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.2010.5587219
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}
Pub Date : 2010-09-27DOI: 10.1109/MMAR.2010.5587216
N. Kablar
Singularly impulsive (or generalized impulsive) dynamical systems are systems which dynamics are characterized by the set of differential, difference and algebraic equations. They represent the class of hybrid systems, where algebraic equations represent constraints that differential and difference equations need to satisfy. For the class of singularly impulsive dynamical systems we present extended Kalman-Yakubovich-Popov conditions in terms of the singularly impulsive system dynamics characterizing dissipativeness via system storage functions. The framework is specialized to passive and nonexpansive singularly impulsive systems to provide a generalization of the classical notions of passivity and nonexpansivity for nonlinear singularly impulsive systems.
{"title":"Extended Kalman-Yakubovich-Popov conditions for singularly impulsive dynamical systems","authors":"N. Kablar","doi":"10.1109/MMAR.2010.5587216","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587216","url":null,"abstract":"Singularly impulsive (or generalized impulsive) dynamical systems are systems which dynamics are characterized by the set of differential, difference and algebraic equations. They represent the class of hybrid systems, where algebraic equations represent constraints that differential and difference equations need to satisfy. For the class of singularly impulsive dynamical systems we present extended Kalman-Yakubovich-Popov conditions in terms of the singularly impulsive system dynamics characterizing dissipativeness via system storage functions. The framework is specialized to passive and nonexpansive singularly impulsive systems to provide a generalization of the classical notions of passivity and nonexpansivity for nonlinear singularly impulsive systems.","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":"121745099","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.2010.5587244
J. Sasiadek, M. Walker, A. Krzyżak
This research was motivated by a need for accurate UAV navigation using camera(s) to augment inertial navigation unit data while flying over, or through an urban environment. The process of position determination using cameras follows a sequence of well defined steps. First features must be found in consecutive-in-time images and then matched across time. The underlying camera motion, as defined by camera rotation and translation, may then be calculated as a homography, for example. Accurate homography determination requires use of a set of at least 4 feature pairs that are not collinear and are accurately matched. In this paper it is shown that collinearity of features in urban images is quite likely to occur. Thus, collinear features must be removed. This paper reports an easy way to do so and examines, as well, the issue of accurate matching. Preliminary results are reported.
{"title":"Feature matching for UAV navigation in urban environments","authors":"J. Sasiadek, M. Walker, A. Krzyżak","doi":"10.1109/MMAR.2010.5587244","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587244","url":null,"abstract":"This research was motivated by a need for accurate UAV navigation using camera(s) to augment inertial navigation unit data while flying over, or through an urban environment. The process of position determination using cameras follows a sequence of well defined steps. First features must be found in consecutive-in-time images and then matched across time. The underlying camera motion, as defined by camera rotation and translation, may then be calculated as a homography, for example. Accurate homography determination requires use of a set of at least 4 feature pairs that are not collinear and are accurately matched. In this paper it is shown that collinearity of features in urban images is quite likely to occur. Thus, collinear features must be removed. This paper reports an easy way to do so and examines, as well, the issue of accurate matching. Preliminary results are reported.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"215 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":"121939360","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.2010.5587213
P. Dabkowski, K. Gałkowski, O. Bachelier, E. Rogers
Repetitive processes are a distinct class of 2D systems of both theoretical and practical interest. The original stability theory for these processes consisted of two distinct concepts termed asymptotic stability and stability along the pass respectively where the former is a necessary condition for the latter. Recently applications have arisen where asymptotic stability is too weak and stability along the pass is too strong for meaningful progress to be made. Previously reported work has introduced strong practical stability as an alternative for such cases and produced Linear Matrix Inequality (LMI) based necessary and sufficient conditions for this property to hold, together with algorithms for stabilizing control law design. This paper considers the problem of strong practical stability with guaranteed levels of performance, where a solution is developed for strong practical stability with a prescribed disturbance attenuation performance as measured by the H∞ norm.
{"title":"Strong practical stability and H∞ disturbance attenuation for discrete linear repetitive processes","authors":"P. Dabkowski, K. Gałkowski, O. Bachelier, E. Rogers","doi":"10.1109/MMAR.2010.5587213","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587213","url":null,"abstract":"Repetitive processes are a distinct class of 2D systems of both theoretical and practical interest. The original stability theory for these processes consisted of two distinct concepts termed asymptotic stability and stability along the pass respectively where the former is a necessary condition for the latter. Recently applications have arisen where asymptotic stability is too weak and stability along the pass is too strong for meaningful progress to be made. Previously reported work has introduced strong practical stability as an alternative for such cases and produced Linear Matrix Inequality (LMI) based necessary and sufficient conditions for this property to hold, together with algorithms for stabilizing control law design. This paper considers the problem of strong practical stability with guaranteed levels of performance, where a solution is developed for strong practical stability with a prescribed disturbance attenuation performance as measured by the H∞ norm.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"35 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":"133555440","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.2010.5587263
A. Gab, Panayiotis Andreout, M. Ganzha, M. Paprzycki
This paper introduces the GliderAgent-a multiagent system supporting glider pilot in various navigation and pilotage scenarios. After presenting the rationale behind the agent-based approach, basic tenets of the proposed system are briefly discussed and semi-formalized in the form of a UML Use Case diagram. Two key functionalities of the GliderAgent-resource management and communication are also discussed.
{"title":"GliderAgent-a proposal for an agent-based glider pilot support system","authors":"A. Gab, Panayiotis Andreout, M. Ganzha, M. Paprzycki","doi":"10.1109/MMAR.2010.5587263","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587263","url":null,"abstract":"This paper introduces the GliderAgent-a multiagent system supporting glider pilot in various navigation and pilotage scenarios. After presenting the rationale behind the agent-based approach, basic tenets of the proposed system are briefly discussed and semi-formalized in the form of a UML Use Case diagram. Two key functionalities of the GliderAgent-resource management and communication are also discussed.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"87 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":"121280142","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.2010.5587195
G. Sklyar, G. Szkibiel
The paper is devoted to non-homogeneous generalization of the wave equation. After papers [5], [6] it is a continuation of the survey about non-homogeneous string and hanging chain. Considered is one-side control and the space of possible final-state functions. Highlighted are main points of spectral analysis of movement related operators.
{"title":"Control and reachability of non-homogeneous wave equation with mixed boundary conditions","authors":"G. Sklyar, G. Szkibiel","doi":"10.1109/MMAR.2010.5587195","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587195","url":null,"abstract":"The paper is devoted to non-homogeneous generalization of the wave equation. After papers [5], [6] it is a continuation of the survey about non-homogeneous string and hanging chain. Considered is one-side control and the space of possible final-state functions. Highlighted are main points of spectral analysis of movement related operators.","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":"122042232","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.2010.5587198
J. Garus, B. Żak
Applying of artificial intelligence techniques to designing of an autopilot for path following control of an underwater robotic vehicle is considered in the paper. The way-point line of sight scheme is incorporated for the tracking of the reference path and four independent fuzzy controllers are used to generate command signals. Parameters of membership functions of input and output are tuned using genetic algorithms. Quality of control is concerned without and in presence of external disturbances. Some computer simulations are provided to demonstrate the effectiveness and robustness of the approach.
{"title":"Using of soft computing techniques to control of underwater robot","authors":"J. Garus, B. Żak","doi":"10.1109/MMAR.2010.5587198","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587198","url":null,"abstract":"Applying of artificial intelligence techniques to designing of an autopilot for path following control of an underwater robotic vehicle is considered in the paper. The way-point line of sight scheme is incorporated for the tracking of the reference path and four independent fuzzy controllers are used to generate command signals. Parameters of membership functions of input and output are tuned using genetic algorithms. Quality of control is concerned without and in presence of external disturbances. Some computer simulations are provided to demonstrate the effectiveness and robustness of the approach.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"112 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":"123487201","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.2010.5587266
W. Krajewski, S. Miani, U. Viaro
The paper is concerned with the problem of regulating the molten metal level in the mold of a continuous casting plant despite the continual perturbations caused by mold shaking and the occasional perturbations due to the sudden uncloggings of the nozzle through which the liquid is poured into the mold. To deal with both kinds of perturbations, two distinct controllers are used and suitably activated depending on the operating conditions. It is demonstrated that a controller realization obtained from any time-varying convex combination of two switching-stable controller realizations ensures stability, too. Numerical simulations show that the adopted stability-preserving control policies compare favourably with alternative techniques suggested in the literature to the same purpose.
{"title":"Variable-structure control of casting processes","authors":"W. Krajewski, S. Miani, U. Viaro","doi":"10.1109/MMAR.2010.5587266","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587266","url":null,"abstract":"The paper is concerned with the problem of regulating the molten metal level in the mold of a continuous casting plant despite the continual perturbations caused by mold shaking and the occasional perturbations due to the sudden uncloggings of the nozzle through which the liquid is poured into the mold. To deal with both kinds of perturbations, two distinct controllers are used and suitably activated depending on the operating conditions. It is demonstrated that a controller realization obtained from any time-varying convex combination of two switching-stable controller realizations ensures stability, too. Numerical simulations show that the adopted stability-preserving control policies compare favourably with alternative techniques suggested in the literature to the same purpose.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"27 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":"126366109","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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