantilever and sample surface is virtually converted into an additional nonsmooth disturbance. Then, the control problem is to design a feedback controller to compensate the two unmatched disturbances as fast as possible. With the object of a specification of a general AFM product, we assume that only output signal is available. Then, a controller including both a softened switching action and a PI compensator is introduced. Simulation results show our superiority in fast response compared to a conventional PI controller.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"117 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":"116187599","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.2012.6402438
W. Paszke, K. Gałkowski, E. Rogers
This paper gives new results on the design of iterative learning control laws that enables one step design of a stabilizing feedback controller in the time domain and a feedforward (learning) controller which guarantees convergence in the trial domain. The Kalman-Yakubovich-Popov lemma is central to the analysis and the resulting computations use convex optimization over linear matrix inequalities. An illustrative example is given based on the model of an experimental facility that has been used to compare alternative iterative learning control designs.
{"title":"Repetitive process based iterative learning control design using frequency domain analysis","authors":"W. Paszke, K. Gałkowski, E. Rogers","doi":"10.1109/CCA.2012.6402438","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402438","url":null,"abstract":"This paper gives new results on the design of iterative learning control laws that enables one step design of a stabilizing feedback controller in the time domain and a feedforward (learning) controller which guarantees convergence in the trial domain. The Kalman-Yakubovich-Popov lemma is central to the analysis and the resulting computations use convex optimization over linear matrix inequalities. An illustrative example is given based on the model of an experimental facility that has been used to compare alternative iterative learning control designs.","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":"121781527","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.2012.6402359
M. Rapaić, A. Pisano, Z. Jeličić
This paper presents an extension of the well-known trapezoidal (bilinear) integration rule, that in the present work is applied to the numerical evaluation of fractional-order integrals. Particularly, this approximation is exploited to derive viable numerical algorithms addressing two distinct problems: i) simulation of Linear Time-Invariant (LTI) Commensurate Fractional Order Systems (CFOS); ii) non-recursive parameter estimation in LTI-CFOS. More precisely, the problem of non-recursive parameter estimation is addressed in two different scenarios. The first one is when the commensurate order of the CFOS is known in advance, while the second, more general, one is that in which the commensurate order is unknown and is to be estimated. The effectiveness of the proposed methods is illustrated by numerical examples.
{"title":"Trapezoidal rule for numerical evaluation of fractional order integrals with applications to simulation and identification of fractional order systems","authors":"M. Rapaić, A. Pisano, Z. Jeličić","doi":"10.1109/CCA.2012.6402359","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402359","url":null,"abstract":"This paper presents an extension of the well-known trapezoidal (bilinear) integration rule, that in the present work is applied to the numerical evaluation of fractional-order integrals. Particularly, this approximation is exploited to derive viable numerical algorithms addressing two distinct problems: i) simulation of Linear Time-Invariant (LTI) Commensurate Fractional Order Systems (CFOS); ii) non-recursive parameter estimation in LTI-CFOS. More precisely, the problem of non-recursive parameter estimation is addressed in two different scenarios. The first one is when the commensurate order of the CFOS is known in advance, while the second, more general, one is that in which the commensurate order is unknown and is to be estimated. The effectiveness of the proposed methods is illustrated by numerical examples.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"139 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":"134537544","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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