The problem of asymptotic robust output command tracking with simultaneous disturbance attenuation is studied for the case of linear systems with nonlinear uncertain structure. The problem is solved using a compensator with static state feedback, unity output feedback and integral action. The controller is restricted to be independent from the uncertainties. The output of the closed loop system tracks polynomial type reference signals independently from polynomial type disturbance signals. Sufficient conditions for the problem to have a solution are established. The results are applied to the automating steering of a city bus with large speed and mass uncertainties. An analytic algorithm for the computation of the vehicle tracking controller is presented. The effectiveness of the controller is illustrated through simulation for various manoeuvres
{"title":"Robust Tracking and Disturbance Attenuation Controllers for Automatic Steering","authors":"M. G. Skarpetis, F. Koumboulis, A. S. Ntellis","doi":"10.1109/MED.2006.328739","DOIUrl":"https://doi.org/10.1109/MED.2006.328739","url":null,"abstract":"The problem of asymptotic robust output command tracking with simultaneous disturbance attenuation is studied for the case of linear systems with nonlinear uncertain structure. The problem is solved using a compensator with static state feedback, unity output feedback and integral action. The controller is restricted to be independent from the uncertainties. The output of the closed loop system tracks polynomial type reference signals independently from polynomial type disturbance signals. Sufficient conditions for the problem to have a solution are established. The results are applied to the automating steering of a city bus with large speed and mass uncertainties. An analytic algorithm for the computation of the vehicle tracking controller is presented. The effectiveness of the controller is illustrated through simulation for various manoeuvres","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"11 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":"124781240","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 considers the stability problem of a rigid robot manipulator with time-delay in the feedback loop. We consider in the stability analysis two cases, namely, time delay in state and output feedbacks. As far as the time delay factor is concerned, we extend previous results by considering the effect of multiple time-delay on the stability property of a rigid robot with state and output feedbacks. Sufficient conditions for asymptotic (in fact, exponential) stability of the systems under consideration have been established. An estimate to the system rate of convergence is given and a procedure for evaluating the region of attraction, is demonstrated
{"title":"Further results on stability of a rigid robot with model uncertainty and time-delay in feedback","authors":"A. Ailon, B. Ahn","doi":"10.1109/MED.2006.328834","DOIUrl":"https://doi.org/10.1109/MED.2006.328834","url":null,"abstract":"This study considers the stability problem of a rigid robot manipulator with time-delay in the feedback loop. We consider in the stability analysis two cases, namely, time delay in state and output feedbacks. As far as the time delay factor is concerned, we extend previous results by considering the effect of multiple time-delay on the stability property of a rigid robot with state and output feedbacks. Sufficient conditions for asymptotic (in fact, exponential) stability of the systems under consideration have been established. An estimate to the system rate of convergence is given and a procedure for evaluating the region of attraction, is demonstrated","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"29 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":"124996316","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}
High-gain-control belongs to the class of non-identifier-based control concepts which goes without an identification algorithm to control plants with unknown parameter values. Although the simplicity of this strategy is a striking advantage, a nondecreasing gain function is used. This restricts the applicability especially in the context of tracking problems or disturbances. For this reason, funnel-control was introduced which is a proportional controller with a time-varying gain function. The gain is not monotone and can increase and decrease as well. Due to the proportional behavior, the steady state error cannot be expected to vanish. Theoretically, the error can be forced being arbitrarily small. But due to sensor noise, a large control error must be accepted in general. To obtain steady state accuracy as well as reduced mechanical vibrations, the funnel-controller is amended by an additional integral control action and by a dynamic feedback. Proofs are given that these extensions are introduced in such a way that the closed loop stability is not endangered
{"title":"Non-Identifier-Based Adaptive Speed Control for a Two-Mass Flexible Servo System: Consideration of Stability and Steady State Accuracy","authors":"H. Schuster, C. Westermaier, D. Schroder","doi":"10.1109/MED.2006.328790","DOIUrl":"https://doi.org/10.1109/MED.2006.328790","url":null,"abstract":"High-gain-control belongs to the class of non-identifier-based control concepts which goes without an identification algorithm to control plants with unknown parameter values. Although the simplicity of this strategy is a striking advantage, a nondecreasing gain function is used. This restricts the applicability especially in the context of tracking problems or disturbances. For this reason, funnel-control was introduced which is a proportional controller with a time-varying gain function. The gain is not monotone and can increase and decrease as well. Due to the proportional behavior, the steady state error cannot be expected to vanish. Theoretically, the error can be forced being arbitrarily small. But due to sensor noise, a large control error must be accepted in general. To obtain steady state accuracy as well as reduced mechanical vibrations, the funnel-controller is amended by an additional integral control action and by a dynamic feedback. Proofs are given that these extensions are introduced in such a way that the closed loop stability is not endangered","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"2 3 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":"134526870","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 studies the realizability property of continuous-time bilinear i/o equations in the classical state space form. Constraints on the parameters of the bilinear i/o model are suggested that lead to realizable models. The paper proves that the 2nd order bilinear i/o differential equation, unlike the discrete-time case, is always realizable in the classical state space form. The complete list of 3rd and 4th order realizable i/o bilinear models is given and two subclasses of realizable i/o bilinear systems are suggested. Our conditions rely basically upon the property that certain combinations of coefficients of the i/o equations are zero or not zero. We provide explicit state equations for all realizable 2nd and 3rd order bilinear i/o equations, and for one realizable subclass of bilinear i/o equations of arbitrary order
{"title":"On Classical State Space Realizability of Bilinear Input-Output Differential Equations","authors":"U. Kotta, T. Mullari, P. Kotta, A. Zinober","doi":"10.1109/MED.2006.328729","DOIUrl":"https://doi.org/10.1109/MED.2006.328729","url":null,"abstract":"This paper studies the realizability property of continuous-time bilinear i/o equations in the classical state space form. Constraints on the parameters of the bilinear i/o model are suggested that lead to realizable models. The paper proves that the 2nd order bilinear i/o differential equation, unlike the discrete-time case, is always realizable in the classical state space form. The complete list of 3rd and 4th order realizable i/o bilinear models is given and two subclasses of realizable i/o bilinear systems are suggested. Our conditions rely basically upon the property that certain combinations of coefficients of the i/o equations are zero or not zero. We provide explicit state equations for all realizable 2nd and 3rd order bilinear i/o equations, and for one realizable subclass of bilinear i/o equations of arbitrary order","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":"116538012","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}
S. Frattesi, L. Andrenacci, L. Pasqualini, L. Starna
Household appliances are becoming smarter and smarter. Their easiness of use and performances are improving dramatically, mainly thanks to a massive introduction of electronic control systems. This tendency is even more evident in white goods, where nowadays electronic is the real brain of the appliance. The added values to the customer are constantly growing up; but, from a manufacturer point of view, electronics gives a previously unknown flexibility and thus the space of possible behaviors of electronically controlled appliances has became huge. In this scenario it arises the necessity of a proper set of automatic tools to assist the whole product's design and testing procedure. In this article we introduce Indesit Company's experience and philosophy on these systems
{"title":"A modern approach to the automatic design and testing of domestic appliances","authors":"S. Frattesi, L. Andrenacci, L. Pasqualini, L. Starna","doi":"10.1109/MED.2006.328705","DOIUrl":"https://doi.org/10.1109/MED.2006.328705","url":null,"abstract":"Household appliances are becoming smarter and smarter. Their easiness of use and performances are improving dramatically, mainly thanks to a massive introduction of electronic control systems. This tendency is even more evident in white goods, where nowadays electronic is the real brain of the appliance. The added values to the customer are constantly growing up; but, from a manufacturer point of view, electronics gives a previously unknown flexibility and thus the space of possible behaviors of electronically controlled appliances has became huge. In this scenario it arises the necessity of a proper set of automatic tools to assist the whole product's design and testing procedure. In this article we introduce Indesit Company's experience and philosophy on these systems","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"16 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":"115506167","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 paper presents polynomial controller design giving the 1st order constrained closed loop dynamics. As particular examples, constrained PID and PI-dead time (predictive) controllers are derived. These examples characterize two most important design features - compensation of just some of parasitic time delays that enables to increase the reliability of the controller tuning and, secondly, derivation of reasonably improved dead-time (predictive) controller with fully adjustable set point and disturbance response dynamics applicable to both the marginally stable and unstable systems
{"title":"Controller Design Based on the 1st Order Constrained Dynamics","authors":"H. Mikulas, K. Martin","doi":"10.1109/MED.2006.328741","DOIUrl":"https://doi.org/10.1109/MED.2006.328741","url":null,"abstract":"The paper presents polynomial controller design giving the 1st order constrained closed loop dynamics. As particular examples, constrained PID and PI-dead time (predictive) controllers are derived. These examples characterize two most important design features - compensation of just some of parasitic time delays that enables to increase the reliability of the controller tuning and, secondly, derivation of reasonably improved dead-time (predictive) controller with fully adjustable set point and disturbance response dynamics applicable to both the marginally stable and unstable systems","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"32 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":"115665273","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 article discusses controllability of a Timoshenko beam slowly rotating in a horizontal plane. A linearized model was considered. In the null-controllability conditions of this system has been found in similar form in terms of convergence of series
{"title":"On smoothness of end states in the problem of controllability of a rotating beam","authors":"J. Wozniak","doi":"10.1109/MED.2006.236129","DOIUrl":"https://doi.org/10.1109/MED.2006.236129","url":null,"abstract":"This article discusses controllability of a Timoshenko beam slowly rotating in a horizontal plane. A linearized model was considered. In the null-controllability conditions of this system has been found in similar form in terms of convergence of series","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"35 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":"121193180","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 present work deals with a specific signaling pathway called EGFR pathway (epidermal growth factor receptor) which is composed of twenty three proteins and their interactions. It is an essential part of the cell since it affects metabolism, growth and dimerization. The pathway can be modelled by an autonomous ODE. The aim is the construction of a computational model which predicts the dynamic behavior of each protein in the EGFR pathway. The mathematical tool used, is the so called recurrent high order neural network (RHONN). RHONN is a recurrent neural network with dynamical components distributed throughout its body in the form of dynamical neurons. It is applicable for the identification of dynamical systems. The RHONN model consists of twenty three neurons and it is trained by a set containing various initial conditions and the dynamical output of each protein. We use three different learning algorithms concluding to three different RHONN models. When the training stops the appropriate weights are calculated and frozen so as to produce reliable models to identify the EGFR pathway
{"title":"Recurrent High Order Neural Networks for Identification of the EGFR Signaling Pathway","authors":"M. Christodoulou, D. Zarkogianni","doi":"10.1109/MED.2006.328819","DOIUrl":"https://doi.org/10.1109/MED.2006.328819","url":null,"abstract":"The present work deals with a specific signaling pathway called EGFR pathway (epidermal growth factor receptor) which is composed of twenty three proteins and their interactions. It is an essential part of the cell since it affects metabolism, growth and dimerization. The pathway can be modelled by an autonomous ODE. The aim is the construction of a computational model which predicts the dynamic behavior of each protein in the EGFR pathway. The mathematical tool used, is the so called recurrent high order neural network (RHONN). RHONN is a recurrent neural network with dynamical components distributed throughout its body in the form of dynamical neurons. It is applicable for the identification of dynamical systems. The RHONN model consists of twenty three neurons and it is trained by a set containing various initial conditions and the dynamical output of each protein. We use three different learning algorithms concluding to three different RHONN models. When the training stops the appropriate weights are calculated and frozen so as to produce reliable models to identify the EGFR pathway","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"105 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":"124730969","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}
Underwater vehicles are highly nonlinear and complex systems, that makes designing autopilots extremely difficult. This paper presents autotuning as a method for tuning parameters of a micro-ROV autopilot. The main benefit of this procedure is that the model of the process does not have to be known. Autotuning is often used for industrial processes but not on marine vessels. This procedure, which is performed in closed-loop, is completely automated and enables the operator to retune an autopilot whenever ROV performance is degraded (due to different operating points, tether influence, currents, etc.). In this article we use already known different autotuning recommendations (primarily designed for type 0 processes) with some modifications which we recommend for micro-ROVs. We also give results of using different types of PID controllers, whose parameters are being tuned. A real life demonstration on a VideoRay Pro II micro-ROV is provided
水下航行器是高度非线性和复杂的系统，这使得设计自动驾驶仪非常困难。本文提出了一种微型rov自动驾驶仪参数的自整定方法。这个过程的主要好处是不需要知道过程的模型。自动调谐通常用于工业过程，但不适用于船舶。该过程在闭环中完成，完全自动化，当ROV性能下降时(由于不同的操作点、缆绳影响、电流等)，操作人员可以重新调整自动驾驶仪。在本文中，我们使用了已知的不同的自动调优建议(主要是为0型进程设计的)，并进行了一些修改，我们建议将其用于微型rov。我们还给出了使用不同类型的PID控制器的结果，这些控制器的参数是经过调整的。在VideoRay Pro II微型rov上进行了真实的演示
{"title":"Autotuning Autopilots for Micro-ROVs","authors":"N. Mišković, Z. Vukic, M. Barisic, B. Tovornik","doi":"10.1109/MED.2006.328756","DOIUrl":"https://doi.org/10.1109/MED.2006.328756","url":null,"abstract":"Underwater vehicles are highly nonlinear and complex systems, that makes designing autopilots extremely difficult. This paper presents autotuning as a method for tuning parameters of a micro-ROV autopilot. The main benefit of this procedure is that the model of the process does not have to be known. Autotuning is often used for industrial processes but not on marine vessels. This procedure, which is performed in closed-loop, is completely automated and enables the operator to retune an autopilot whenever ROV performance is degraded (due to different operating points, tether influence, currents, etc.). In this article we use already known different autotuning recommendations (primarily designed for type 0 processes) with some modifications which we recommend for micro-ROVs. We also give results of using different types of PID controllers, whose parameters are being tuned. A real life demonstration on a VideoRay Pro II micro-ROV is provided","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"60 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":"124013814","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 problem of identifying stochastic systems under multiple operating conditions, by using excitation-response signals obtained from each condition, is addressed. Each operating condition is characterized by several measurable variables forming a vector operating parameter. The problem is tackled within a novel framework consisting of postulated vector dependent functionally pooled ARX (VFP-ARX) models, proper data pooling techniques, and statistical parameter estimation. Least squares (LS) and maximum likelihood (ML) estimation methods are developed. Their strong consistency is established and their performance characteristics are assessed via a Monte Carlo study
{"title":"Identification of Stochastic Systems Under Multiple Operating Conditions: The Vector Dependent FP-ARX Parametrization","authors":"F. Kopsaftopoulos, S. Fassois","doi":"10.1109/MED.2006.328813","DOIUrl":"https://doi.org/10.1109/MED.2006.328813","url":null,"abstract":"The problem of identifying stochastic systems under multiple operating conditions, by using excitation-response signals obtained from each condition, is addressed. Each operating condition is characterized by several measurable variables forming a vector operating parameter. The problem is tackled within a novel framework consisting of postulated vector dependent functionally pooled ARX (VFP-ARX) models, proper data pooling techniques, and statistical parameter estimation. Least squares (LS) and maximum likelihood (ML) estimation methods are developed. Their strong consistency is established and their performance characteristics are assessed via a Monte Carlo study","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"154 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":"123649990","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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