Pub Date : 2010-09-27DOI: 10.1109/MMAR.2010.5587274
P. Ignaciuk, A. Bartoszewicz
In this paper, the problem of inventory management in production-inventory systems is addressed from the control-theoretic perspective. We analyze the systems in which customers (or retailers) are served from a common distribution point. The stock at the distribution center used to satisfy an unknown, time-varying customers' demand is replenished with delay from a supply source which is subject to capacity limitations. The purpose of the control action is to keep the stock level close to zero despite unpredictable demand variations. In this way we minimize the costs of holding inventory at the distribution center imposed by a positive stock level, and reduce the shortage costs generated when customers need to wait for the ordered goods since not all of the demand can be satisfied from the readily available resources and the stock level is negative. Since, typically, the holding and shortage costs are not equal to each other (asymmetric costs), a different controller should be used depending on the sign of the stock level. For this purpose we propose a composite control structure consisting of two linear-quadratic (LQ) optimal controllers. It is shown that under the proposed policy the stock level is finite and converges to zero asymptotically with nonoscillatory ordering signal.
{"title":"Composite control of periodic-review just-in-time inventory systems with asymmetric costs","authors":"P. Ignaciuk, A. Bartoszewicz","doi":"10.1109/MMAR.2010.5587274","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587274","url":null,"abstract":"In this paper, the problem of inventory management in production-inventory systems is addressed from the control-theoretic perspective. We analyze the systems in which customers (or retailers) are served from a common distribution point. The stock at the distribution center used to satisfy an unknown, time-varying customers' demand is replenished with delay from a supply source which is subject to capacity limitations. The purpose of the control action is to keep the stock level close to zero despite unpredictable demand variations. In this way we minimize the costs of holding inventory at the distribution center imposed by a positive stock level, and reduce the shortage costs generated when customers need to wait for the ordered goods since not all of the demand can be satisfied from the readily available resources and the stock level is negative. Since, typically, the holding and shortage costs are not equal to each other (asymmetric costs), a different controller should be used depending on the sign of the stock level. For this purpose we propose a composite control structure consisting of two linear-quadratic (LQ) optimal controllers. It is shown that under the proposed policy the stock level is finite and converges to zero asymptotically with nonoscillatory ordering signal.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134282991","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587218
M. Witczak, J. Korbicz
In this paper, an active FTC scheme is proposed. First, it is developed in the context of linear systems and then it is extended to non-linear systems with the differential mean value theorem. The key contribution of the proposed approach is an integrated FTC design procedure of the fault identification and fault-tolerant control schemes. Fault identification is based on the use of an observer. While, the FTC controller is implemented as a state feedback controller. This controller is designed such that it can stabilize the faulty plant using Lyapunov theory and LMIs. Finally, the last part of the paper shows experimental results that confirm the high performance of the proposed approach.
{"title":"A fault-tolerant control scheme for non-linear discrete-time systems","authors":"M. Witczak, J. Korbicz","doi":"10.1109/MMAR.2010.5587218","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587218","url":null,"abstract":"In this paper, an active FTC scheme is proposed. First, it is developed in the context of linear systems and then it is extended to non-linear systems with the differential mean value theorem. The key contribution of the proposed approach is an integrated FTC design procedure of the fault identification and fault-tolerant control schemes. Fault identification is based on the use of an observer. While, the FTC controller is implemented as a state feedback controller. This controller is designed such that it can stabilize the faulty plant using Lyapunov theory and LMIs. Finally, the last part of the paper shows experimental results that confirm the high performance of the proposed approach.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133034500","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587239
Hua Xu, G. Rong, Yiping Feng
In this work, we propose a simplified least squares formulation (SLSF) for dynamic material balancing in chemical processes, which are often described by differential-algebraic equations. We compare the SLSF with traditional techniques, such as steady state data reconciliation (SSDR) and Kalman filter (KF). We also modify the SLSF when its assumptions can't be totally satisfied in some practical settings. Using chemical systems examples, we demonstrate that the SLSF can well deal with the practical dynamic material balancing problems.
{"title":"Dynamic material balancing: A simplified least squares formulation","authors":"Hua Xu, G. Rong, Yiping Feng","doi":"10.1109/MMAR.2010.5587239","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587239","url":null,"abstract":"In this work, we propose a simplified least squares formulation (SLSF) for dynamic material balancing in chemical processes, which are often described by differential-algebraic equations. We compare the SLSF with traditional techniques, such as steady state data reconciliation (SSDR) and Kalman filter (KF). We also modify the SLSF when its assumptions can't be totally satisfied in some practical settings. Using chemical systems examples, we demonstrate that the SLSF can well deal with the practical dynamic material balancing problems.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133230110","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587245
M. Patan, D. Ucinski
An approach to sensor scheduling problem in the context of proper choice of both the experimental settings and sensor locations that will be used to identify unknown parameters of a distributed system is presented. Specifically, given a finite number of possible sites at which sensors may reside and imposing additional limits on the number of experimental runs, a scheduling policy for discrete sensors is determined so as to maximize a criterion based on the Fisher information matrix associated with the estimated parameters. An efficient computational scheme based on the branch-and-bound method is provided for the solution of the resulting combinatorial problem. Finally, the proposed technique will be illustrated with simulations on a sensor scheduling problem regarding a distributed parameter system describing the performance of a magnetic brake.
{"title":"Sensor scheduling with selection of input experimental conditions for identification of distributed systems","authors":"M. Patan, D. Ucinski","doi":"10.1109/MMAR.2010.5587245","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587245","url":null,"abstract":"An approach to sensor scheduling problem in the context of proper choice of both the experimental settings and sensor locations that will be used to identify unknown parameters of a distributed system is presented. Specifically, given a finite number of possible sites at which sensors may reside and imposing additional limits on the number of experimental runs, a scheduling policy for discrete sensors is determined so as to maximize a criterion based on the Fisher information matrix associated with the estimated parameters. An efficient computational scheme based on the branch-and-bound method is provided for the solution of the resulting combinatorial problem. Finally, the proposed technique will be illustrated with simulations on a sensor scheduling problem regarding a distributed parameter system describing the performance of a magnetic brake.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124751885","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587201
D. Schindele, H. Aschemann
This paper presents a higher-order sliding mode control scheme for a fast two-degree-of-freedom parallel robot driven by two pairs of pneumatic muscle actuators. The control-oriented modelling leads to a system of nonlinear differential equations including polynomial approximations of the volume characteristic as well as the force characteristic of the pneumatic muscles. The robot consists of a light-weight closed-chain structure with four moving links connected by revolute joints. The two base joints are active and driven by pairs of pneumatic muscles by means of toothed belt and pulley. The proposed control has a cascade structure: The internal pressure of each pneumatic muscle is controlled by a fast underlying control loop. The central outer sliding mode control loop deals with decoupling control of the end-effector position in the xz-plane and the mean internal pressures of the muscles. Remaining model uncertainties as well as nonlinear friction are counteracted by an observer-based disturbance compensation. Experimental results from an implementation on a test rig show a high control performance.
{"title":"Trajectory tracking of a pneumatically driven parallel robot using higher-order SMC","authors":"D. Schindele, H. Aschemann","doi":"10.1109/MMAR.2010.5587201","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587201","url":null,"abstract":"This paper presents a higher-order sliding mode control scheme for a fast two-degree-of-freedom parallel robot driven by two pairs of pneumatic muscle actuators. The control-oriented modelling leads to a system of nonlinear differential equations including polynomial approximations of the volume characteristic as well as the force characteristic of the pneumatic muscles. The robot consists of a light-weight closed-chain structure with four moving links connected by revolute joints. The two base joints are active and driven by pairs of pneumatic muscles by means of toothed belt and pulley. The proposed control has a cascade structure: The internal pressure of each pneumatic muscle is controlled by a fast underlying control loop. The central outer sliding mode control loop deals with decoupling control of the end-effector position in the xz-plane and the mean internal pressures of the muscles. Remaining model uncertainties as well as nonlinear friction are counteracted by an observer-based disturbance compensation. Experimental results from an implementation on a test rig show a high control performance.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125931525","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587261
M. Zerikat, A. Mechernene, S. Chekroun
This paper presents a sensorless speed observer method of an induction motor using an artificial intelligent technique in field-oriented control system. Speed and rotor flux are estimated from only measurable variables, the stator voltages and currents. The proposed estimation algorithm uses a deterministic state observer combined with an intelligent adaptive mechanism based on fuzzy logic, and using a knowledge base on human expertise. The introducing of fuzzy logic is applied to achieve high-performance, a low sensibility to parameter variations and external influences. The developed algorithm is robust and efficient, it also assures precise speed estimation, a good trajectory tracking with the different prescribed dynamics. In order to verify its performances test the behavior of the control algorithm, numerical simulations are achieved. The performances of the induction motor drive have been analyzed under steady state and transient conditions. The simulation results have shown a good estimate speed and flux and an excellent tracking performance of the proposed control system, and have demonstrated convincingly the usefulness of adaptive observer based on fuzzy logic in variable speed drives with high performance.
{"title":"High-performance sensorless vector control of induction motor drives using artificial intelligent technique","authors":"M. Zerikat, A. Mechernene, S. Chekroun","doi":"10.1109/MMAR.2010.5587261","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587261","url":null,"abstract":"This paper presents a sensorless speed observer method of an induction motor using an artificial intelligent technique in field-oriented control system. Speed and rotor flux are estimated from only measurable variables, the stator voltages and currents. The proposed estimation algorithm uses a deterministic state observer combined with an intelligent adaptive mechanism based on fuzzy logic, and using a knowledge base on human expertise. The introducing of fuzzy logic is applied to achieve high-performance, a low sensibility to parameter variations and external influences. The developed algorithm is robust and efficient, it also assures precise speed estimation, a good trajectory tracking with the different prescribed dynamics. In order to verify its performances test the behavior of the control algorithm, numerical simulations are achieved. The performances of the induction motor drive have been analyzed under steady state and transient conditions. The simulation results have shown a good estimate speed and flux and an excellent tracking performance of the proposed control system, and have demonstrated convincingly the usefulness of adaptive observer based on fuzzy logic in variable speed drives with high performance.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129634291","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587262
Jaemin Byun, Sung Hoon Kim, Myungchan Roh, Junyoung Sung
This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers, GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.
{"title":"Autonomous navigation of transport robot in the urban environment","authors":"Jaemin Byun, Sung Hoon Kim, Myungchan Roh, Junyoung Sung","doi":"10.1109/MMAR.2010.5587262","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587262","url":null,"abstract":"This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers, GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117038589","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587209
J. Będkowski, A. Maslowski
In the paper the study of knowledge hierarchical representation for automated reasoning is presented. The hierarchical knowledge representation is proposed for predictive modeling purpose. It is improved an effective automated reasoning structure for data set analyzes and making decisions based on complex relations between this data. It is important to emphasize that it is not considered a — priori knowledge concerning data structure, therefore the approach automatically discovers particular constraints between data. It provides a technique of the verification the hierarchical knowledge representation building process that can be useful for the model justification. The presented numerical experiment shows an advantage of proposed approach. It is assumed that the presented automated reasoning can be used for classification purpose where there is a difficulty of proper classifier choice.
{"title":"The hierarchical knowledge representation for automated reasoning","authors":"J. Będkowski, A. Maslowski","doi":"10.1109/MMAR.2010.5587209","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587209","url":null,"abstract":"In the paper the study of knowledge hierarchical representation for automated reasoning is presented. The hierarchical knowledge representation is proposed for predictive modeling purpose. It is improved an effective automated reasoning structure for data set analyzes and making decisions based on complex relations between this data. It is important to emphasize that it is not considered a — priori knowledge concerning data structure, therefore the approach automatically discovers particular constraints between data. It provides a technique of the verification the hierarchical knowledge representation building process that can be useful for the model justification. The presented numerical experiment shows an advantage of proposed approach. It is assumed that the presented automated reasoning can be used for classification purpose where there is a difficulty of proper classifier choice.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132644457","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587224
Zbigniew Handzel, K. Latawiec
The task schedulability theorem in the celebrated GRMS theory provides a sufficient condition only, specifying the upper bound on CPU utilization by scheduled periodic tasks. This paper presents a simulation study on real-time task scheduling for a specific case when the upper bound on processor utilization can be exceeded. The results are applied in a problem of multiprocessor task scheduling.
{"title":"A simulation approach to statistical evaluation of periodic task scheduling in a real-time computer system","authors":"Zbigniew Handzel, K. Latawiec","doi":"10.1109/MMAR.2010.5587224","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587224","url":null,"abstract":"The task schedulability theorem in the celebrated GRMS theory provides a sufficient condition only, specifying the upper bound on CPU utilization by scheduled periodic tasks. This paper presents a simulation study on real-time task scheduling for a specific case when the upper bound on processor utilization can be exceeded. The results are applied in a problem of multiprocessor task scheduling.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125246855","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587229
A. Rauh, J. Minisini, H. Aschemann
The principle of extended linearization is widely used for the control of nonlinear continuous-time processes which can be described in a quasi-linear form. For this class of systems, the gain matrix of linear state feedback controllers is usually adapted in such a way that the eigenvalues of the closed-loop control system are equal to predefined values and such that they remain fixed in spite of the system's nonlinearity. However, classical numerical routines for pole assignment for multiple-input multiple-output systems do not allow for real-time application in rapid control prototyping environments. Therefore, a novel algorithm based on the online solution of initial value problems for the desired controller gains is presented in this paper. Simulations and experimental results are given to highlight the applicability and robustness of this approach. An overview of suitable extensions to further observer-based control tasks concludes this paper.
{"title":"Incremental gain scheduling and eigenvalue tracking for robust pole assignment in extended linearization of nonlinear control systems","authors":"A. Rauh, J. Minisini, H. Aschemann","doi":"10.1109/MMAR.2010.5587229","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587229","url":null,"abstract":"The principle of extended linearization is widely used for the control of nonlinear continuous-time processes which can be described in a quasi-linear form. For this class of systems, the gain matrix of linear state feedback controllers is usually adapted in such a way that the eigenvalues of the closed-loop control system are equal to predefined values and such that they remain fixed in spite of the system's nonlinearity. However, classical numerical routines for pole assignment for multiple-input multiple-output systems do not allow for real-time application in rapid control prototyping environments. Therefore, a novel algorithm based on the online solution of initial value problems for the desired controller gains is presented in this paper. Simulations and experimental results are given to highlight the applicability and robustness of this approach. An overview of suitable extensions to further observer-based control tasks concludes this paper.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116612601","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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