Pub Date : 2009-07-08DOI: 10.1109/CCA.2009.5280696
S. Mohseni, Mehrzad Namvar
In this paper, we introduce a new approach to fault detection and isolation for robot manipulators. Our technique is based on using a new simplified Euler-Lagrange (EL) equation that reduces complexity of the proposed fault detection method. The proposed approach isolates the faults and is capable of handling the uncertainty in manipulator gravity vector. It is shown that the effect of uncalibrated torque sensor measurement is asymptotically rejected in the detection process. A simulation example is presented to illustrate the results.
{"title":"Fault diagnosis in robot manipulators in presence of modeling uncertainty and sensor noise","authors":"S. Mohseni, Mehrzad Namvar","doi":"10.1109/CCA.2009.5280696","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280696","url":null,"abstract":"In this paper, we introduce a new approach to fault detection and isolation for robot manipulators. Our technique is based on using a new simplified Euler-Lagrange (EL) equation that reduces complexity of the proposed fault detection method. The proposed approach isolates the faults and is capable of handling the uncertainty in manipulator gravity vector. It is shown that the effect of uncalibrated torque sensor measurement is asymptotically rejected in the detection process. A simulation example is presented to illustrate the results.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114398554","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280724
M. Komareji, J. Stoustrup, H. Rasmussen, Nils Bidstrup, Peter Svendsen, F. Nielsen
This paper presents simplified optimal control of a heating, ventilating, and air-conditioning (HVAC) system. This HVAC system is a typical one composed of two heat exchangers: an air-to-air heat exchanger (a rotary wheel heat recovery) and a water-to-air heat exchanger. First the optimal control strategy which was developed in [1] is adopted for implementation in a real life HVAC system. Then the bypass flow problem is addressed and a controller is introduced to deal with this problem. Finally a simplified control structure is proposed for optimal control of the HVAC system. Results of implementing the simplified optimal controller show all control objectives are met (The cost function consists of electrical and thermal energy consumption by the HVAC system).
{"title":"Simplified optimal control in HVAC systems","authors":"M. Komareji, J. Stoustrup, H. Rasmussen, Nils Bidstrup, Peter Svendsen, F. Nielsen","doi":"10.1109/CCA.2009.5280724","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280724","url":null,"abstract":"This paper presents simplified optimal control of a heating, ventilating, and air-conditioning (HVAC) system. This HVAC system is a typical one composed of two heat exchangers: an air-to-air heat exchanger (a rotary wheel heat recovery) and a water-to-air heat exchanger. First the optimal control strategy which was developed in [1] is adopted for implementation in a real life HVAC system. Then the bypass flow problem is addressed and a controller is introduced to deal with this problem. Finally a simplified control structure is proposed for optimal control of the HVAC system. Results of implementing the simplified optimal controller show all control objectives are met (The cost function consists of electrical and thermal energy consumption by the HVAC system).","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115042575","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280905
Yao-Chu Hsueh, S. Su
This paper is a study of a genetic adaptive scheme design for L2-gain state feedback controllers. It is known that the design of the initial gain producer of the L2-gain state feedback controller (LC) is a difficult problem. The derivative-free optimization, the genetic algorithm, is utilized to resolve the high initial gain problem of LC for a class of nonlinear systems. It is a novel approach for robust control and can be considered as a special application of genetic algorithms. A real-value genetic algorithm with on-line characteristics is designed to search a suitable control gain of LC under auxiliary searching conditions and a specific cost function. The specific cost function is designed under Lyapunov stable theory. Since the system has the L2-gain control properties, then the system states are bounded in an assignable region so that the stability of the initial system is guaranteed. Thus, the system stability of any searched results is guaranteed. Besides, due to the assignable L2-gain attenuation level, the search space of the genetic algorithm is definable. The search target of the genetic algorithm is to find a suitable set of the initial gain so that the system can have required initial control performance. The simulation results indeed demonstrate the effectiveness of the proposed approach.
{"title":"Genetic adaptive scheme design for high initial gain problems in a L2-gain state feedback controller","authors":"Yao-Chu Hsueh, S. Su","doi":"10.1109/CCA.2009.5280905","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280905","url":null,"abstract":"This paper is a study of a genetic adaptive scheme design for L2-gain state feedback controllers. It is known that the design of the initial gain producer of the L2-gain state feedback controller (LC) is a difficult problem. The derivative-free optimization, the genetic algorithm, is utilized to resolve the high initial gain problem of LC for a class of nonlinear systems. It is a novel approach for robust control and can be considered as a special application of genetic algorithms. A real-value genetic algorithm with on-line characteristics is designed to search a suitable control gain of LC under auxiliary searching conditions and a specific cost function. The specific cost function is designed under Lyapunov stable theory. Since the system has the L2-gain control properties, then the system states are bounded in an assignable region so that the stability of the initial system is guaranteed. Thus, the system stability of any searched results is guaranteed. Besides, due to the assignable L2-gain attenuation level, the search space of the genetic algorithm is definable. The search target of the genetic algorithm is to find a suitable set of the initial gain so that the system can have required initial control performance. The simulation results indeed demonstrate the effectiveness of the proposed approach.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116948603","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281030
J. Belikov, E. Petlenkov
A dynamic output feedback linearization technique for model reference control of nonlinear TITO (two-input two-output) systems identified by an Additive Nonlinear Autoregressive eXogenous (ANARX) model is proposed. ANARX structure of the model can be obtained by training a neural network of the specific restricted connectivity structure. Linear discrete-time reference model is given in the form of transfer matrix defining desired zeros and poles of the closed loop system. NN-based ANARX model can be linearized by the proposed linearization algorithm thus that the transfer matrix of the linear closed loop system corresponds to the given reference model. The proposed linearization algorithm can be applied to control of a wide class of nonlinear SISO and TITO systems. The effectiveness of the proposed control technique is demonstrated on numerical examples.
{"title":"Model reference control of nonlinear TITO systems by dynamic output feedback linearization of neural network based ANARX models","authors":"J. Belikov, E. Petlenkov","doi":"10.1109/CCA.2009.5281030","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281030","url":null,"abstract":"A dynamic output feedback linearization technique for model reference control of nonlinear TITO (two-input two-output) systems identified by an Additive Nonlinear Autoregressive eXogenous (ANARX) model is proposed. ANARX structure of the model can be obtained by training a neural network of the specific restricted connectivity structure. Linear discrete-time reference model is given in the form of transfer matrix defining desired zeros and poles of the closed loop system. NN-based ANARX model can be linearized by the proposed linearization algorithm thus that the transfer matrix of the linear closed loop system corresponds to the given reference model. The proposed linearization algorithm can be applied to control of a wide class of nonlinear SISO and TITO systems. The effectiveness of the proposed control technique is demonstrated on numerical examples.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116323463","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281043
Chien-Ting Kuo, I-Iming Chen, Feng‐Li Lian
Data communication between mobile security robots over the network is an important component in a surveillance system. Because of limited bandwidth, transmission delay, and package loss, real-time video transmission may pose some challenges. In this paper, three steps of image data reduction before transmission are proposed and discussed in detail. The first one is temporal sampling, which selects the clearest frame in sequential ones. The next step is setting region of interest (ROI) for the chosen frame. Finally, a spatial sampling on manipulating the level of detail is performed in the ROI. Experimental results show that the procedures reduce data redundancy and maintain the important information simultaneously.
{"title":"Intelligent video transmission control for mobile cameras","authors":"Chien-Ting Kuo, I-Iming Chen, Feng‐Li Lian","doi":"10.1109/CCA.2009.5281043","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281043","url":null,"abstract":"Data communication between mobile security robots over the network is an important component in a surveillance system. Because of limited bandwidth, transmission delay, and package loss, real-time video transmission may pose some challenges. In this paper, three steps of image data reduction before transmission are proposed and discussed in detail. The first one is temporal sampling, which selects the clearest frame in sequential ones. The next step is setting region of interest (ROI) for the chosen frame. Finally, a spatial sampling on manipulating the level of detail is performed in the ROI. Experimental results show that the procedures reduce data redundancy and maintain the important information simultaneously.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129901352","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281022
J. Eliasson, W. Birk
This paper discusses results from real-life tests with intelligent road marking units (RMU), placed on the surface of a highway in northern Sweden, to monitor passing vehicles and road properties, as well as making the information available through a wireless sensor network. Wireless sensor networks are starting to gain interest in the area of cooperative safety and efficiency in transport as they can contribute to the reduction of accidents and emissions as well as enhanced driver experiences. Intelligent road markings are another key element for the creation of intelligent transport systems, complementing road side units, devices placed near a road equipped with high-performance computational platforms and long range communication capabilities. This paper shows that RMUs are feasible from the perspectives of low-power consumption, durability, and sensing performance.
{"title":"Towards road surface monitoring: Experiments and technical challenges","authors":"J. Eliasson, W. Birk","doi":"10.1109/CCA.2009.5281022","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281022","url":null,"abstract":"This paper discusses results from real-life tests with intelligent road marking units (RMU), placed on the surface of a highway in northern Sweden, to monitor passing vehicles and road properties, as well as making the information available through a wireless sensor network. Wireless sensor networks are starting to gain interest in the area of cooperative safety and efficiency in transport as they can contribute to the reduction of accidents and emissions as well as enhanced driver experiences. Intelligent road markings are another key element for the creation of intelligent transport systems, complementing road side units, devices placed near a road equipped with high-performance computational platforms and long range communication capabilities. This paper shows that RMUs are feasible from the perspectives of low-power consumption, durability, and sensing performance.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128932555","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281178
Ruili Dong, Yonghong Tan
It is known that backlash-like hysteresis is one of the non-smooth nonlinearities usually existing in mechanical systems. Due to the characteristic of non-smoothness, it is quite difficult to apply the traditional identification method to the modeling of dynamic systems with backlash-like hysteresis in mechanical systems. In this paper, a gradient based recursive identification algorithm for dynamic systems with backlash-like hysteresis is presented. In this method, based on the concept of Clarke sub-gradient, a so-called bundle method is used to obtain the optimizing search direction at the non-smooth points. Then, the gradient based algorithm is developed for parameter estimation. Finally, an example of applying the proposed method for modeling a simulated mechanical transmission system is presented.
{"title":"A gradient based recursive identification of mechanical systems with backlash-like hysteresis","authors":"Ruili Dong, Yonghong Tan","doi":"10.1109/CCA.2009.5281178","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281178","url":null,"abstract":"It is known that backlash-like hysteresis is one of the non-smooth nonlinearities usually existing in mechanical systems. Due to the characteristic of non-smoothness, it is quite difficult to apply the traditional identification method to the modeling of dynamic systems with backlash-like hysteresis in mechanical systems. In this paper, a gradient based recursive identification algorithm for dynamic systems with backlash-like hysteresis is presented. In this method, based on the concept of Clarke sub-gradient, a so-called bundle method is used to obtain the optimizing search direction at the non-smooth points. Then, the gradient based algorithm is developed for parameter estimation. Finally, an example of applying the proposed method for modeling a simulated mechanical transmission system is presented.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132860383","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281108
D. Prokhorov
This paper introduces a two-level risk estimation system suitable to control in ITS. The top-level risk estimation is done on the basis of perceived risk associated with various driving situations and affected by weather, traffic and road conditions. The high-level risk estimation is then refined on the basis of real-time information about the vehicle surrounding, such as motions of other vehicles. The approach is illustrated on examples of maneuvers in which the risk is estimated via logic, lookup tables and neural networks.
{"title":"Risk estimator for control in intelligent transportation system","authors":"D. Prokhorov","doi":"10.1109/CCA.2009.5281108","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281108","url":null,"abstract":"This paper introduces a two-level risk estimation system suitable to control in ITS. The top-level risk estimation is done on the basis of perceived risk associated with various driving situations and affected by weather, traffic and road conditions. The high-level risk estimation is then refined on the basis of real-time information about the vehicle surrounding, such as motions of other vehicles. The approach is illustrated on examples of maneuvers in which the risk is estimated via logic, lookup tables and neural networks.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132999380","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 : 2009-07-08DOI: 10.1109/CCA.2009.5281140
Ping Li, Guanghong Yang
The design of fault-tolerant control (FTC) for a class of uncertain nonlinear systems is studied in this paper. The considered system cannot be feedback linearized, and the nonlinear system functions are all unknown. Besides, some unknown actuator faults and external disturbances enter into the system during operation. A novel fault-tolerant controller is proposed by incorporating adaptive fuzzy approximation, backstepping design and robust control into FTC technique. The fuzzy systems which are used to be approximators are nonlinearly parameterized because the fuzzy membership functions are uncertain to designer. Both approximation errors and external disturbances are attenuated by additional control. The designed controller guarantees the closed-loop system stable and the output tracking to the reference signal. A simulation example is given to show the effectiveness of the proposed control approach.
{"title":"Fault-tolerant control of uncertain nonlinear systems with nonlinearly parameterized fuzzy systems","authors":"Ping Li, Guanghong Yang","doi":"10.1109/CCA.2009.5281140","DOIUrl":"https://doi.org/10.1109/CCA.2009.5281140","url":null,"abstract":"The design of fault-tolerant control (FTC) for a class of uncertain nonlinear systems is studied in this paper. The considered system cannot be feedback linearized, and the nonlinear system functions are all unknown. Besides, some unknown actuator faults and external disturbances enter into the system during operation. A novel fault-tolerant controller is proposed by incorporating adaptive fuzzy approximation, backstepping design and robust control into FTC technique. The fuzzy systems which are used to be approximators are nonlinearly parameterized because the fuzzy membership functions are uncertain to designer. Both approximation errors and external disturbances are attenuated by additional control. The designed controller guarantees the closed-loop system stable and the output tracking to the reference signal. A simulation example is given to show the effectiveness of the proposed control approach.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123373681","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 : 2009-07-08DOI: 10.1109/CCA.2009.5280972
A. Piłat, A. Kornecki, J. Thiriet, W. Grega, O. Ryšavý
The paper describes the mechanism for involving students from multilingual, geographically separated institutions in a coordinated educational experience and presents the observations and evaluation of outcomes related to the collaborative project. The project was realized as a part of ILERT (International Learning Environment for Real-Time Software Intensive Control System) EU/US activity sponsored by FIPSE/EC Atlantis Program. As a part of the pilot implementation phase of the ILERT project, international students teams have worked on robotic design and control experiments with LEGO MINDSTORMS NXT kits. The project has engaged on-site students and faculty of universities from four countries (USA, Poland, France, and Czech Republic). The robot maze navigation problem has been defined as an example. LEGO-MINDSTROMS NXT kit has been selected as a common platform for students teams. A Web-based Project Management System (WebPMS) has been used to improve communication and test Internet based tools for inter-university collaboration. Final evaluation of the project outcomes, including students survey results, are presented in this paper.
{"title":"Inter-university project based on LEGO NXT","authors":"A. Piłat, A. Kornecki, J. Thiriet, W. Grega, O. Ryšavý","doi":"10.1109/CCA.2009.5280972","DOIUrl":"https://doi.org/10.1109/CCA.2009.5280972","url":null,"abstract":"The paper describes the mechanism for involving students from multilingual, geographically separated institutions in a coordinated educational experience and presents the observations and evaluation of outcomes related to the collaborative project. The project was realized as a part of ILERT (International Learning Environment for Real-Time Software Intensive Control System) EU/US activity sponsored by FIPSE/EC Atlantis Program. As a part of the pilot implementation phase of the ILERT project, international students teams have worked on robotic design and control experiments with LEGO MINDSTORMS NXT kits. The project has engaged on-site students and faculty of universities from four countries (USA, Poland, France, and Czech Republic). The robot maze navigation problem has been defined as an example. LEGO-MINDSTROMS NXT kit has been selected as a common platform for students teams. A Web-based Project Management System (WebPMS) has been used to improve communication and test Internet based tools for inter-university collaboration. Final evaluation of the project outcomes, including students survey results, are presented in this paper.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"207 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121289369","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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