Pub Date : 2010-09-27DOI: 10.1109/MMAR.2010.5587196
H. Aschemann, A. Rauh, R. Prabel
In this paper, a flatness-based multivariable control of a permanent magnet synchronous motor (PMSM) as the main drive of a pressurised water supply system is presented. The fluidic subsystem consists of a pump and a storage volume connected to the high pressure side. The pump has to provide the supply volume flow into the storage volume, whereas the drain volume flow is considered as a disturbance. Based on a nonlinear mathematical model of the PMSM in a rotor-fixed coordinate system and the attached fluidic system, a nonlinear tracking control strategy is proposed. Here, the differential flatness of the model with the d-current of the rotor and the storage pressure as flat outputs can be exploited to derive a combined feedforward and feedback control strategy. The coupling torque between the PMSM and the pump follows from an analysis of the fluidic circuit. The disturbance torque acting on the pump is determined by a nonlinear reduced-order observer and can be used in a compensation strategy to improve the tracking behaviour of the electric drive. Simulations point out the effectiveness and the excellent tracking properties of the proposed control structure.
{"title":"Nonlinear control of a pressurised water supply driven by a permanent magnet synchronous motor","authors":"H. Aschemann, A. Rauh, R. Prabel","doi":"10.1109/MMAR.2010.5587196","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587196","url":null,"abstract":"In this paper, a flatness-based multivariable control of a permanent magnet synchronous motor (PMSM) as the main drive of a pressurised water supply system is presented. The fluidic subsystem consists of a pump and a storage volume connected to the high pressure side. The pump has to provide the supply volume flow into the storage volume, whereas the drain volume flow is considered as a disturbance. Based on a nonlinear mathematical model of the PMSM in a rotor-fixed coordinate system and the attached fluidic system, a nonlinear tracking control strategy is proposed. Here, the differential flatness of the model with the d-current of the rotor and the storage pressure as flat outputs can be exploited to derive a combined feedforward and feedback control strategy. The coupling torque between the PMSM and the pump follows from an analysis of the fluidic circuit. The disturbance torque acting on the pump is determined by a nonlinear reduced-order observer and can be used in a compensation strategy to improve the tracking behaviour of the electric drive. Simulations point out the effectiveness and the excellent tracking properties of the proposed control structure.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"90 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":"116006151","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.2010.5587228
S. Banka, M. Brasel, P. Dworak, K. Latawiec
In the paper a multicontroller-based switchable control system structure is proposed to control nonlinear MIMO plants. The considered structure contains a set of linear feedback controllers operating together with an additional, statically decoupled loop of the control system. The nonlinear model of a drilling vessel in three degrees of freedom (3DOF) on the sea surface is used as a MIMO plant to be controlled. The system synthesis is carried out by linearization of the adopted nonlinear plant model at its nominal “operating points” that depend on the preset ship yaw angle and the velocity of the see current. Performance of the proposed control systems is illustrated by examples of simulation results carried out in MATLAB/Simulink using the nonlinear model of low-frequency (LF) motions of WIMPEY SEALAB drilling vessel.
{"title":"Switched-structure of linear MIMO controllers for positioning of a drillship on a sea surface","authors":"S. Banka, M. Brasel, P. Dworak, K. Latawiec","doi":"10.1109/MMAR.2010.5587228","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587228","url":null,"abstract":"In the paper a multicontroller-based switchable control system structure is proposed to control nonlinear MIMO plants. The considered structure contains a set of linear feedback controllers operating together with an additional, statically decoupled loop of the control system. The nonlinear model of a drilling vessel in three degrees of freedom (3DOF) on the sea surface is used as a MIMO plant to be controlled. The system synthesis is carried out by linearization of the adopted nonlinear plant model at its nominal “operating points” that depend on the preset ship yaw angle and the velocity of the see current. Performance of the proposed control systems is illustrated by examples of simulation results carried out in MATLAB/Simulink using the nonlinear model of low-frequency (LF) motions of WIMPEY SEALAB drilling vessel.","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":"114069519","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.2010.5587246
Urszula Libal
The aim of signal decomposition in wavelet bases is to represent a signal as a sequence of wavelet coefficients sets. There is proposed a multistage classification rule using on every stage only one set of the signal coefficients. The hierarchical construction of wavelet multiresolution analysis was an inspiration for the multistage classification rule. The algorithm makes an optimal decision for every set of coefficients and its main advantage is a smaller dimension of classification problem on every stage.
{"title":"Multistage classification of signals with the use of multiscale wavelet representation","authors":"Urszula Libal","doi":"10.1109/MMAR.2010.5587246","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587246","url":null,"abstract":"The aim of signal decomposition in wavelet bases is to represent a signal as a sequence of wavelet coefficients sets. There is proposed a multistage classification rule using on every stage only one set of the signal coefficients. The hierarchical construction of wavelet multiresolution analysis was an inspiration for the multistage classification rule. The algorithm makes an optimal decision for every set of coefficients and its main advantage is a smaller dimension of classification problem on every stage.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"12 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":"130839482","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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