Pub Date : 2015-07-16DOI: 10.1109/MED.2015.7158806
A. Ruiz, J. E. Jiménez, José Sánchez, S. Dormido
The event-based control of Integrator Plus Time Delay (IPTD) processes is investigated in this study. A two Degree-Of-Freedom (2-DOF) structure with simple tuning methods is proposed to cope with the set-point tracking and the load disturbance rejection tasks. A stability analysis is conducted and a simple tuning methodology is provided. Simulation results prove the effectiveness of the approach.
{"title":"Event-based control for IPTD processes with simple tuning methods","authors":"A. Ruiz, J. E. Jiménez, José Sánchez, S. Dormido","doi":"10.1109/MED.2015.7158806","DOIUrl":"https://doi.org/10.1109/MED.2015.7158806","url":null,"abstract":"The event-based control of Integrator Plus Time Delay (IPTD) processes is investigated in this study. A two Degree-Of-Freedom (2-DOF) structure with simple tuning methods is proposed to cope with the set-point tracking and the load disturbance rejection tasks. A stability analysis is conducted and a simple tuning methodology is provided. Simulation results prove the effectiveness of the approach.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123602446","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 : 2015-07-16DOI: 10.1109/MED.2015.7158761
Jesús M. García, Jorge L. Martínez, A. Mandow, A. García-Cerezo
Mobile robot navigation through sloped terrains is a relevant problem for field robotics. In this context, mobile manipulators can improve tip-over stability by exerting ground contact with the end-effector of the onboard arm. However, this contact can affect vehicle steerability. This paper proposes a case study on the effect of arm ground contact on skid steering locomotion on inclined surfaces. To this end, a new four-wheeled mobile robot has been specifically designed with an onboard arm to provide one additional support point. Experimental results are obtained via ADAMS simulations on undulating surfaces, and include a comparison with center-of-gravity control for non-contact tip-over stability.
{"title":"Steerability analysis on slopes of a mobile robot with a ground contact arm","authors":"Jesús M. García, Jorge L. Martínez, A. Mandow, A. García-Cerezo","doi":"10.1109/MED.2015.7158761","DOIUrl":"https://doi.org/10.1109/MED.2015.7158761","url":null,"abstract":"Mobile robot navigation through sloped terrains is a relevant problem for field robotics. In this context, mobile manipulators can improve tip-over stability by exerting ground contact with the end-effector of the onboard arm. However, this contact can affect vehicle steerability. This paper proposes a case study on the effect of arm ground contact on skid steering locomotion on inclined surfaces. To this end, a new four-wheeled mobile robot has been specifically designed with an onboard arm to provide one additional support point. Experimental results are obtained via ADAMS simulations on undulating surfaces, and include a comparison with center-of-gravity control for non-contact tip-over stability.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127023530","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 : 2015-07-16DOI: 10.1109/MED.2015.7158775
S. Carpiuc, C. Lazar
The speed control of electric machines employed in automotive electrical traction drives is a challenging problem. Indeed, these applications are subject to physical and computational constraints. This paper addresses this challenging problem by employing a multi-rate predictive cascade state-space control structure, focusing on the design of the outer loop controller. Firstly, the mathematical model for the outer loop control, including also the dynamics of the inner control loop, is obtained. Secondly, a model predictive control approach based on a flexible control Lyapunov function is employed to control the rotor speed. Thirdly, in order to obtain the unmeasured state and the torque load a state and disturbance observer is employed. As a consequence, offset-free operation of the control system is also obtained. A realistic simulation scenario using a previously validated model and comparison with a linear quadratic regulator scheme are considered in order to illustrate the effectiveness of the proposed method.
{"title":"Multi-rate predictive cascade speed control of synchronous machines in automotive electrical traction drives","authors":"S. Carpiuc, C. Lazar","doi":"10.1109/MED.2015.7158775","DOIUrl":"https://doi.org/10.1109/MED.2015.7158775","url":null,"abstract":"The speed control of electric machines employed in automotive electrical traction drives is a challenging problem. Indeed, these applications are subject to physical and computational constraints. This paper addresses this challenging problem by employing a multi-rate predictive cascade state-space control structure, focusing on the design of the outer loop controller. Firstly, the mathematical model for the outer loop control, including also the dynamics of the inner control loop, is obtained. Secondly, a model predictive control approach based on a flexible control Lyapunov function is employed to control the rotor speed. Thirdly, in order to obtain the unmeasured state and the torque load a state and disturbance observer is employed. As a consequence, offset-free operation of the control system is also obtained. A realistic simulation scenario using a previously validated model and comparison with a linear quadratic regulator scheme are considered in order to illustrate the effectiveness of the proposed method.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115127251","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 : 2015-07-16DOI: 10.1109/MED.2015.7158822
G. Bitsoris, M. Vassilaki
In this paper, the problem of robust set invariance and contractivity with respect to discrete-time dynamical systems is investigated. In contrast to the usual approach consisting in describing regions of system's space by their border surfaces, a dual description of sets in terms of a generator matrix and a, generally nonlinear, generating function is proposed. This leads to the establishment of an associated generated system whose robust set invariance and/or contractivity properties imply corresponding properties for the initial system. This general result is then applied to the development of robust set invariance and/or robust contractivity conditions for linear systems.
{"title":"Robust set invariance and contractivity of discrete-time systems: The generators approach","authors":"G. Bitsoris, M. Vassilaki","doi":"10.1109/MED.2015.7158822","DOIUrl":"https://doi.org/10.1109/MED.2015.7158822","url":null,"abstract":"In this paper, the problem of robust set invariance and contractivity with respect to discrete-time dynamical systems is investigated. In contrast to the usual approach consisting in describing regions of system's space by their border surfaces, a dual description of sets in terms of a generator matrix and a, generally nonlinear, generating function is proposed. This leads to the establishment of an associated generated system whose robust set invariance and/or contractivity properties imply corresponding properties for the initial system. This general result is then applied to the development of robust set invariance and/or robust contractivity conditions for linear systems.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116378896","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 : 2015-07-16DOI: 10.1109/MED.2015.7158773
P. Biswal, S. Biswas
Now-a-days On-line testing becomes an indispensable part of DFT (design for testability) for detecting rapidly increasing intermittent faults in deep sub-micron ICs. Much of the proposed on-line testing techniques are for synchronous circuits as compared to asynchronous circuits. The existing online testing(OLT) techniques of asynchronous circuits involve development of checkers that verify the correctness of the predefined protocol. The area overhead of this type of checkers is quit high because of Mutex blocks, which are the main component of the checker. In this paper, we have adapted the theory of Failure Detection and Diagnosis(FDD) available in the literature on Timed Discrete Event Systems(TDES) to on-line testing of asynchronous circuits. The proposed scheme includes modeling the behavior of the circuit under normal and various stuck at fault conditions and eventually, an on-chip detector circuit is designed. The detector monitors the circuit on-line and determines whether the circuit is functioning in normal or failure mode. The main advantages of this scheme are non-intrusiveness and low area overheads compared to similar schemes reported in the literature.
{"title":"Timed Discrete event system approach to online testing of asynchronous circuits","authors":"P. Biswal, S. Biswas","doi":"10.1109/MED.2015.7158773","DOIUrl":"https://doi.org/10.1109/MED.2015.7158773","url":null,"abstract":"Now-a-days On-line testing becomes an indispensable part of DFT (design for testability) for detecting rapidly increasing intermittent faults in deep sub-micron ICs. Much of the proposed on-line testing techniques are for synchronous circuits as compared to asynchronous circuits. The existing online testing(OLT) techniques of asynchronous circuits involve development of checkers that verify the correctness of the predefined protocol. The area overhead of this type of checkers is quit high because of Mutex blocks, which are the main component of the checker. In this paper, we have adapted the theory of Failure Detection and Diagnosis(FDD) available in the literature on Timed Discrete Event Systems(TDES) to on-line testing of asynchronous circuits. The proposed scheme includes modeling the behavior of the circuit under normal and various stuck at fault conditions and eventually, an on-chip detector circuit is designed. The detector monitors the circuit on-line and determines whether the circuit is functioning in normal or failure mode. The main advantages of this scheme are non-intrusiveness and low area overheads compared to similar schemes reported in the literature.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123434740","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 : 2015-06-16DOI: 10.1109/MED.2015.7158791
S. Torres, O. Barambones, J. G. D. Durana, Francisco Marzabal, E. Kremers, Johannes Wirges
Electromobility lies on the crossroad between mobility and energy systems. The individual heterogeneous behaviours, and especially the spatial distribution and dynamism of the system make it a complex one. In this work, it is proposed an agent-based model to reflect this complexity and create a bottomup model which addresses specifically driving and charging behaviours of the individual agents. The model was implemented in a simple network which included the commonly used facilities in a city. This allows the computation of the generated load curve in a geographical context for any network. Different technical parameters were varied, as well as the driving and charging behaviours. The load curve as an aggregated result showed emergent patterns such as non-trivial effects when increasing the charging power. The model provides qualitative results from an exploratory point of view, which help to better understand electromobility systems by relating its causes and effects.
{"title":"Agent-based modelling of electric vehicle driving and charging behavior","authors":"S. Torres, O. Barambones, J. G. D. Durana, Francisco Marzabal, E. Kremers, Johannes Wirges","doi":"10.1109/MED.2015.7158791","DOIUrl":"https://doi.org/10.1109/MED.2015.7158791","url":null,"abstract":"Electromobility lies on the crossroad between mobility and energy systems. The individual heterogeneous behaviours, and especially the spatial distribution and dynamism of the system make it a complex one. In this work, it is proposed an agent-based model to reflect this complexity and create a bottomup model which addresses specifically driving and charging behaviours of the individual agents. The model was implemented in a simple network which included the commonly used facilities in a city. This allows the computation of the generated load curve in a geographical context for any network. Different technical parameters were varied, as well as the driving and charging behaviours. The load curve as an aggregated result showed emergent patterns such as non-trivial effects when increasing the charging power. The model provides qualitative results from an exploratory point of view, which help to better understand electromobility systems by relating its causes and effects.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124950282","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 : 2015-06-16DOI: 10.1109/MED.2015.7158733
Bassam Alrifaee, Jaime Granados Jodar, D. Abel
This paper proposes a Predictive Cruise Control for a Range Extended Electric Vehicle that uses the information of upcoming traffic lights to arrive at a green or to reduce idling at a red light. Simultaneously, it is decided in a predictive manner, which is the best energy management strategy to operate the vehicle's powertrain. The main goals are to reduce fuel consumption and to increase energy efficiency. The control algorithm is formulated based on Model Predictive Control theory, which also allows the controller to operate in the absence of traffic light information as an Adaptive Cruise Control with predictive energy management. The controller tracks an optimal velocity trajectory, computed based on current traffic light's timing, and decides how much energy must be provided from the battery and from the generator. The simulation results show a significant reduction in fuel and energy consumption.
{"title":"Predictive Cruise Control for energy saving in REEV using V2I information","authors":"Bassam Alrifaee, Jaime Granados Jodar, D. Abel","doi":"10.1109/MED.2015.7158733","DOIUrl":"https://doi.org/10.1109/MED.2015.7158733","url":null,"abstract":"This paper proposes a Predictive Cruise Control for a Range Extended Electric Vehicle that uses the information of upcoming traffic lights to arrive at a green or to reduce idling at a red light. Simultaneously, it is decided in a predictive manner, which is the best energy management strategy to operate the vehicle's powertrain. The main goals are to reduce fuel consumption and to increase energy efficiency. The control algorithm is formulated based on Model Predictive Control theory, which also allows the controller to operate in the absence of traffic light information as an Adaptive Cruise Control with predictive energy management. The controller tracks an optimal velocity trajectory, computed based on current traffic light's timing, and decides how much energy must be provided from the battery and from the generator. The simulation results show a significant reduction in fuel and energy consumption.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"207 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124649411","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 : 2015-06-16DOI: 10.1109/MED.2015.7158823
Alessandro Di Fava, Massimo Satler, P. Tripicchio
In many applications, robots should be able to move autonomously in semi-structured or unstructured environments. Autonomous robots can be employed for instance in area patrolling tasks in order to perform surveillance of sites. To autonomously navigate in an unknown outdoor scenario, a robot should be able to acquire sensible information about the environment by means of its own sensors and at the same time perform some reasoning to decide where and how to move. In this paper, we present a vision-based solution for the decision making and a behavior based low-level control for the navigation. Three different testing scenarios have been employed to assess the capabilities of the proposed approach: a computer simulated scenario, an indoor test on a real robotic platform and finally an outdoor test in a city park.
{"title":"Visual navigation of mobile robots for autonomous patrolling of indoor and outdoor areas","authors":"Alessandro Di Fava, Massimo Satler, P. Tripicchio","doi":"10.1109/MED.2015.7158823","DOIUrl":"https://doi.org/10.1109/MED.2015.7158823","url":null,"abstract":"In many applications, robots should be able to move autonomously in semi-structured or unstructured environments. Autonomous robots can be employed for instance in area patrolling tasks in order to perform surveillance of sites. To autonomously navigate in an unknown outdoor scenario, a robot should be able to acquire sensible information about the environment by means of its own sensors and at the same time perform some reasoning to decide where and how to move. In this paper, we present a vision-based solution for the decision making and a behavior based low-level control for the navigation. Three different testing scenarios have been employed to assess the capabilities of the proposed approach: a computer simulated scenario, an indoor test on a real robotic platform and finally an outdoor test in a city park.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129694145","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 : 2015-06-16DOI: 10.1109/MED.2015.7158821
M. Mitrevska, Z. Cao, Jinchuan Zheng, E. Kurniawan
This paper presents the design of a robust discrete-time sliding mode repetitive controller (DSMRC) which combines the features of repetitive control (RC) and sliding mode control (SMC) to achieve fast transient response, improved robustness to various matched uncertainties, and improved steady state performance. The new control structure consists of a repetitive control component and a sliding mode control part. The task of the sliding mode component is to provide a fast dynamic response and improve the robustness of the system against various uncertainties. The repetitive control part is added to the system to reduce the periodic error and improve the steady state performance of the system. A small pure phase lead component is added to the RC structure to ensure system stability and achieve high bandwidth tracking performance in the presence of bounded uncertainties. The proposed control structure is applied to a linear actuator (LA) system subjected to payload variations. A detailed analysis of the new control structure is presented in this paper to show the significance of the proposed scheme. Simulation results verify the effectiveness of the proposed method.
{"title":"Design of a robust discrete time sliding mode repetitive controller","authors":"M. Mitrevska, Z. Cao, Jinchuan Zheng, E. Kurniawan","doi":"10.1109/MED.2015.7158821","DOIUrl":"https://doi.org/10.1109/MED.2015.7158821","url":null,"abstract":"This paper presents the design of a robust discrete-time sliding mode repetitive controller (DSMRC) which combines the features of repetitive control (RC) and sliding mode control (SMC) to achieve fast transient response, improved robustness to various matched uncertainties, and improved steady state performance. The new control structure consists of a repetitive control component and a sliding mode control part. The task of the sliding mode component is to provide a fast dynamic response and improve the robustness of the system against various uncertainties. The repetitive control part is added to the system to reduce the periodic error and improve the steady state performance of the system. A small pure phase lead component is added to the RC structure to ensure system stability and achieve high bandwidth tracking performance in the presence of bounded uncertainties. The proposed control structure is applied to a linear actuator (LA) system subjected to payload variations. A detailed analysis of the new control structure is presented in this paper to show the significance of the proposed scheme. Simulation results verify the effectiveness of the proposed method.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129119887","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 : 2015-06-16DOI: 10.1109/MED.2015.7158780
V. Glizer, Oleg Kelis
An infinite horizon zero-sum linear-quadratic differential game is considered. The case where the cost functional does not contain a minimizer's control cost is treated. Thus the game under consideration is singular. This game is associated with a new differential game for the same equation of dynamics. The cost functional in this new game is the sum of the original cost functional and an infinite horizon integral of the square of the minimizer control with a small positive weight coefficient. The new game is regular. Moreover, it is a cheap control game. Using the solvability conditions, the solution of this game is reduced to solution of an algebraic matrix Riccati equation, perturbed by a small parameter. Based on an asymptotic solution of this equation, the finiteness of the upper value in the original game is established. An expression of this value is derived. A minimizing sequence of feedback controls in the original game also is designed. Illustrative example is presented.
{"title":"Solution of a singular infinite horizon zero-sum linear-quadratic differential game: A regularization approach","authors":"V. Glizer, Oleg Kelis","doi":"10.1109/MED.2015.7158780","DOIUrl":"https://doi.org/10.1109/MED.2015.7158780","url":null,"abstract":"An infinite horizon zero-sum linear-quadratic differential game is considered. The case where the cost functional does not contain a minimizer's control cost is treated. Thus the game under consideration is singular. This game is associated with a new differential game for the same equation of dynamics. The cost functional in this new game is the sum of the original cost functional and an infinite horizon integral of the square of the minimizer control with a small positive weight coefficient. The new game is regular. Moreover, it is a cheap control game. Using the solvability conditions, the solution of this game is reduced to solution of an algebraic matrix Riccati equation, perturbed by a small parameter. Based on an asymptotic solution of this equation, the finiteness of the upper value in the original game is established. An expression of this value is derived. A minimizing sequence of feedback controls in the original game also is designed. Illustrative example is presented.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124249419","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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