Pub Date : 2013-07-22DOI: 10.1109/ICCA.2013.6564991
L. Geng, Yunfeng Zhang, J. Wang, J. Fuh, Swee Huat Rodney Teo
This paper addresses the mission planning issues for guiding a group of UAVs to carry out a series of tasks, namely classification, attack, and verification, against multiple targets. The flying space is constrained with the presence of flight prohibit zones (FPZs) and enemy radar sites. The solution space for task assignment and sequencing is modeled with a graph representation. With a path formation based on Dubins vehicle paths, a genetic algorithm (GA) has been developed for finding the optimal solution from the graph to achieve the following goals: (1) completion of the three tasks on each target, (2) avoidance of FPZs, (3) low level of exposure to enemy radar detection, and (4) short overall flying path length. A case study is presented to demonstrate the effectiveness of the proposed methods.
{"title":"Cooperative task planning for multiple autonomous UAVs with graph representation and genetic algorithm","authors":"L. Geng, Yunfeng Zhang, J. Wang, J. Fuh, Swee Huat Rodney Teo","doi":"10.1109/ICCA.2013.6564991","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564991","url":null,"abstract":"This paper addresses the mission planning issues for guiding a group of UAVs to carry out a series of tasks, namely classification, attack, and verification, against multiple targets. The flying space is constrained with the presence of flight prohibit zones (FPZs) and enemy radar sites. The solution space for task assignment and sequencing is modeled with a graph representation. With a path formation based on Dubins vehicle paths, a genetic algorithm (GA) has been developed for finding the optimal solution from the graph to achieve the following goals: (1) completion of the three tasks on each target, (2) avoidance of FPZs, (3) low level of exposure to enemy radar detection, and (4) short overall flying path length. A case study is presented to demonstrate the effectiveness of the proposed methods.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"288 5-6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114106141","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565134
M. Kjaergaard, N. Andersen, Ole Ravn
This paper presents DARC, a next generation control framework for robot applications. It is designed to be equally powerful in prototyping research projects and for building serious commercial robots running on low powered embedded hardware, thus closing the gab between research and industry. It incorporates several new techniques such as a decentralized peer-to-peer architecture, transparent network distribution of the control system, and automatic run-time supervision to guarantee robustness.
{"title":"DARC: Next generation decentralized control framework for robot applications","authors":"M. Kjaergaard, N. Andersen, Ole Ravn","doi":"10.1109/ICCA.2013.6565134","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565134","url":null,"abstract":"This paper presents DARC, a next generation control framework for robot applications. It is designed to be equally powerful in prototyping research projects and for building serious commercial robots running on low powered embedded hardware, thus closing the gab between research and industry. It incorporates several new techniques such as a decentralized peer-to-peer architecture, transparent network distribution of the control system, and automatic run-time supervision to guarantee robustness.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115287499","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6564924
Guoyang Cheng, Jin-Gao Hu
A mode switching control scheme is proposed to achieve fast set-point tracking in motor servo systems. The control scheme incorporates a composite nonlinear feedback (CNF) control law into the framework of proximate time-optimal servomechanisms (PTOS). The CNF control law consists of a linear feedback part for achieving fast response and a nonlinear feedback part for suppressing the overshoot, so as to improve the transient performance in short span positioning, while the PTOS control law is responsible for fast acceleration and deceleration when the tracking error is large. A parameterized MSC controller is designed and the closed-loop stability is analyzed theoretically. The control scheme was then applied to the position-velocity control loop in a permanent magnet synchronous motor servo system. Experimental test has been conducted using the TMS320F2812 DSP. The results verify that the servo system is capable of fast and smooth positioning on a wide range of target locations.
{"title":"A mode switching control design for fast position servo systems with permanent magnet synchronous motor","authors":"Guoyang Cheng, Jin-Gao Hu","doi":"10.1109/ICCA.2013.6564924","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564924","url":null,"abstract":"A mode switching control scheme is proposed to achieve fast set-point tracking in motor servo systems. The control scheme incorporates a composite nonlinear feedback (CNF) control law into the framework of proximate time-optimal servomechanisms (PTOS). The CNF control law consists of a linear feedback part for achieving fast response and a nonlinear feedback part for suppressing the overshoot, so as to improve the transient performance in short span positioning, while the PTOS control law is responsible for fast acceleration and deceleration when the tracking error is large. A parameterized MSC controller is designed and the closed-loop stability is analyzed theoretically. The control scheme was then applied to the position-velocity control loop in a permanent magnet synchronous motor servo system. Experimental test has been conducted using the TMS320F2812 DSP. The results verify that the servo system is capable of fast and smooth positioning on a wide range of target locations.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114653062","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565040
Y. Hang, Zhu Jihong, Yuan Xiaming, Zhang Chao
Vertical take-off and landing (VTOL) aircraft has the merits of both fixed-wing and rotary-wing aircraft. Tail-sitter is the simplest way for the VTOL maneuver since it does not need extra actuators. However, conventional tail-sitting airplanes made by propellers or duct fans have less thrust and efficiency. In this paper a conceptual thrust-vectored unmanned tail-sitter (CTUT) aircraft which is controlled by no control surfaces but only with two thrust vectors is introduced. However, the system of hovering control for a tail-sitter UAV is like a 3-D inverse pendulum, which is unstable and quite difficult to control against the gust load in traditional PID controllers. In this paper, the synthesized system model including thrust-vectored tail-sitter aircraft model, actuator system and gust model is developed. The LQG/LTR control for robust hovering against gust load is proposed. The results show that the controller designed successfully compensates the errors generated by gust.
{"title":"Robust hover control of thrust-vectored unmanned tail-sitter aircraft against gust load","authors":"Y. Hang, Zhu Jihong, Yuan Xiaming, Zhang Chao","doi":"10.1109/ICCA.2013.6565040","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565040","url":null,"abstract":"Vertical take-off and landing (VTOL) aircraft has the merits of both fixed-wing and rotary-wing aircraft. Tail-sitter is the simplest way for the VTOL maneuver since it does not need extra actuators. However, conventional tail-sitting airplanes made by propellers or duct fans have less thrust and efficiency. In this paper a conceptual thrust-vectored unmanned tail-sitter (CTUT) aircraft which is controlled by no control surfaces but only with two thrust vectors is introduced. However, the system of hovering control for a tail-sitter UAV is like a 3-D inverse pendulum, which is unstable and quite difficult to control against the gust load in traditional PID controllers. In this paper, the synthesized system model including thrust-vectored tail-sitter aircraft model, actuator system and gust model is developed. The LQG/LTR control for robust hovering against gust load is proposed. The results show that the controller designed successfully compensates the errors generated by gust.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121804440","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6564969
Wei Li, Huizhong Yang
This paper addresses the problem of blind separation of nonlinear mixed signals. A nonlinear blind source separation method is developed, in which a two-layer perceptron network is employed as the separating system to separate sources from the observed non-linear mixture signals. The learning algorithms for the parameters of the separating system are derived based on the maximum entropy (ME) criterion. Instead of choosing non-linear functions empirically, the nonparametric kernel density estimation is exploited to estimate the score function of the perceptron's outputs directly. Simulations show good performance of the proposed algorithm.
{"title":"A maximum entropy based nonlinear blind source separation approach using a two-layer perceptron network","authors":"Wei Li, Huizhong Yang","doi":"10.1109/ICCA.2013.6564969","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564969","url":null,"abstract":"This paper addresses the problem of blind separation of nonlinear mixed signals. A nonlinear blind source separation method is developed, in which a two-layer perceptron network is employed as the separating system to separate sources from the observed non-linear mixture signals. The learning algorithms for the parameters of the separating system are derived based on the maximum entropy (ME) criterion. Instead of choosing non-linear functions empirically, the nonparametric kernel density estimation is exploited to estimate the score function of the perceptron's outputs directly. Simulations show good performance of the proposed algorithm.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123789990","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6564905
M. Olivares, P. Albertos
Underactuated systems are usually represented by nonlinear models and their control requires the design of nonlinear controllers. The flywheel inverted pendulum is a special case, also nonlinear, but admitting a linear approximation around the unstable equilibrium point in the upper position. In this paper, a linear controller is designed in two steps. First, the output is controlled with a simple PID controller, leading to an internally unstable plant. Then, a second linear controller in an outer loop provides the global stability, showing good regulation and disturbance rejection performance. Experimental results show the effectiveness of the design.
{"title":"On the linear control of underactuated systems: The flywheel inverted pendulum","authors":"M. Olivares, P. Albertos","doi":"10.1109/ICCA.2013.6564905","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564905","url":null,"abstract":"Underactuated systems are usually represented by nonlinear models and their control requires the design of nonlinear controllers. The flywheel inverted pendulum is a special case, also nonlinear, but admitting a linear approximation around the unstable equilibrium point in the upper position. In this paper, a linear controller is designed in two steps. First, the output is controlled with a simple PID controller, leading to an internally unstable plant. Then, a second linear controller in an outer loop provides the global stability, showing good regulation and disturbance rejection performance. Experimental results show the effectiveness of the design.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125528323","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6564930
Shen Zhangbiao, Zhu Shanan
In this paper, the design and implementation of online virtual experiment in the area of power electronic devices for remote education is introduced. The whole system is composed of three parts: interface, server and computing nodes. XML is the data exchange format between different parts using custom protocol. Unified modeling uses Modelica language, while the simulation uses OpenModelica. Compared with traditional lab's experiments, the online virtual experiments are more friendly and convenient.
{"title":"Online virtual experiment of power electrical devices based on XML and modelica","authors":"Shen Zhangbiao, Zhu Shanan","doi":"10.1109/ICCA.2013.6564930","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564930","url":null,"abstract":"In this paper, the design and implementation of online virtual experiment in the area of power electronic devices for remote education is introduced. The whole system is composed of three parts: interface, server and computing nodes. XML is the data exchange format between different parts using custom protocol. Unified modeling uses Modelica language, while the simulation uses OpenModelica. Compared with traditional lab's experiments, the online virtual experiments are more friendly and convenient.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115019103","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565013
Li Wang, Jinchuan Zheng, M. Fu
This paper proposes an optimal preview control law for a dual-stage actuators (DSA) system to track triangular references, which is essential in many raster scan motion control applications. The main difficulty of tracking triangular reference is to follow the waveform fast and accurately when its slope switches. For this goal, we first present a non-preview time optimal control for the primary stage, which is proved to have the minimal overshoot. This result is a new contribution to DSA control because it leads to a minimal reference profile for secondary stage to follow and thus significantly prevents the saturation of the secondary actuator. Next, we propose an optimal preview control with the use of the information of the future references to further reduce the settling time and the overshoot. Finally, the secondary actuator controller is also given. Simulated results are shown to verify the effectiveness of the proposed control design.
{"title":"Optimal preview control of dual-stage actuators system for triangular reference tracking","authors":"Li Wang, Jinchuan Zheng, M. Fu","doi":"10.1109/ICCA.2013.6565013","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565013","url":null,"abstract":"This paper proposes an optimal preview control law for a dual-stage actuators (DSA) system to track triangular references, which is essential in many raster scan motion control applications. The main difficulty of tracking triangular reference is to follow the waveform fast and accurately when its slope switches. For this goal, we first present a non-preview time optimal control for the primary stage, which is proved to have the minimal overshoot. This result is a new contribution to DSA control because it leads to a minimal reference profile for secondary stage to follow and thus significantly prevents the saturation of the secondary actuator. Next, we propose an optimal preview control with the use of the information of the future references to further reduce the settling time and the overshoot. Finally, the secondary actuator controller is also given. Simulated results are shown to verify the effectiveness of the proposed control design.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122993562","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6564882
D. Krokavec, A. Filasová
The paper presents design procedures that give the quadratic performances to fuzzy control of nonlinear systems representable by Takagi-Sugeno models. Including the system dynamics by the slack matrices, and extending the Lyapunov function by an integral part, enhanced control design conditions are outlined in terms of linear matrix inequalities. Simulation results illustrate the design procedure and describe the properties of the proposed control design method.
{"title":"Enhanced LMI conditions for quadratic fuzzy control design","authors":"D. Krokavec, A. Filasová","doi":"10.1109/ICCA.2013.6564882","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6564882","url":null,"abstract":"The paper presents design procedures that give the quadratic performances to fuzzy control of nonlinear systems representable by Takagi-Sugeno models. Including the system dynamics by the slack matrices, and extending the Lyapunov function by an integral part, enhanced control design conditions are outlined in terms of linear matrix inequalities. Simulation results illustrate the design procedure and describe the properties of the proposed control design method.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114434387","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 : 2013-06-12DOI: 10.1109/ICCA.2013.6565023
Leijun Xiang
Aiming to realize a comprehensive household control system based on wireless sensor network (WSN), this paper introduces the design of the software and hardware of an autonomous household control system based on ZigBee together with mobile and internet system. The communication of the whole system is constituted of ZigBee wireless network communication, network communication based on TCP/IP protocol, short message control of mobile phone. The users can control all the objects and collect the real-time data from the relevant objects anywhere through the server, the internet or mobile phone. The proposed design scheme is tested and verified by preliminary experiment. The result shows the effectiveness of the proposed design scheme on the household control system.
{"title":"Design of household control system based on ZigBee, GSM and TCP/IP protocol","authors":"Leijun Xiang","doi":"10.1109/ICCA.2013.6565023","DOIUrl":"https://doi.org/10.1109/ICCA.2013.6565023","url":null,"abstract":"Aiming to realize a comprehensive household control system based on wireless sensor network (WSN), this paper introduces the design of the software and hardware of an autonomous household control system based on ZigBee together with mobile and internet system. The communication of the whole system is constituted of ZigBee wireless network communication, network communication based on TCP/IP protocol, short message control of mobile phone. The users can control all the objects and collect the real-time data from the relevant objects anywhere through the server, the internet or mobile phone. The proposed design scheme is tested and verified by preliminary experiment. The result shows the effectiveness of the proposed design scheme on the household control system.","PeriodicalId":336534,"journal":{"name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129874770","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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