Pub Date : 2010-09-27DOI: 10.1109/MMAR.2010.5587249
W. Paszke
For systems that repeatedly perform a given task, iterative learning control makes it possible to update the control signal to the system during successive trials in order to improve the tracking performance. Iterative learning control has an inherent two-dimensional/repetitive system structure since dynamics involves in two independent directions, i.e. time and trials. In this paper, the repetitive process structure is exploited in a method that results in a one step synthesis both a stabilizing feedback controller in the time domain and a feedforward controller which guarantees convergence in the trial domain. Furthermore, with the aid of the Generalized Kalman-Yakubovich-Popov lemma the controller design is performed in finite frequency range to determine which frequencies have to be emphasized in the learning process. The advantage of a proposed design method lies in the fact that it is presented in terms of solutions to a set of linear matrix inequalities which requires a reasonable computational cost to solve them. The effectiveness of the theoretical developments will be validated by considering a pick-and-place robot system as a practical application.
{"title":"Finite frequency control of discrete linear repetitive processes with application in iterative learning control","authors":"W. Paszke","doi":"10.1109/MMAR.2010.5587249","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587249","url":null,"abstract":"For systems that repeatedly perform a given task, iterative learning control makes it possible to update the control signal to the system during successive trials in order to improve the tracking performance. Iterative learning control has an inherent two-dimensional/repetitive system structure since dynamics involves in two independent directions, i.e. time and trials. In this paper, the repetitive process structure is exploited in a method that results in a one step synthesis both a stabilizing feedback controller in the time domain and a feedforward controller which guarantees convergence in the trial domain. Furthermore, with the aid of the Generalized Kalman-Yakubovich-Popov lemma the controller design is performed in finite frequency range to determine which frequencies have to be emphasized in the learning process. The advantage of a proposed design method lies in the fact that it is presented in terms of solutions to a set of linear matrix inequalities which requires a reasonable computational cost to solve them. The effectiveness of the theoretical developments will be validated by considering a pick-and-place robot system as a practical application.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"40 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":"116310555","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.2010.5587203
Salim Maakaroun, W. Khalil, M. Gautier, P. Chevrel
The use of an Electrical narrow tilting car instead of a large gasoline car should dramatically decrease traffic congestion, pollution and parking problem. The aim of this paper is to give a unique presentation of the geometric modeling issue of a new narrow tilting car. The modeling is based on the modified Denavit Hartenberg geometric description, which is commonly used in Robotics. Also, we describe the special Kinematic of the vehicle and give a method to analyze the tilting mechanism of it. Primarily experimental results on the validation of the geometrical model of a real tilting car are given.
{"title":"Geometric model of a narrow tilting CAR using robotics formalism","authors":"Salim Maakaroun, W. Khalil, M. Gautier, P. Chevrel","doi":"10.1109/MMAR.2010.5587203","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587203","url":null,"abstract":"The use of an Electrical narrow tilting car instead of a large gasoline car should dramatically decrease traffic congestion, pollution and parking problem. The aim of this paper is to give a unique presentation of the geometric modeling issue of a new narrow tilting car. The modeling is based on the modified Denavit Hartenberg geometric description, which is commonly used in Robotics. Also, we describe the special Kinematic of the vehicle and give a method to analyze the tilting mechanism of it. Primarily experimental results on the validation of the geometrical model of a real tilting car are given.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"13 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":"129814106","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.2010.5587240
G. Barna
In this paper a method of designing the rule bases of fuzzy controllers for Wheel Slide Protection Systems (WSP) for rail vehicles is presented. In this method results of simulation of two reference controllers are used, both of which use signals which are nor available during normal operation of the systems, i.e. adhesion coefficient and translation velocity of the vehicle. Simulations have performed on a simulation model of a braked rail vehicle and controllers implemented in Matlab Simulink®. The proposed method makes possible automatization of the design process of WSP fuzzy controllers.
{"title":"Simulation based design of fuzzy wheel slide protection controller for rail vehicles","authors":"G. Barna","doi":"10.1109/MMAR.2010.5587240","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587240","url":null,"abstract":"In this paper a method of designing the rule bases of fuzzy controllers for Wheel Slide Protection Systems (WSP) for rail vehicles is presented. In this method results of simulation of two reference controllers are used, both of which use signals which are nor available during normal operation of the systems, i.e. adhesion coefficient and translation velocity of the vehicle. Simulations have performed on a simulation model of a braked rail vehicle and controllers implemented in Matlab Simulink®. The proposed method makes possible automatization of the design process of WSP fuzzy controllers.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"6 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":"128797701","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.2010.5587226
J. Smoczek, J. Szpytko
The problem of crane control system is addressed in the paper to gain scheduling system created using the fuzzy controller with Takagi-Sugeno-Kang (TSK) fuzzy implications. The method of fuzzy robust crane control system designing was based on closed-loop crane control systems with conventional proportional-derivative (PD) controllers of crane position and the load swing derived for fixed rope length and mass of a load values, which are used as key-scheduling variables. The set of controllers, scheduled by fuzzy system, are determined using the pole placement method (PPM). The problem of selecting the minimal set of fuzzy system operating points was solved and described as well in the paper.
{"title":"Fuzzy logic approach to the gain scheduling crane control system","authors":"J. Smoczek, J. Szpytko","doi":"10.1109/MMAR.2010.5587226","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587226","url":null,"abstract":"The problem of crane control system is addressed in the paper to gain scheduling system created using the fuzzy controller with Takagi-Sugeno-Kang (TSK) fuzzy implications. The method of fuzzy robust crane control system designing was based on closed-loop crane control systems with conventional proportional-derivative (PD) controllers of crane position and the load swing derived for fixed rope length and mass of a load values, which are used as key-scheduling variables. The set of controllers, scheduled by fuzzy system, are determined using the pole placement method (PPM). The problem of selecting the minimal set of fuzzy system operating points was solved and described as well in the paper.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"165 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":"129397971","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.2010.5587270
M. Janiak, Krzysztof Tchona
We address the motion planning problem in non-holonomic robotic systems with constraints imposed on configuration and control variables. The imbalanced Jacobian motion planning algorithm is compared with the optimal control approach. Computer simulations of the unicycle-type mobile robot underlie the comparison.
{"title":"Constrained robot motion planning: Imbalanced Jacobian algorithm vs. optimal control approach","authors":"M. Janiak, Krzysztof Tchona","doi":"10.1109/MMAR.2010.5587270","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587270","url":null,"abstract":"We address the motion planning problem in non-holonomic robotic systems with constraints imposed on configuration and control variables. The imbalanced Jacobian motion planning algorithm is compared with the optimal control approach. Computer simulations of the unicycle-type mobile robot underlie the comparison.","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":"131237515","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.2010.5587221
A. Kowalewski
Various optimization problems associated with the optimal control of second order time delay hyperbolic systems have been studied in [5], [6], [7], [8], [9] and [10] respectively. In this paper, we consider an optimal control problem for a linear infinite order hyperbolic system. One from the initial conditions is given by control function. Sufficient conditions for the existence of a unique solution of such hyperbolic equations with the Dirichlet boundary conditions are presented. The performance functional has the quadratic form. The time horizon T is fixed. Finally, we impose some constraints on the control. Making use of the Lions scheme ([11]), necessary and sufficient conditions of optimality for the Dirichlet problem with the quadratic performance functional and constrained control are derived.
{"title":"Optimal control via initial state of an infinite order hyperbolic system","authors":"A. Kowalewski","doi":"10.1109/MMAR.2010.5587221","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587221","url":null,"abstract":"Various optimization problems associated with the optimal control of second order time delay hyperbolic systems have been studied in [5], [6], [7], [8], [9] and [10] respectively. In this paper, we consider an optimal control problem for a linear infinite order hyperbolic system. One from the initial conditions is given by control function. Sufficient conditions for the existence of a unique solution of such hyperbolic equations with the Dirichlet boundary conditions are presented. The performance functional has the quadratic form. The time horizon T is fixed. Finally, we impose some constraints on the control. Making use of the Lions scheme ([11]), necessary and sufficient conditions of optimality for the Dirichlet problem with the quadratic performance functional and constrained control are derived.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"18 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":"131549983","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.2010.5587251
A. Benítez-Morales, O. Santos, L. Ramos-Velasco
This article synthesized suboptimal control for an underactuated system with delays; it also presents delay-dependent robust stability. A linear quadratic regulator (LQR) controller is synthesized using dynamic programming, which is applied to a linear matrix inequality, giving delay-dependent sufficient conditions. This delay is analyzed for time-invariant and time-variant case. We presented experimental results of the Visual Servoing for the inverted pendulum.
{"title":"Experimental results: Suboptimal robust linear visual servoing with delay for an underactuated system","authors":"A. Benítez-Morales, O. Santos, L. Ramos-Velasco","doi":"10.1109/MMAR.2010.5587251","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587251","url":null,"abstract":"This article synthesized suboptimal control for an underactuated system with delays; it also presents delay-dependent robust stability. A linear quadratic regulator (LQR) controller is synthesized using dynamic programming, which is applied to a linear matrix inequality, giving delay-dependent sufficient conditions. This delay is analyzed for time-invariant and time-variant case. We presented experimental results of the Visual Servoing for the inverted pendulum.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"42 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":"123579806","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.2010.5587230
J. Kabzinski
Chaos suppression, anticontrol and synchronization problems are solved for a chaotic system (Duffing oscillator) with unknown parameters including unknown, variable control gain. Two techniques of adaptive backstepping controller design are presented. The number of adaptive parameters is not imposed by the design technique, but may be elastically chosen.
{"title":"Adaptive control of Duffing oscillator with unknown input gain","authors":"J. Kabzinski","doi":"10.1109/MMAR.2010.5587230","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587230","url":null,"abstract":"Chaos suppression, anticontrol and synchronization problems are solved for a chaotic system (Duffing oscillator) with unknown parameters including unknown, variable control gain. Two techniques of adaptive backstepping controller design are presented. The number of adaptive parameters is not imposed by the design technique, but may be elastically chosen.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"210 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":"124489598","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.2010.5587219
H. Kasumba, K. Kunisch
A shape design optimization problem for viscous flows in an open channel with a bump and an obstacle are investigated. An analytical expression for the shape design sensitivity involving different cost functionals is derived using the adjoint method and the material derivative concept. A channel flow problem with a bump as a moving boundary is taken as an example. The shape of the bump, represented by Bezier curves of order 3, is optimized in order to minimize the vortices in the flow field. Numerical discretizations of the primal (flow) and adjoint problems are achieved using the Galerkin FEM method. Numerical results are provided in various graphical forms at relatively low Reynolds numbers. Striking differences are found for the optimal shape control corresponding to the 3 different cost functionals, which constitute different quantifications of vorticity.
{"title":"Shape design optimization for viscous flows in a channel with a bump and an obstacle","authors":"H. Kasumba, K. Kunisch","doi":"10.1109/MMAR.2010.5587219","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587219","url":null,"abstract":"A shape design optimization problem for viscous flows in an open channel with a bump and an obstacle are investigated. An analytical expression for the shape design sensitivity involving different cost functionals is derived using the adjoint method and the material derivative concept. A channel flow problem with a bump as a moving boundary is taken as an example. The shape of the bump, represented by Bezier curves of order 3, is optimized in order to minimize the vortices in the flow field. Numerical discretizations of the primal (flow) and adjoint problems are achieved using the Galerkin FEM method. Numerical results are provided in various graphical forms at relatively low Reynolds numbers. Striking differences are found for the optimal shape control corresponding to the 3 different cost functionals, which constitute different quantifications of vorticity.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"8 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":"123982185","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.2010.5587197
R. Stanisławski, K. Latwiec
This paper presents new results in modeling of linear open-loop stable systems by means of discrete-time finite fractional orthonormal basis functions, in particular the Laguerre functions. New stability conditions are offered and a useful modification to finite fractional derivative is introduced, called normalized finite fractional derivative. Simulation examples illustrate the usefulness of the new modeling methodology.
{"title":"Modeling of open-loop stable linear systems using a combination of a finite fractional derivative and orthonormal basis functions","authors":"R. Stanisławski, K. Latwiec","doi":"10.1109/MMAR.2010.5587197","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587197","url":null,"abstract":"This paper presents new results in modeling of linear open-loop stable systems by means of discrete-time finite fractional orthonormal basis functions, in particular the Laguerre functions. New stability conditions are offered and a useful modification to finite fractional derivative is introduced, called normalized finite fractional derivative. Simulation examples illustrate the usefulness of the new modeling methodology.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"110 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":"125544698","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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