Pub Date : 2012-10-01DOI: 10.1109/CCA.2012.6402715
R. Naldi, A. Gasparri, E. Garone
This work presents the design of a cooperative control policy for a group of heterogeneous vehicles given by a set of ground robots able to physically interact with an aerial robot by applying forces trough tethered cables governed by actuated winches. It is shown how different geometric configurations of the group may lead to possibly different dynamical properties of the overall system which can be exploited to improve the achievable closed-loop performances in certain situations. Suitable control allocation problems are then formulated in which the ground robots are considered as real mobile actuators able to improve the controllability of the aerial vehicle and to help it counteracting external disturbances such as wind.
{"title":"Cooperative pose stabilization of an aerial vehicle through physical interaction with a team of ground robots","authors":"R. Naldi, A. Gasparri, E. Garone","doi":"10.1109/CCA.2012.6402715","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402715","url":null,"abstract":"This work presents the design of a cooperative control policy for a group of heterogeneous vehicles given by a set of ground robots able to physically interact with an aerial robot by applying forces trough tethered cables governed by actuated winches. It is shown how different geometric configurations of the group may lead to possibly different dynamical properties of the overall system which can be exploited to improve the achievable closed-loop performances in certain situations. Suitable control allocation problems are then formulated in which the ground robots are considered as real mobile actuators able to improve the controllability of the aerial vehicle and to help it counteracting external disturbances such as wind.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"188 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":"125941882","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.2012.6402674
D. Kapoor, P. Sodhi, D. Deb
This paper develops a novel adaptive control based strategy for accurate simulation of solar panels under any given physical condition and for any general static or dynamic load. The method requires only PV datasheet values to set up the simulator for any given operating condition. Simulations confirm the efficacy of the proposed PV simulator. A novel controller for voltage buffering in applications requiring fast and accurate convergence is also proposed. The PV simulator is implemented in hardware using the proposed voltage buffer. The contributions of this paper are two-fold: (i) the development of a novel adaptive control based PV simulation methodology for dynamic tracking of any general load, and (ii) a novel control scheme for voltage buffering in DC applications.
{"title":"Solar panel simulation using adaptive control","authors":"D. Kapoor, P. Sodhi, D. Deb","doi":"10.1109/CCA.2012.6402674","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402674","url":null,"abstract":"This paper develops a novel adaptive control based strategy for accurate simulation of solar panels under any given physical condition and for any general static or dynamic load. The method requires only PV datasheet values to set up the simulator for any given operating condition. Simulations confirm the efficacy of the proposed PV simulator. A novel controller for voltage buffering in applications requiring fast and accurate convergence is also proposed. The PV simulator is implemented in hardware using the proposed voltage buffer. The contributions of this paper are two-fold: (i) the development of a novel adaptive control based PV simulation methodology for dynamic tracking of any general load, and (ii) a novel control scheme for voltage buffering in DC applications.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"11 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":"127109864","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.2012.6402446
Jedsada Saijai, A. Abdo, Waseem Damlakhi, S. Ding
In this paper, the fault detection (FD) scheme for discrete-time Markov jump linear systems (MJLS) with mode-independent residual generator is addressed. A recursive mode-independent Kalman filter (KF) is used as a residual generator for solving FD problem in MJLS, which is subject to the Gaussian disturbances. By utilizing the identification function, the recursive mode-independent KF is formulated in the extended state space form. Once residual signal is generated, it will be evaluated whether faults occur or not. Residual evaluation function is selected such that the maximum fault detection rate (FDR) is achieved, for a given false alarm rate (FAR). An estimation of the residual evaluation function variance in the fault-free case is recursively computed and consequently used for a threshold setting. Finally, a numerical example is given in order to demonstrate the performance of this proposed FD scheme.
{"title":"Fault detection scheme for discrete-time Markov jump linear systems with mode-independent residual","authors":"Jedsada Saijai, A. Abdo, Waseem Damlakhi, S. Ding","doi":"10.1109/CCA.2012.6402446","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402446","url":null,"abstract":"In this paper, the fault detection (FD) scheme for discrete-time Markov jump linear systems (MJLS) with mode-independent residual generator is addressed. A recursive mode-independent Kalman filter (KF) is used as a residual generator for solving FD problem in MJLS, which is subject to the Gaussian disturbances. By utilizing the identification function, the recursive mode-independent KF is formulated in the extended state space form. Once residual signal is generated, it will be evaluated whether faults occur or not. Residual evaluation function is selected such that the maximum fault detection rate (FDR) is achieved, for a given false alarm rate (FAR). An estimation of the residual evaluation function variance in the fault-free case is recursively computed and consequently used for a threshold setting. Finally, a numerical example is given in order to demonstrate the performance of this proposed FD scheme.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"21 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":"130053454","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.2012.6402337
V. Azhmyakov, M. Basin, A. García
This paper extends a theoretical approach to optimal control problems (OCPs) governed by a class of control systems with discontinuous right hand sides. A possible application of the framework developed in this paper is constituted by the conventional sliding mode dynamic processes. The general theory of the general constrained OCPs is finally used as an analytic basis for some conceptual numerically tractable schemes from a wide family of computational methods for OCPs. The proposed analytic method guarantees consistency of the resulting approximations related to the sophisticated initial infinite-dimensional optimization problem and can provide a fundament for some concrete implementable algorithms.
{"title":"A general approach to optimal control processes associated with a class of discontinuous control systems: Applications to the sliding mode dynamics","authors":"V. Azhmyakov, M. Basin, A. García","doi":"10.1109/CCA.2012.6402337","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402337","url":null,"abstract":"This paper extends a theoretical approach to optimal control problems (OCPs) governed by a class of control systems with discontinuous right hand sides. A possible application of the framework developed in this paper is constituted by the conventional sliding mode dynamic processes. The general theory of the general constrained OCPs is finally used as an analytic basis for some conceptual numerically tractable schemes from a wide family of computational methods for OCPs. The proposed analytic method guarantees consistency of the resulting approximations related to the sophisticated initial infinite-dimensional optimization problem and can provide a fundament for some concrete implementable algorithms.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"9 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":"132432322","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.2012.6402727
D. Tolic, R. Fierro, S. Ferrari
In this paper we investigate optimal intermittent feedback for nonlinear control systems. Using the currently available measurements from a plant, we develop a methodology that outputs when to update the controller with new measurements such that a given cost function is minimized. Our cost function captures trade-offs between the performance and energy consumption of the control system. The optimization problem is formulated as a Dynamic Programming problem, and Approximate Dynamic Programming is employed to solve it. Instead of advocating a particular approximation architecture for Approximate Dynamic Programming, we formulate properties that successful approximation architectures satisfy. In addition, we consider problems with partially observable states, and propose Particle Filtering to deal with partially observable states and intermittent feedback. Finally, our approach is applied to a mobile robot trajectory tracking problem.
{"title":"Optimal self-triggering for nonlinear systems via Approximate Dynamic Programming","authors":"D. Tolic, R. Fierro, S. Ferrari","doi":"10.1109/CCA.2012.6402727","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402727","url":null,"abstract":"In this paper we investigate optimal intermittent feedback for nonlinear control systems. Using the currently available measurements from a plant, we develop a methodology that outputs when to update the controller with new measurements such that a given cost function is minimized. Our cost function captures trade-offs between the performance and energy consumption of the control system. The optimization problem is formulated as a Dynamic Programming problem, and Approximate Dynamic Programming is employed to solve it. Instead of advocating a particular approximation architecture for Approximate Dynamic Programming, we formulate properties that successful approximation architectures satisfy. In addition, we consider problems with partially observable states, and propose Particle Filtering to deal with partially observable states and intermittent feedback. Finally, our approach is applied to a mobile robot trajectory tracking problem.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"27 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":"132325726","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.2012.6402363
M. C. R. Liñán, W. Heath
Deadzone and backlash are two common non-linearities in physical systems. This paper presents a novel approach to compensate for the effects generated by deadzone and saturation, or backlash and saturation, acting in series on a system's input. It takes advantage of the idea of inverting the deadzone or backlash to cancel its effects. It is shown that the final setting corresponds to that of a saturation. Hence anti-windup is proposed as an effective control strategy.
{"title":"Controller structure for plants with combined saturation and deadzone/backlash","authors":"M. C. R. Liñán, W. Heath","doi":"10.1109/CCA.2012.6402363","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402363","url":null,"abstract":"Deadzone and backlash are two common non-linearities in physical systems. This paper presents a novel approach to compensate for the effects generated by deadzone and saturation, or backlash and saturation, acting in series on a system's input. It takes advantage of the idea of inverting the deadzone or backlash to cancel its effects. It is shown that the final setting corresponds to that of a saturation. Hence anti-windup is proposed as an effective control strategy.","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":"128780056","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.2012.6402387
Irfan Ahmad, A. Voda, G. Besançon
Ultrahigh measurement precision of tunneling current is one of the key requirements in different nanopositioning and scanning systems. The desired precision of tunneling current measurement in vertical direction can be adversely influenced not only because of the sample surface variations and measurement noise, but also because of the cross-coupling while scanning in the horizontal direction. In this paper, few experimental results by considering the vertical system of tunneling current measurement (at ambient atmosphere) with H∞ SISO controller are presented and a comparison is performed with conventionally used classical PI controller. Further, a dynamic modeling of MIMO plant having vertical tunneling current measurement system with horizontal scanning system in the presence of cross-coupling phenomenon is proposed. Then, a robust H∞ MIMO controller is analyzed in simulations in order to achieve the desired measurement precision of the tunneling current.
{"title":"Experimental Validation of H∞ SISO control for high performance tunneling current measurement system and MIMO extension","authors":"Irfan Ahmad, A. Voda, G. Besançon","doi":"10.1109/CCA.2012.6402387","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402387","url":null,"abstract":"Ultrahigh measurement precision of tunneling current is one of the key requirements in different nanopositioning and scanning systems. The desired precision of tunneling current measurement in vertical direction can be adversely influenced not only because of the sample surface variations and measurement noise, but also because of the cross-coupling while scanning in the horizontal direction. In this paper, few experimental results by considering the vertical system of tunneling current measurement (at ambient atmosphere) with H∞ SISO controller are presented and a comparison is performed with conventionally used classical PI controller. Further, a dynamic modeling of MIMO plant having vertical tunneling current measurement system with horizontal scanning system in the presence of cross-coupling phenomenon is proposed. Then, a robust H∞ MIMO controller is analyzed in simulations in order to achieve the desired measurement precision of the tunneling current.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"23 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":"128818198","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.2012.6402358
S. Christiansen, T. Bak, T. Knudsen
Offshore wind energy capitalizes on the higher and less turbulent wind at sea. Shallow water sites are profitable for deployment of monopile wind turbines at water depths of up to 30 meters. Beyond 30 meters, the wind is even stronger and less turbulent. At these depths, floating wind turbines become profitable, capable of accessing unexploited wind resources while reaching regions of new consumers. However, floating wind turbines are subject to reduced structural stiffness which results in instabilities when standard wind turbine control systems are applied. Based on optimal control, this paper presents a new minimum thrust control strategy capable of stabilizing a floating wind turbine. The new control strategy explores the freedom of variable generator speed above rated wind speed. A comparison to the traditional constant speed strategy, shows improvements in structural fore-aft oscillations and power stability when using the new control strategy.
{"title":"Minimum thrust load control for floating wind turbine","authors":"S. Christiansen, T. Bak, T. Knudsen","doi":"10.1109/CCA.2012.6402358","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402358","url":null,"abstract":"Offshore wind energy capitalizes on the higher and less turbulent wind at sea. Shallow water sites are profitable for deployment of monopile wind turbines at water depths of up to 30 meters. Beyond 30 meters, the wind is even stronger and less turbulent. At these depths, floating wind turbines become profitable, capable of accessing unexploited wind resources while reaching regions of new consumers. However, floating wind turbines are subject to reduced structural stiffness which results in instabilities when standard wind turbine control systems are applied. Based on optimal control, this paper presents a new minimum thrust control strategy capable of stabilizing a floating wind turbine. The new control strategy explores the freedom of variable generator speed above rated wind speed. A comparison to the traditional constant speed strategy, shows improvements in structural fore-aft oscillations and power stability when using the new control strategy.","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":"125429435","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.2012.6402386
L. Vincent, S. Lesecq, P. Maurine, E. Beigné
Today mobile computing platforms need everincreasing computational performances while their energy consumption is drastically limited by battery lifespan. An optimal operating point is obtained thanks to a compromise between performance and power consumption. For distributed architectures (e.g. MultiProcessor System On Chip), the supply voltage and the operating frequency of each processing element are usually tuned dynamically to reach efficient performance/power consumption trade-offs. As a consequence, the physical state (e.g. its current supply voltage and temperature) of the integrated circuit must be monitored to locally adapt the chip parameters. In the present paper, a new method based on statistical tests is proposed to estimate the supply voltage and temperature of a local area in an integrated circuit. The raw measurements are acquired form standard ring oscillators buried in the chip. Simulation results show the effectiveness of the method with mean absolute errors of 6mV and 9°C for the estimated supply voltage and temperature respectively.
{"title":"Local Condition Monitoring in integrated circuits using a set of Kolmogorov-Smirnov tests","authors":"L. Vincent, S. Lesecq, P. Maurine, E. Beigné","doi":"10.1109/CCA.2012.6402386","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402386","url":null,"abstract":"Today mobile computing platforms need everincreasing computational performances while their energy consumption is drastically limited by battery lifespan. An optimal operating point is obtained thanks to a compromise between performance and power consumption. For distributed architectures (e.g. MultiProcessor System On Chip), the supply voltage and the operating frequency of each processing element are usually tuned dynamically to reach efficient performance/power consumption trade-offs. As a consequence, the physical state (e.g. its current supply voltage and temperature) of the integrated circuit must be monitored to locally adapt the chip parameters. In the present paper, a new method based on statistical tests is proposed to estimate the supply voltage and temperature of a local area in an integrated circuit. The raw measurements are acquired form standard ring oscillators buried in the chip. Simulation results show the effectiveness of the method with mean absolute errors of 6mV and 9°C for the estimated supply voltage and temperature respectively.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"15 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":"123308940","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.2012.6402733
Z. Emedi, A. Karimi
A new method for the design of fixed-order Linear Parameter Varying (LPV) controllers with polytopic representation for LTI plants is proposed. The stability constraints for the closed-loop system are presented through a set of Linear Matrix Inequalities (LMIs). An additional set of LMIs guarantees H∞ performance for the weighted closed-loop sensitivity function. The method is successfully applied to the problem of controller design for the rejection of a sinusoidal disturbance with timevarying frequency.
{"title":"Fixed-order LPV controller design for rejection of a sinusoidal disturbance with time-varying frequency","authors":"Z. Emedi, A. Karimi","doi":"10.1109/CCA.2012.6402733","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402733","url":null,"abstract":"A new method for the design of fixed-order Linear Parameter Varying (LPV) controllers with polytopic representation for LTI plants is proposed. The stability constraints for the closed-loop system are presented through a set of Linear Matrix Inequalities (LMIs). An additional set of LMIs guarantees H∞ performance for the weighted closed-loop sensitivity function. The method is successfully applied to the problem of controller design for the rejection of a sinusoidal disturbance with timevarying frequency.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"91 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120885281","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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