Pub Date : 2012-10-01DOI: 10.1109/CCA.2012.6402467
A. Rauh, Luise Senkel, H. Aschemann, N. Nedialkov, J. Pryce
Systems of differential-algebraic equations (DAEs) are a natural description for mathematical models of many real-life processes consisting of the interconnection of different physical components with their own dynamic behavior. Such interconnected systems can be described by separate subsystem models, for instance related to electric drives and mechanical components in power trains. Interface conditions are used to connect these subsystems by a description of power flow or, for example, geometric side conditions imposed by links or joints. In this paper, procedures for the computation of state sensitivities with respect to parameters and control inputs are described for DAE formulations of control applications. Procedures for sensitivity analysis are used to investigate the performance of control systems and to derive novel predictive control approaches aiming at accurate trajectory tracking and rejection of external disturbances, as well as procedures for state and parameter estimation.
{"title":"Sensitivity analysis for systems of differential-algebraic equations with applications to predictive control and parameter estimation","authors":"A. Rauh, Luise Senkel, H. Aschemann, N. Nedialkov, J. Pryce","doi":"10.1109/CCA.2012.6402467","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402467","url":null,"abstract":"Systems of differential-algebraic equations (DAEs) are a natural description for mathematical models of many real-life processes consisting of the interconnection of different physical components with their own dynamic behavior. Such interconnected systems can be described by separate subsystem models, for instance related to electric drives and mechanical components in power trains. Interface conditions are used to connect these subsystems by a description of power flow or, for example, geometric side conditions imposed by links or joints. In this paper, procedures for the computation of state sensitivities with respect to parameters and control inputs are described for DAE formulations of control applications. Procedures for sensitivity analysis are used to investigate the performance of control systems and to derive novel predictive control approaches aiming at accurate trajectory tracking and rejection of external disturbances, as well as procedures for state and parameter estimation.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"254 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":"131546130","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.2012.6402640
I. Kolmanovsky, L. Jaw, W. Merrill, H. Van
Uncertainties and, in particular, large inlet distortions, affect closed-loop stability, performance, and erode surge margins of aircraft gas turbine engines. Traditional robust control techniques can be combined with robust reference governors to preserve the stability and tracking performance, while enforcing the surge margin constraints. The paper examines uncertainty modeling, the effect of inlet distortions on engine performance, and on controller architecture selection; it also illustrates the combined application of robust reference governor and H-infinity controller. Our results suggest that stability and tracking performance of the feedback loop can be maintained with robust control techniques, hence constraint handling (limit protection) represents the primary goal in dealing with the effect of inlet distortions.
{"title":"Robust control and limit protection in aircraft gas turbine engines","authors":"I. Kolmanovsky, L. Jaw, W. Merrill, H. Van","doi":"10.1109/CCA.2012.6402640","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402640","url":null,"abstract":"Uncertainties and, in particular, large inlet distortions, affect closed-loop stability, performance, and erode surge margins of aircraft gas turbine engines. Traditional robust control techniques can be combined with robust reference governors to preserve the stability and tracking performance, while enforcing the surge margin constraints. The paper examines uncertainty modeling, the effect of inlet distortions on engine performance, and on controller architecture selection; it also illustrates the combined application of robust reference governor and H-infinity controller. Our results suggest that stability and tracking performance of the feedback loop can be maintained with robust control techniques, hence constraint handling (limit protection) represents the primary goal in dealing with the effect of inlet distortions.","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":"131582369","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.2012.6402669
Z. Szabó, P. Gáspár, J. Bokor
Control problems with multiple, competing performance requirements are often encountered in the design of vehicle systems. These multi-objective control problems can be efficiently handled in the qLPV framework. The design process, however, is a challenging task due to the encountered numerical difficulties. The paper provides a series of methods to facilitate the design process with efficient tuning possibilities. The proposed method is illustrated through a multi-objective design example of a quarter-car suspension system that provides sufficiently insight in the design process.
{"title":"qLPV design method for multi-objective vehicle control","authors":"Z. Szabó, P. Gáspár, J. Bokor","doi":"10.1109/CCA.2012.6402669","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402669","url":null,"abstract":"Control problems with multiple, competing performance requirements are often encountered in the design of vehicle systems. These multi-objective control problems can be efficiently handled in the qLPV framework. The design process, however, is a challenging task due to the encountered numerical difficulties. The paper provides a series of methods to facilitate the design process with efficient tuning possibilities. The proposed method is illustrated through a multi-objective design example of a quarter-car suspension system that provides sufficiently insight in the design process.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"67 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":"131583635","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.2012.6402435
C. Kandler, S. Ding, Tim Koenings, N. Weinhold, M. Schultalbers
In this contribution a novel extension to model predictive control for a certain class of input affine nonlinear systems is proposed, which satisfy the property of differential flatness and are of minimum phase. By feedforward linearization of the nonlinear system via a flatness based control law, the problem of nonlinear model predictive control is reduced to the well known linear model predictive control. This results in a considerable reduction in computational effort. Input constraints are considered via a nonlinear transformation and the cost functional can be minimized by usage of a standard quadratic programming algorithm. A simulation example is given to demonstrate the usefulness of this new strategy.
{"title":"A differential flatness based model predictive control approach","authors":"C. Kandler, S. Ding, Tim Koenings, N. Weinhold, M. Schultalbers","doi":"10.1109/CCA.2012.6402435","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402435","url":null,"abstract":"In this contribution a novel extension to model predictive control for a certain class of input affine nonlinear systems is proposed, which satisfy the property of differential flatness and are of minimum phase. By feedforward linearization of the nonlinear system via a flatness based control law, the problem of nonlinear model predictive control is reduced to the well known linear model predictive control. This results in a considerable reduction in computational effort. Input constraints are considered via a nonlinear transformation and the cost functional can be minimized by usage of a standard quadratic programming algorithm. A simulation example is given to demonstrate the usefulness of this new strategy.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"45 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":"131778502","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.2012.6402676
José Luis Mendoza-Soto, L. Alvarez-Icaza
A new power flow split strategy for hybrid vehicles based on generalized predictive control (GPC) is presented. A velocity tracking problem, together with the minimization of fuel consumption and constraints in batteries state of charge and power sources limits, is solved without requiring any a priori knowledge of power use. To allow real-time computation, the proposed strategy uses simplified models of a diesel-electric hybrid vehicle. Simulation results are presented that confirm good performance of the strategy for three different driving cycles.
{"title":"Power flow split strategy for hybrid vehicles based on generalized predictive control","authors":"José Luis Mendoza-Soto, L. Alvarez-Icaza","doi":"10.1109/CCA.2012.6402676","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402676","url":null,"abstract":"A new power flow split strategy for hybrid vehicles based on generalized predictive control (GPC) is presented. A velocity tracking problem, together with the minimization of fuel consumption and constraints in batteries state of charge and power sources limits, is solved without requiring any a priori knowledge of power use. To allow real-time computation, the proposed strategy uses simplified models of a diesel-electric hybrid vehicle. Simulation results are presented that confirm good performance of the strategy for three different driving cycles.","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":"131118209","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.2012.6402705
Ahmed Faghraoui, Mohamed-Ghassane Kabadi, Naim Kosayyer, D. Morel, D. Sauter, C. Aubrun
This paper presents a tool designed for analysing fault propagation and fault impact on large-scale process performances. The analysis is based on structural description of the process. The main physical variables are associated to each subsystem and a relational model linking these variables for all the different functioning modes of the system is determined. In large-scale systems every component must provide a certain function in order to make the overall system working satisfactorily. When a fault or a badly tuned parameter affects a control loop, the required function cannot be fulfilled which may cause a failure. Therefore, some Loop Performance Indexes (LPI) indicating if the control loops operate properly are necessary to evaluate the impact of the failure on the overall process performances represented by a high level index Key Performance Index (KPI). Structural models provide an interesting approach for the analysis of a system and also studying the impact of a fault because they only need a limited knowledge about the behaviour of the system. Generic component models can be used to describe the system architecture. At the first level different statistical tests are applied to the KPI. When a set of LPI or KPI deviate from their nominal or desired values, the elements which are source of an eventual malfunctioning can be searched in the structural graph by searching the nodes predecessors. The selected LPI are tested in their turn by mean of statistical tests. A node is declared to be “faulty” if the value of the corresponding LPI is out of the acceptable (pre defined) limits. The procedure is iterated until the last level of the model is reached. This procedure researches the possible cause of KPI value significant deviation. The procedure was applied on a board machine. In this process, the main KPI is the value of moisture of the board at the end of the production chain. The corresponding structural model which relates the moisture (top node) to the control loops (nodes) has been developed. In order to validate the large-scale capabilities of such approach, the model has been integrated within the PREDICT's SOA(Services Oriented Archiecture) software platform: KASEM (Kowledge and Advanced Services for E-Monitoring). The platform enables to apply the “on-line” statistical test to the KPI and LPIs of the board machine and supports the iterative procedure Indeed, the iterative procedure based on the structural graph was integrated as one of the KASEM diagnostic tools with a dynamic and animated graph and used during the KASEM workflow to solve the problem.
{"title":"SOA-based platform implementing a structural modelling for large-scale system fault detection: Application to a board machine","authors":"Ahmed Faghraoui, Mohamed-Ghassane Kabadi, Naim Kosayyer, D. Morel, D. Sauter, C. Aubrun","doi":"10.1109/CCA.2012.6402705","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402705","url":null,"abstract":"This paper presents a tool designed for analysing fault propagation and fault impact on large-scale process performances. The analysis is based on structural description of the process. The main physical variables are associated to each subsystem and a relational model linking these variables for all the different functioning modes of the system is determined. In large-scale systems every component must provide a certain function in order to make the overall system working satisfactorily. When a fault or a badly tuned parameter affects a control loop, the required function cannot be fulfilled which may cause a failure. Therefore, some Loop Performance Indexes (LPI) indicating if the control loops operate properly are necessary to evaluate the impact of the failure on the overall process performances represented by a high level index Key Performance Index (KPI). Structural models provide an interesting approach for the analysis of a system and also studying the impact of a fault because they only need a limited knowledge about the behaviour of the system. Generic component models can be used to describe the system architecture. At the first level different statistical tests are applied to the KPI. When a set of LPI or KPI deviate from their nominal or desired values, the elements which are source of an eventual malfunctioning can be searched in the structural graph by searching the nodes predecessors. The selected LPI are tested in their turn by mean of statistical tests. A node is declared to be “faulty” if the value of the corresponding LPI is out of the acceptable (pre defined) limits. The procedure is iterated until the last level of the model is reached. This procedure researches the possible cause of KPI value significant deviation. The procedure was applied on a board machine. In this process, the main KPI is the value of moisture of the board at the end of the production chain. The corresponding structural model which relates the moisture (top node) to the control loops (nodes) has been developed. In order to validate the large-scale capabilities of such approach, the model has been integrated within the PREDICT's SOA(Services Oriented Archiecture) software platform: KASEM (Kowledge and Advanced Services for E-Monitoring). The platform enables to apply the “on-line” statistical test to the KPI and LPIs of the board machine and supports the iterative procedure Indeed, the iterative procedure based on the structural graph was integrated as one of the KASEM diagnostic tools with a dynamic and animated graph and used during the KASEM workflow to solve the problem.","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":"133094361","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.2012.6402335
N. Groot, B. Schutter, H. Hellendoorn
A reverse Stackelberg game formulation can be adopted as a means to structure hierarchical control problems. Here, a leader player announces a mapping of the follower's decision space into the leader's decision space, after which a follower player determines his optimal decision variable. In the companion paper of this survey entitled `Reverse Stackelberg Games, Part I: Basic Framework', an introduction to the game has been provided with a clarification of the description of this game as it is studied in different research areas. In the current paper, an overview is provided of several main developments in the field. These contributions are categorized according to several aspects that are inherent to the formulation of the game, and they are briefly analyzed. Finally, several open issues are brought forward that are relevant for further research.
{"title":"Reverse Stackelberg games, part II: Results and open issues","authors":"N. Groot, B. Schutter, H. Hellendoorn","doi":"10.1109/CCA.2012.6402335","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402335","url":null,"abstract":"A reverse Stackelberg game formulation can be adopted as a means to structure hierarchical control problems. Here, a leader player announces a mapping of the follower's decision space into the leader's decision space, after which a follower player determines his optimal decision variable. In the companion paper of this survey entitled `Reverse Stackelberg Games, Part I: Basic Framework', an introduction to the game has been provided with a clarification of the description of this game as it is studied in different research areas. In the current paper, an overview is provided of several main developments in the field. These contributions are categorized according to several aspects that are inherent to the formulation of the game, and they are briefly analyzed. Finally, several open issues are brought forward that are relevant for further research.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"30 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":"133738213","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.2012.6402357
N. S. Patil, S. Sharma
In modern communication systems, one of the problems limiting the application of direct conversion receivers is the local oscillator port noise of sampling mixers. Ignoring the oscillator port noise contribution to the dynamical analysis of the sampling mixer will have influence on the trajectory estimation as well as its control. The intent of this note is to develop a general theory of sampling mixer under the coloured noise influence. The coloured noise process is exploited to model the oscillator port noise in lieu of the white noise process. Importantly, the coloured noise process confirms the real noise statistics. The coloured noise equation of the sampling mixer of this note is described by a scalar bilinear time-varying Stochastic Differential Equation (SDE). Subsequently, the extended phase space in combination with the notion of the Itô differential plays the role to develop the coupled dynamical equations of the estimated state trajectory of the sampling mixer. The numerical simulation in the MATLAB environment is demonstrated as well.
{"title":"A note on a sampling mixer under the coloured noise influence","authors":"N. S. Patil, S. Sharma","doi":"10.1109/CCA.2012.6402357","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402357","url":null,"abstract":"In modern communication systems, one of the problems limiting the application of direct conversion receivers is the local oscillator port noise of sampling mixers. Ignoring the oscillator port noise contribution to the dynamical analysis of the sampling mixer will have influence on the trajectory estimation as well as its control. The intent of this note is to develop a general theory of sampling mixer under the coloured noise influence. The coloured noise process is exploited to model the oscillator port noise in lieu of the white noise process. Importantly, the coloured noise process confirms the real noise statistics. The coloured noise equation of the sampling mixer of this note is described by a scalar bilinear time-varying Stochastic Differential Equation (SDE). Subsequently, the extended phase space in combination with the notion of the Itô differential plays the role to develop the coupled dynamical equations of the estimated state trajectory of the sampling mixer. The numerical simulation in the MATLAB environment is demonstrated as well.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"16 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":"115762022","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.2012.6402430
P. Gáspár, B. Németh, J. Bokor
The paper proposes the design of a vehicle control system which is able to follow a predefined road trajectory required by the driver with a steering command and a speed command. While the driver reduces the lateral error from the desired path, the control system focuses on the minimization of the yaw rate error. The vehicle maneuvers are supported by two control signals, i.e., the brake yaw moment and the auxiliary steering angle. The interaction between the vehicle and the driver is also built in the control design. The driver models, which describe the driver behaviours and activities, are based on both theoretical considerations and hardware-in-the-loop simulations. The operation of the driver assistance system is illustrated through different vehicle maneuvers.
{"title":"Design of supervisory integrated control based on driver models in a simulation environment","authors":"P. Gáspár, B. Németh, J. Bokor","doi":"10.1109/CCA.2012.6402430","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402430","url":null,"abstract":"The paper proposes the design of a vehicle control system which is able to follow a predefined road trajectory required by the driver with a steering command and a speed command. While the driver reduces the lateral error from the desired path, the control system focuses on the minimization of the yaw rate error. The vehicle maneuvers are supported by two control signals, i.e., the brake yaw moment and the auxiliary steering angle. The interaction between the vehicle and the driver is also built in the control design. The driver models, which describe the driver behaviours and activities, are based on both theoretical considerations and hardware-in-the-loop simulations. The operation of the driver assistance system is illustrated through different vehicle maneuvers.","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":"124416322","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.2012.6402462
Atsushi Ito, Y. Noda, K. Terashima
The automatic pouring of molten metal from a ladle into a mold by a machine requires a high-precision positioning control of the outflow liquid. In the previous studies, the precise falling position controls of the outflow liquid for pouring into the sprue cup of the mold were proposed. However, it is supposed to the increase amounts of splashing and the air entrainment, because the conventional approaches are not considered the height of the pouring mouth of the ladle. Therefore, in this study, we propose a novel approach of positioning control of the outflow liquid which makes the pouring mouth place as low as possible while avoiding clash between the ladle and the mold. In order to achieve the positioning control of the outflow liquid with both the lower pouring mouth position and the clash avoidance, the proposed approach gives the reference trajectory of the ladle movement considering not only the trajectory of the outflow liquid but also the positional relation between the ladle and the mold. The effectiveness of the proposed approach is verified by laboratory experiments of the automatic pouring system with rectangle-shaped ladle.
{"title":"High-precision liquid pouring control while keeping lower ladle position and avoiding clash with mold","authors":"Atsushi Ito, Y. Noda, K. Terashima","doi":"10.1109/CCA.2012.6402462","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402462","url":null,"abstract":"The automatic pouring of molten metal from a ladle into a mold by a machine requires a high-precision positioning control of the outflow liquid. In the previous studies, the precise falling position controls of the outflow liquid for pouring into the sprue cup of the mold were proposed. However, it is supposed to the increase amounts of splashing and the air entrainment, because the conventional approaches are not considered the height of the pouring mouth of the ladle. Therefore, in this study, we propose a novel approach of positioning control of the outflow liquid which makes the pouring mouth place as low as possible while avoiding clash between the ladle and the mold. In order to achieve the positioning control of the outflow liquid with both the lower pouring mouth position and the clash avoidance, the proposed approach gives the reference trajectory of the ladle movement considering not only the trajectory of the outflow liquid but also the positional relation between the ladle and the mold. The effectiveness of the proposed approach is verified by laboratory experiments of the automatic pouring system with rectangle-shaped ladle.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"234 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":"114605083","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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