This paper proposes a simple robust model predictive algorithm for discrete time uncertain systems having relatively fast dynamics, i.e. the time required to compute the next control action is the multiple of the sampling time. The method is based on the following concept: at time k the set of all possible k+N-th states is determined, and in the next N time steps an appropriate feedback gain is constructed, which is capable of robustly stabilizing the system from time k+N. At time k+N the procedure is then repeated. The method was derived from the robust MPC algorithm proposed by Kothare et al.,(1996)
{"title":"Robust Model Predictive Control for Controlling Fast Vehicle Dynamics","authors":"T. Péni, J. Bokor","doi":"10.1109/MED.2006.328864","DOIUrl":"https://doi.org/10.1109/MED.2006.328864","url":null,"abstract":"This paper proposes a simple robust model predictive algorithm for discrete time uncertain systems having relatively fast dynamics, i.e. the time required to compute the next control action is the multiple of the sampling time. The method is based on the following concept: at time k the set of all possible k+N-th states is determined, and in the next N time steps an appropriate feedback gain is constructed, which is capable of robustly stabilizing the system from time k+N. At time k+N the procedure is then repeated. The method was derived from the robust MPC algorithm proposed by Kothare et al.,(1996)","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"285 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115823285","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}
This work deals with the design and implementation of soft sensors designed to perform the what-if analysis on a sulfur recovery unit (SRU) in a refinery. Soft sensors are mathematical models able to emulate the behaviour of existing sensors on the basis of available measurements. This paper deals with the design of a soft sensor by using a nonlinear one step ahead model, eventually usable online. The realized models represented the building blocks for the design of the virtual instrument based on a multi steps ahead predictor to be used in the what-if analysis. The instrument allows the estimation the consequences that variations of the input trends produces on system outputs, to eventually improve control policy effectiveness
{"title":"Virtual Instruments for the what-if analysis of a process for pollution minimization in an industrial application","authors":"L. Fortuna, S. Graziani, M. Xibilia, G. Napoli","doi":"10.1109/MED.2006.328755","DOIUrl":"https://doi.org/10.1109/MED.2006.328755","url":null,"abstract":"This work deals with the design and implementation of soft sensors designed to perform the what-if analysis on a sulfur recovery unit (SRU) in a refinery. Soft sensors are mathematical models able to emulate the behaviour of existing sensors on the basis of available measurements. This paper deals with the design of a soft sensor by using a nonlinear one step ahead model, eventually usable online. The realized models represented the building blocks for the design of the virtual instrument based on a multi steps ahead predictor to be used in the what-if analysis. The instrument allows the estimation the consequences that variations of the input trends produces on system outputs, to eventually improve control policy effectiveness","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117341559","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}
Stern and bow plane jams have been shown to cause catastrophic results in underwater vehicles. In this paper, the design of a fully automated robust reconfigurable controller that prevents excessively large depth excursions that could cause broaching or dangerously deep depths is presented. This paper extends our previous research results by incorporating bow plane jams, and by using a more realistic use of ballast changes during the simulation. Using LQR, three sets of gain matrices (one for normal operation, and one for each jam type) are computed for the system model at different speeds. The appropriate gain is selected depending on the jam type and speed. Simulation results are presented to show the performance of the reconfigured control system. The controller is also tested for robustness using the Edge theorem, and it is shown to stabilize a sufficiently wide range of system models
{"title":"Robust Reconfigurable Control for Recovery from Stern and Bow Plane Jams in Underwater Vehicles","authors":"P. Soucacos, G. Beale","doi":"10.1109/MED.2006.328734","DOIUrl":"https://doi.org/10.1109/MED.2006.328734","url":null,"abstract":"Stern and bow plane jams have been shown to cause catastrophic results in underwater vehicles. In this paper, the design of a fully automated robust reconfigurable controller that prevents excessively large depth excursions that could cause broaching or dangerously deep depths is presented. This paper extends our previous research results by incorporating bow plane jams, and by using a more realistic use of ballast changes during the simulation. Using LQR, three sets of gain matrices (one for normal operation, and one for each jam type) are computed for the system model at different speeds. The appropriate gain is selected depending on the jam type and speed. Simulation results are presented to show the performance of the reconfigured control system. The controller is also tested for robustness using the Edge theorem, and it is shown to stabilize a sufficiently wide range of system models","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121325383","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}
This paper develops a novel control system design methodology that uniquely combines: concepts from thermodynamic exergy and entropy; Hamiltonian systems; Lyapunov's direct method and Lyapunov optimal analysis; electric AC power concepts; and power flow analysis. Relationships are derived between exergy/entropy and Lyapunov optimal functions for Hamiltonian systems. The methodology is demonstrated with two fundamental numerical simulation examples: 1) a Duffing oscillator/Coulomb friction nonlinear model that employs PID regulator control and 2) a van der Pol nonlinear oscillator system. The control system performances and/or appropriately identified terms are partitioned and evaluated based on exergy generation and exergy dissipation terms. This novel nonlinear control methodology results in both necessary and sufficient conditions for stability of nonlinear systems
本文开发了一种新颖的控制系统设计方法，独特地结合了:热力学火用和熵的概念;哈密顿系统;李雅普诺夫直接法与李雅普诺夫最优分析交流电概念;以及潮流分析。推导了哈密顿系统的能/熵与李雅普诺夫最优函数之间的关系。通过两个基本的数值模拟实例来证明该方法:1)采用PID调节器控制的Duffing振荡器/Coulomb摩擦非线性模型和2)van der Pol非线性振荡器系统。根据火用产生和火用耗散项对控制系统性能和/或适当识别的项进行划分和评估。这种新颖的非线性控制方法得到了非线性系统稳定的充分必要条件
{"title":"Exergy and Irreversible Entropy Production Thermodynamic Concepts for Control Design: Nonlinear Systems","authors":"R. Robinett, D. Wilson","doi":"10.1109/MED.2006.328728","DOIUrl":"https://doi.org/10.1109/MED.2006.328728","url":null,"abstract":"This paper develops a novel control system design methodology that uniquely combines: concepts from thermodynamic exergy and entropy; Hamiltonian systems; Lyapunov's direct method and Lyapunov optimal analysis; electric AC power concepts; and power flow analysis. Relationships are derived between exergy/entropy and Lyapunov optimal functions for Hamiltonian systems. The methodology is demonstrated with two fundamental numerical simulation examples: 1) a Duffing oscillator/Coulomb friction nonlinear model that employs PID regulator control and 2) a van der Pol nonlinear oscillator system. The control system performances and/or appropriately identified terms are partitioned and evaluated based on exergy generation and exergy dissipation terms. This novel nonlinear control methodology results in both necessary and sufficient conditions for stability of nonlinear systems","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122328390","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}
This study presents a simple algorithm for motion-planning and design tools for tracking in a vertical take-off and landing (VTOL) aircraft. The proposed motion-planning procedure is based on the solution of a linear algebraic equation. The resulting schemes are useful for flight control of an autonomous VTOL aircraft in case the objective is to drive the system from a given state to a prescribed target and when a reference path should be followed. In particular the proposed controller ensures the accomplishment of a required control task while in addition, a selected quadratic index of performance is minimized. The solution to the suboptimal control problem is simple since a functional which measures the controller performance, reduces to a quadratic form and hence, the extremum is associated with a minimum point of a function of several variables
{"title":"Optimal path and tracking control of an autonomous VTOL aircraft","authors":"A. Ailon","doi":"10.1109/MED.2006.328771","DOIUrl":"https://doi.org/10.1109/MED.2006.328771","url":null,"abstract":"This study presents a simple algorithm for motion-planning and design tools for tracking in a vertical take-off and landing (VTOL) aircraft. The proposed motion-planning procedure is based on the solution of a linear algebraic equation. The resulting schemes are useful for flight control of an autonomous VTOL aircraft in case the objective is to drive the system from a given state to a prescribed target and when a reference path should be followed. In particular the proposed controller ensures the accomplishment of a required control task while in addition, a selected quadratic index of performance is minimized. The solution to the suboptimal control problem is simple since a functional which measures the controller performance, reduces to a quadratic form and hence, the extremum is associated with a minimum point of a function of several variables","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114420910","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}
Systems biology of decision making focuses on understanding the structures, dynamics, and evolution of complex interconnected biological mechanisms that support decision making by individuals and social animal groups. In this article, an experimentally validated mathematical model of the nest-site selection process of honey bee swarms is introduced. In this spatially distributed dynamical feedback process individual bee actions and bee-to-bee communications combine to produce an emergent "consensus" nest choice. The process has connections to neurobiological cognition systems, especially at the behavioral level: the swarm can effectively discriminate between different quality nest sites and eliminate from consideration relatively inferior distractor sites. Simulations indicate that individual-level bee decision-making mechanisms have been tuned by natural selection to provide a balance between the need for fast and accurate decisions at the group level. Theoretical analyses of the properties of the dynamics of swarm decision making are outlined, and potential implications in engineering are briefly highlighted
{"title":"Systems Biology of Group Decision Making","authors":"K. Passino","doi":"10.1109/MED.2006.328856","DOIUrl":"https://doi.org/10.1109/MED.2006.328856","url":null,"abstract":"Systems biology of decision making focuses on understanding the structures, dynamics, and evolution of complex interconnected biological mechanisms that support decision making by individuals and social animal groups. In this article, an experimentally validated mathematical model of the nest-site selection process of honey bee swarms is introduced. In this spatially distributed dynamical feedback process individual bee actions and bee-to-bee communications combine to produce an emergent \"consensus\" nest choice. The process has connections to neurobiological cognition systems, especially at the behavioral level: the swarm can effectively discriminate between different quality nest sites and eliminate from consideration relatively inferior distractor sites. Simulations indicate that individual-level bee decision-making mechanisms have been tuned by natural selection to provide a balance between the need for fast and accurate decisions at the group level. Theoretical analyses of the properties of the dynamics of swarm decision making are outlined, and potential implications in engineering are briefly highlighted","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114476381","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}
The constrained control of triple integrator based on the modes decomposition is introduced in this paper. The design combines the well known time optimal control with the linear pole assignment control, i.e. the control consist of n phases similar to the time optimal control, however the transients between these phases are "smooth" and the dynamics of the transients is given by the closed loop poles
{"title":"Control for Triple Integrator with Constrained Input","authors":"P. Tapák, P. Bisták, M. Huba","doi":"10.1109/MED.2006.328847","DOIUrl":"https://doi.org/10.1109/MED.2006.328847","url":null,"abstract":"The constrained control of triple integrator based on the modes decomposition is introduced in this paper. The design combines the well known time optimal control with the linear pole assignment control, i.e. the control consist of n phases similar to the time optimal control, however the transients between these phases are \"smooth\" and the dynamics of the transients is given by the closed loop poles","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128441329","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}
T. Kottas, Y. Boutalis, V. Diamantis, O. Kosmidou, A. Aivasidis
Fuzzy cognitive networks (FCN) are extensions of the well known fuzzy cognitive maps (FCM) so that they operate in direct interconnection with the system they describe. This paper explores the ability of FCNs to control an anaerobic digestion process of a wastewater treatment plant. The design of the appropriate FCN to simulate the operation of the process is proposed first. Then, a control scheme for the process is proposed, which is based on the operational ability of the FCN to interact with the process. The ability of the FCN to control the process is simulated by using data from an experimental anaerobic digestion unit
{"title":"A Fuzzy Cognitive Network Based Control Scheme for An Anaerobic Digestion Process","authors":"T. Kottas, Y. Boutalis, V. Diamantis, O. Kosmidou, A. Aivasidis","doi":"10.1109/MED.2006.328850","DOIUrl":"https://doi.org/10.1109/MED.2006.328850","url":null,"abstract":"Fuzzy cognitive networks (FCN) are extensions of the well known fuzzy cognitive maps (FCM) so that they operate in direct interconnection with the system they describe. This paper explores the ability of FCNs to control an anaerobic digestion process of a wastewater treatment plant. The design of the appropriate FCN to simulate the operation of the process is proposed first. Then, a control scheme for the process is proposed, which is based on the operational ability of the FCN to interact with the process. The ability of the FCN to control the process is simulated by using data from an experimental anaerobic digestion unit","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129304098","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}
The objective of the low level control system of marine vehicles is to generate a desired thrust in the face of environmental disturbances and modelling uncertainties. The control objective of standard low level control solutions is the propeller angular speed that is assumed to be related to the produced thrust through a known hydrodynamic model. The presented approach differs from the above as the thrust control law is designed without the use of any (either stationary or quasi stationary) explicit hydrodynamic model. The design builds on the only hypothesis that, over a wide range of operating conditions, the produced thrust is approximately proportional to the fluid induced propeller load torque. The resulting control law is presented for a voltage driven brushed DC actuator and its use within an open water ROV model identification scenario is discussed
{"title":"DC Motor Control Issues for UUVs","authors":"G. Indiveri, S. Zanoli, G. Parlangeli","doi":"10.1109/MED.2006.328733","DOIUrl":"https://doi.org/10.1109/MED.2006.328733","url":null,"abstract":"The objective of the low level control system of marine vehicles is to generate a desired thrust in the face of environmental disturbances and modelling uncertainties. The control objective of standard low level control solutions is the propeller angular speed that is assumed to be related to the produced thrust through a known hydrodynamic model. The presented approach differs from the above as the thrust control law is designed without the use of any (either stationary or quasi stationary) explicit hydrodynamic model. The design builds on the only hypothesis that, over a wide range of operating conditions, the produced thrust is approximately proportional to the fluid induced propeller load torque. The resulting control law is presented for a voltage driven brushed DC actuator and its use within an open water ROV model identification scenario is discussed","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124200450","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}
In this article, an adaptive width/phase differential modulated controller is designed for an active electro-hydraulic pump (AehP) system consisting of a single straight cylinder. This controller adjusts the duty cycle and relative phase between the incoming and outgoing valve. The adjustment relies on the maximization of a cost function that characterizes the net outflow rate. The developed model relies on computational fluid dynamics (CFD). Transient CFD analysis shows that the pressure propagation causes the pump performance to be highly dependent to the overall dimensions of the hydraulic system, the fluid used and the operating conditions, thus constraining and complicating the controller design process. The controller's adaptation mechanism relies on the cyclic coordinate method, which adjusts each parameter in a periodic manner. Simulation studies are used to investigate the efficiency of the proposed controller with respect to the pump-chamber's length, the piston's pulsating frequency, and the fluid properties
{"title":"Adaptive Pulse Width/Phase Modulated Controller for a High Frequency Active Electro-Hydraulic Pump System","authors":"Y. Koveos, A. Tzes, E. Kolyvas, D. Tsahalis","doi":"10.1109/MED.2006.328791","DOIUrl":"https://doi.org/10.1109/MED.2006.328791","url":null,"abstract":"In this article, an adaptive width/phase differential modulated controller is designed for an active electro-hydraulic pump (AehP) system consisting of a single straight cylinder. This controller adjusts the duty cycle and relative phase between the incoming and outgoing valve. The adjustment relies on the maximization of a cost function that characterizes the net outflow rate. The developed model relies on computational fluid dynamics (CFD). Transient CFD analysis shows that the pressure propagation causes the pump performance to be highly dependent to the overall dimensions of the hydraulic system, the fluid used and the operating conditions, thus constraining and complicating the controller design process. The controller's adaptation mechanism relies on the cyclic coordinate method, which adjusts each parameter in a periodic manner. Simulation studies are used to investigate the efficiency of the proposed controller with respect to the pump-chamber's length, the piston's pulsating frequency, and the fluid properties","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121684745","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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