Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158893
C. Somarakis, J. Baras
We propose and study a network of autonomous agents which evolve their state under a distributed consensus algorithm of non-linear neutral type. We provide sufficient conditions for convergence to a common consensus point, by means of a stability in variation argument and fixed point theory. Our approach provides both an estimation on the rate of convergence and an implicit expression for the consensus point.
{"title":"Distributed consensus networks of neutral type","authors":"C. Somarakis, J. Baras","doi":"10.1109/MED.2015.7158893","DOIUrl":"https://doi.org/10.1109/MED.2015.7158893","url":null,"abstract":"We propose and study a network of autonomous agents which evolve their state under a distributed consensus algorithm of non-linear neutral type. We provide sufficient conditions for convergence to a common consensus point, by means of a stability in variation argument and fixed point theory. Our approach provides both an estimation on the rate of convergence and an implicit expression for the consensus point.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"131 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":"133594452","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.2015.7158779
Pantelis Sopasakis, Sotirios Ntouskas, H. Sarimveis
In this paper we propose a tube-based robust model predictive control scheme for fractional-order discretetime systems of the Grünwald-Letnikov type with state and input constraints. We first approximate the infinite-dimensional fractional-order system by a finite-dimensional linear system and we show that the actual dynamics can be approximated arbitrarily tight. We use the approximate dynamics to design a tube-based model predictive controller which endows to the controlled closed-loop system robust stability properties.
{"title":"Robust model predictive control for discrete-time fractional-order systems","authors":"Pantelis Sopasakis, Sotirios Ntouskas, H. Sarimveis","doi":"10.1109/med.2015.7158779","DOIUrl":"https://doi.org/10.1109/med.2015.7158779","url":null,"abstract":"In this paper we propose a tube-based robust model predictive control scheme for fractional-order discretetime systems of the Grünwald-Letnikov type with state and input constraints. We first approximate the infinite-dimensional fractional-order system by a finite-dimensional linear system and we show that the actual dynamics can be approximated arbitrarily tight. We use the approximate dynamics to design a tube-based model predictive controller which endows to the controlled closed-loop system robust stability properties.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"39 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":"134005681","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.2015.7158807
E. A. Androulidakis, A. Alexandridis
The asymptotic stability to the origin for a class of underdamped, nonautonomous, nonlinear, Hamiltonian systems is investigated. For this class of systems, the step from stability to uniform asymptotic stability needs some hard additional conditions to hold true. In principle, these conditions are of observability type, that are difficult to be checked due to the nonlinearities and nonautonomous nature of the system. In this paper, in Proposition 1 and Corollary 1, it is proven that the required uniform observability condition can be expressed as a sufficient, time-running, matrix-rank condition. However, since to check this condition is not always an easy task, a simple but much more constrained sufficient, time-invariant rank condition can be obtained as presented in Proposition 2. An illustrative example is performed and simulated to verify the theoretical analysis.
{"title":"Relaxed sufficient conditions for asymptotic stability for a class of underdamped nonautonomous Hamiltonian systems","authors":"E. A. Androulidakis, A. Alexandridis","doi":"10.1109/MED.2015.7158807","DOIUrl":"https://doi.org/10.1109/MED.2015.7158807","url":null,"abstract":"The asymptotic stability to the origin for a class of underdamped, nonautonomous, nonlinear, Hamiltonian systems is investigated. For this class of systems, the step from stability to uniform asymptotic stability needs some hard additional conditions to hold true. In principle, these conditions are of observability type, that are difficult to be checked due to the nonlinearities and nonautonomous nature of the system. In this paper, in Proposition 1 and Corollary 1, it is proven that the required uniform observability condition can be expressed as a sufficient, time-running, matrix-rank condition. However, since to check this condition is not always an easy task, a simple but much more constrained sufficient, time-invariant rank condition can be obtained as presented in Proposition 2. An illustrative example is performed and simulated to verify the theoretical analysis.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"21 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":"126958835","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.2015.7158770
Mei Zhang, B. Dahhou, M. Cabassud, Ze-tao Li
This paper proposes a left invertible cascade nonlinear system structure with a dynamic inversion based input reconstruction laws, forming a novel model-based actuator fault detection and isolation (FDI) algorithm. Actuator is viewed as subsystem connected with the process subsystem in series, thus identifying actuator faults with advancing FDI algorithm in the subsystem whose outputs are assumed unmeasured. The left invertibility of individual subsystem is required for ensuring faults occurred in actuator subsystem can be transmitted to the process subsystem uniquely, and for reconstructing process inputs, also actuator outputs, from measured process outputs. Effectiveness of the proposed approach is demonstrated on an intensified HEX reactor developed by the Laboratoire de Génie Chimique (LGC -Toulouse, France).
{"title":"Actuator fault detection and isolation via input reconstruction: Application to intensified heat exchanger reactor","authors":"Mei Zhang, B. Dahhou, M. Cabassud, Ze-tao Li","doi":"10.1109/MED.2015.7158770","DOIUrl":"https://doi.org/10.1109/MED.2015.7158770","url":null,"abstract":"This paper proposes a left invertible cascade nonlinear system structure with a dynamic inversion based input reconstruction laws, forming a novel model-based actuator fault detection and isolation (FDI) algorithm. Actuator is viewed as subsystem connected with the process subsystem in series, thus identifying actuator faults with advancing FDI algorithm in the subsystem whose outputs are assumed unmeasured. The left invertibility of individual subsystem is required for ensuring faults occurred in actuator subsystem can be transmitted to the process subsystem uniquely, and for reconstructing process inputs, also actuator outputs, from measured process outputs. Effectiveness of the proposed approach is demonstrated on an intensified HEX reactor developed by the Laboratoire de Génie Chimique (LGC -Toulouse, France).","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"203 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":"121797146","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.2015.7158794
A. Giorgio, F. Liberati, Andrea Lanna
This paper presents a real time strategy for optimal power flow in presence of storage devices and wind turbine driven by Doubly Fed Induction Generators. These elements work in cooperation defining a dynamic bus where the generated power is subject to temporal constraints, which establish a coupling between traditional power flow problems related to consecutive time periods; further the uncertainty in wind power generation forecasts requires a continuous update of the planned power profiles, in order to guarantee a dynamic equilibrium among demand and supply. Model predictive control is used for this purpose, considering the dynamic equations of the storage and the wind turbine rotor as prediction models. A proper target function is introduced in order to find a trade-off between the need of minimizing generation costs and the excursions of the storage state of charge and the wind turbine angular speed from reference states. In the case study under consideration storage, wind turbines and a traditional synchronous generator are operated by the Transmission System Operator in the form of a Virtual Power Plant working as slack bus to cover network losses. The proposed approach is validated on simulation basis.
{"title":"Real time optimal power flow integrating large scale storage devices and wind generation","authors":"A. Giorgio, F. Liberati, Andrea Lanna","doi":"10.1109/MED.2015.7158794","DOIUrl":"https://doi.org/10.1109/MED.2015.7158794","url":null,"abstract":"This paper presents a real time strategy for optimal power flow in presence of storage devices and wind turbine driven by Doubly Fed Induction Generators. These elements work in cooperation defining a dynamic bus where the generated power is subject to temporal constraints, which establish a coupling between traditional power flow problems related to consecutive time periods; further the uncertainty in wind power generation forecasts requires a continuous update of the planned power profiles, in order to guarantee a dynamic equilibrium among demand and supply. Model predictive control is used for this purpose, considering the dynamic equations of the storage and the wind turbine rotor as prediction models. A proper target function is introduced in order to find a trade-off between the need of minimizing generation costs and the excursions of the storage state of charge and the wind turbine angular speed from reference states. In the case study under consideration storage, wind turbines and a traditional synchronous generator are operated by the Transmission System Operator in the form of a Virtual Power Plant working as slack bus to cover network losses. The proposed approach is validated on simulation basis.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"28 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":"121867758","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.2015.7158809
I. Santín, C. Pedret, R. Vilanova
This paper presents a proposal with the objective of eliminating violations of ammonia nitrogen in the effluent (NHe) of a wastewater treatment process. Furthermore, improving effluent quality and reducing operating costs and the percentage of violations of total nitrogen in the effluent (Ntot,e) are also considered. The evaluation of control strategies are conducted with the Benchmark Simulation Model No 1 (BSM1). Several controllers have been proposed: Model Predictive Control (MPC) with inlet flow rate feedforward compensation (MPCFF), Fuzzy controller and Exponential, Linear and Affine Functions. MPCFF and Fuzzy controller are applied in a hierarchical structure to improve effluent quality, to reduce operational costs and to decrease NHe peaks. Exponential, Linear and Affine Functions are implemented, along with the hierarchical control structure, to avoid NHe violations. The results are presented and compared with the default control strategy of BSM1 for dry, rain and storm weahter conditions. They show that the NHe violation removal is achieved for the three weather conditions. For dry influent also an improvement of effluent quality and a reduction of operational cost are acquired. For the rain and storm cases, an increment of operational cost is required.
{"title":"Control strategies for ammonia violations removal in BSM1 for dry, rain and storm weather conditions","authors":"I. Santín, C. Pedret, R. Vilanova","doi":"10.1109/MED.2015.7158809","DOIUrl":"https://doi.org/10.1109/MED.2015.7158809","url":null,"abstract":"This paper presents a proposal with the objective of eliminating violations of ammonia nitrogen in the effluent (NHe) of a wastewater treatment process. Furthermore, improving effluent quality and reducing operating costs and the percentage of violations of total nitrogen in the effluent (Ntot,e) are also considered. The evaluation of control strategies are conducted with the Benchmark Simulation Model No 1 (BSM1). Several controllers have been proposed: Model Predictive Control (MPC) with inlet flow rate feedforward compensation (MPCFF), Fuzzy controller and Exponential, Linear and Affine Functions. MPCFF and Fuzzy controller are applied in a hierarchical structure to improve effluent quality, to reduce operational costs and to decrease NHe peaks. Exponential, Linear and Affine Functions are implemented, along with the hierarchical control structure, to avoid NHe violations. The results are presented and compared with the default control strategy of BSM1 for dry, rain and storm weahter conditions. They show that the NHe violation removal is achieved for the three weather conditions. For dry influent also an improvement of effluent quality and a reduction of operational cost are acquired. For the rain and storm cases, an increment of operational cost is required.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"2006 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":"125838829","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.2015.7158827
F. Stoican, I. Prodan, D. Popescu
This paper addresses some alternatives to classical trajectory generation for an autonomous vehicle which needs to pass through a priori given way-points. Using differential flatness for trajectory generation and B-splines for the flat output parametrization, the current study concentrates on constraint relaxations and on obstacle avoidance conditions. The results are validated through simulations over standard UAV dynamics.
{"title":"Flat trajectory generation for way-points relaxations and obstacle avoidance","authors":"F. Stoican, I. Prodan, D. Popescu","doi":"10.1109/MED.2015.7158827","DOIUrl":"https://doi.org/10.1109/MED.2015.7158827","url":null,"abstract":"This paper addresses some alternatives to classical trajectory generation for an autonomous vehicle which needs to pass through a priori given way-points. Using differential flatness for trajectory generation and B-splines for the flat output parametrization, the current study concentrates on constraint relaxations and on obstacle avoidance conditions. The results are validated through simulations over standard UAV dynamics.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"1 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":"125847963","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.2015.7158858
K. M. Deliparaschos, K. Michail, S. Tzafestas, A. Zolotas
In this work, a Field Programmable Gate Array (FPGA)-based embedded software platform coupled with a software-based plant, forming a Hardware-In-the-Loop (HIL), is used to validate a systematic sensor selection framework. The systematic sensor selection framework combines multi-objective optimization, Linear-Quadratic-Gaussian (LQG) control, and the nonlinear model of a maglev suspension. The physical process that represents the suspension plant is realized in a high-level system modeling environment, while the LQG controller is implemented on an FPGA. FPGAs allow to rapidly evaluate algorithms and test designs under real-world scenarios avoiding heavy time penalty associated with Hardware Description Language (HDL) simulators. Moreover, the HIL technique implemented shows a significant speed-up in the required execution time when compared to the software-based model.
{"title":"A model-based embedded control hardware/software co-design approach for optimized sensor selection of industrial systems","authors":"K. M. Deliparaschos, K. Michail, S. Tzafestas, A. Zolotas","doi":"10.1109/MED.2015.7158858","DOIUrl":"https://doi.org/10.1109/MED.2015.7158858","url":null,"abstract":"In this work, a Field Programmable Gate Array (FPGA)-based embedded software platform coupled with a software-based plant, forming a Hardware-In-the-Loop (HIL), is used to validate a systematic sensor selection framework. The systematic sensor selection framework combines multi-objective optimization, Linear-Quadratic-Gaussian (LQG) control, and the nonlinear model of a maglev suspension. The physical process that represents the suspension plant is realized in a high-level system modeling environment, while the LQG controller is implemented on an FPGA. FPGAs allow to rapidly evaluate algorithms and test designs under real-world scenarios avoiding heavy time penalty associated with Hardware Description Language (HDL) simulators. Moreover, the HIL technique implemented shows a significant speed-up in the required execution time when compared to the software-based model.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"34 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":"125071447","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.2015.7158829
Pamela Innerwinkler, W. Ebner, M. Stolz
In this paper a data driven operational strategy for a hybrid electric vehicle (HEV) is developed. There are two big benefits of the proposed approach: The possibility of real-time implementation within embedded control units and the high potential for automated calibration. Starting point is a user defined set of fuel-optimized driving cycles for a hybrid vehicle, which is generated applying e.g. state of the art dynamic programming techniques. From this data the introduced methodology extracts a control strategy that determines the torque-split factor for a given driving situation. The approach is based on a combination of optimization and classification, as well as regression strategies. The data created by a dynamic programming algorithm (DP) is used to train support vector machines (SVMs) in order to get rid of the necessity of a-priori knowledge of the whole driving cycle. From the resulting functions a control law is derived that is able to identify a suitable torque-split factor, independent of the further driving course. Since reducing the information input into the control law will per definition reduce performance, validation of the methodology is based on comparison with optimized driving cycles generated by dynamic programming that use the whole driving cycle information.
{"title":"Support vector machines for determination of an operational strategy for hybrid electric vehicles","authors":"Pamela Innerwinkler, W. Ebner, M. Stolz","doi":"10.1109/MED.2015.7158829","DOIUrl":"https://doi.org/10.1109/MED.2015.7158829","url":null,"abstract":"In this paper a data driven operational strategy for a hybrid electric vehicle (HEV) is developed. There are two big benefits of the proposed approach: The possibility of real-time implementation within embedded control units and the high potential for automated calibration. Starting point is a user defined set of fuel-optimized driving cycles for a hybrid vehicle, which is generated applying e.g. state of the art dynamic programming techniques. From this data the introduced methodology extracts a control strategy that determines the torque-split factor for a given driving situation. The approach is based on a combination of optimization and classification, as well as regression strategies. The data created by a dynamic programming algorithm (DP) is used to train support vector machines (SVMs) in order to get rid of the necessity of a-priori knowledge of the whole driving cycle. From the resulting functions a control law is derived that is able to identify a suitable torque-split factor, independent of the further driving course. Since reducing the information input into the control law will per definition reduce performance, validation of the methodology is based on comparison with optimized driving cycles generated by dynamic programming that use the whole driving cycle information.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"1 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":"127430300","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.2015.7158756
Emre Dincel, M. T. Söylemez
It is important to know how far non-dominant poles can be located away from the dominant poles since the closed-loop system transient response may not be as expected, if the non-dominant poles are not placed far enough from the dominant pole pair. Even if the arbitrary pole assignment is possible with a full state feedback or an output feedback controller with the order of plant order minus one, low order controllers and especially PID controllers are used in most practical applications. Therefore, the farthest possible non-dominant pole locations with PID controllers are found for all pole systems in this study. Proposed calculation method is demonstrated on two different examples and the closed-loop system performance is investigated with the designed PID controllers.
{"title":"Estimate of the farthest possible non-dominant pole locations with PID controllers","authors":"Emre Dincel, M. T. Söylemez","doi":"10.1109/MED.2015.7158756","DOIUrl":"https://doi.org/10.1109/MED.2015.7158756","url":null,"abstract":"It is important to know how far non-dominant poles can be located away from the dominant poles since the closed-loop system transient response may not be as expected, if the non-dominant poles are not placed far enough from the dominant pole pair. Even if the arbitrary pole assignment is possible with a full state feedback or an output feedback controller with the order of plant order minus one, low order controllers and especially PID controllers are used in most practical applications. Therefore, the farthest possible non-dominant pole locations with PID controllers are found for all pole systems in this study. Proposed calculation method is demonstrated on two different examples and the closed-loop system performance is investigated with the designed PID controllers.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"25 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":"129140144","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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