A method is presented that attempts to optimize, standardize, and automate the process of unmanned vehicle controller design, evaluation, validation and verification, followed by actual hardware controller implementation on the vehicle. The proposed approach follows the standard practice to utilize MATLAB/SIMULINK and related toolboxes as the design framework. Controller design in MATLAB/SIMULINK is followed by automatic conversion from MATLAB to code generation and optimization for particular types of processors using real-time workshop, and C to assembly language conversion to produce assembly code for a target microcontroller. X-Plane is used to verify, validate and optimize controllers before actual testing on an unmanned vehicle and actual implementation on a chip and printed circuit board. Sample designs demonstrate the applicability of the proposed method
{"title":"Automated Process for Unmanned Aerial Systems Controller Implementation Using MATLAB","authors":"D. Ernst, K. Valavanis, J. Craighead","doi":"10.1109/MED.2006.328858","DOIUrl":"https://doi.org/10.1109/MED.2006.328858","url":null,"abstract":"A method is presented that attempts to optimize, standardize, and automate the process of unmanned vehicle controller design, evaluation, validation and verification, followed by actual hardware controller implementation on the vehicle. The proposed approach follows the standard practice to utilize MATLAB/SIMULINK and related toolboxes as the design framework. Controller design in MATLAB/SIMULINK is followed by automatic conversion from MATLAB to code generation and optimization for particular types of processors using real-time workshop, and C to assembly language conversion to produce assembly code for a target microcontroller. X-Plane is used to verify, validate and optimize controllers before actual testing on an unmanned vehicle and actual implementation on a chip and printed circuit board. Sample designs demonstrate the applicability of the proposed method","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"18 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":"130280484","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 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}
We report some results concerning the quadratic regulator problem with point penalization of the control for a class of distributed systems. This new form of the quadratic regulator problem is suggested by certain identification problems related to delay systems and by the quadratic regulator problem for singular systems. The problem studied does not admit an optimal control. Hence we study the properties of the value function and we characterize the set of initial conditions which admit an optimal control. Finally, we show that it is always possible to construct minimizing sequences which are "robust" under perturbations on the initial conditions (and reference signals)
{"title":"A quadratic regulator problem related to identification problems and singular systems","authors":"A. Favini, L. Pandolfi","doi":"10.1137/050637248","DOIUrl":"https://doi.org/10.1137/050637248","url":null,"abstract":"We report some results concerning the quadratic regulator problem with point penalization of the control for a class of distributed systems. This new form of the quadratic regulator problem is suggested by certain identification problems related to delay systems and by the quadratic regulator problem for singular systems. The problem studied does not admit an optimal control. Hence we study the properties of the value function and we characterize the set of initial conditions which admit an optimal control. Finally, we show that it is always possible to construct minimizing sequences which are \"robust\" under perturbations on the initial conditions (and reference signals)","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"45 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":"130068776","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 early work of the authors, it was shown that Gibbs sampler based sequential annealing algorithm could be used to achieve self-organization in swarm vehicles based only on local information. However, long travelling time presents barriers to implement the algorithm in practice. In this paper we study a popular acceleration approach, the parallel annealing algorithm, and its convergence properties. We first study the convergence and equilibrium properties of the synchronous parallel sampling algorithm. A special example based on a battle field scenario is then studied. Sufficient conditions that the synchronous algorithm leads to desired configurations (global minimizers) are derived. While the synchronized algorithm reduces travelling time, it also raises delay and communication cost dramatically, in order to synchronize moves of a large group of vehicles. An asynchronous version of the parallel sampling algorithm is then proposed to solve the problem. Convergence properties of the asynchronous algorithm are also investigated
{"title":"Distributed Control of Autonomous Swarms by Using Parallel Simulated Annealing Algorithm","authors":"W. Xi, J. Baras","doi":"10.1109/MED.2006.328707","DOIUrl":"https://doi.org/10.1109/MED.2006.328707","url":null,"abstract":"In early work of the authors, it was shown that Gibbs sampler based sequential annealing algorithm could be used to achieve self-organization in swarm vehicles based only on local information. However, long travelling time presents barriers to implement the algorithm in practice. In this paper we study a popular acceleration approach, the parallel annealing algorithm, and its convergence properties. We first study the convergence and equilibrium properties of the synchronous parallel sampling algorithm. A special example based on a battle field scenario is then studied. Sufficient conditions that the synchronous algorithm leads to desired configurations (global minimizers) are derived. While the synchronized algorithm reduces travelling time, it also raises delay and communication cost dramatically, in order to synchronize moves of a large group of vehicles. An asynchronous version of the parallel sampling algorithm is then proposed to solve the problem. Convergence properties of the asynchronous algorithm are also investigated","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"73 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":"128711347","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}
A multirobot system composed by a five DoF manipulator (SCORTEC-ER 1) and a mobile base (ATRV-Jr by iRobot) is considered. The system is equipped with uniform software architecture able to control the motion of both components. Some exteroceptive sensors like sonars and laser rangefinders are available on the mobile platform, some others are mounted on the end-effector of the manipulator: a colour camera, able to locate objects to operate with; an ultrasound range finder, near the camera, that will be used to get distance measures. In this paper we consider the problem of relocalising the mobile manipulator in a known environment supposing that no base movement is allowed to avoid hazard operations. As only the arm can be safely panned to explore the surroundings, the proposed procedure is based exclusively on the ultrasound rangefinder. Using such measures, and making the hypothesis that the arm configuration in known, a Monte Carlo filter is designed to estimate the base pose. Such multiple hypotheses filter is appropriate in this kind of problems where, in the best case, it is possible to retrieve a finite number of possible poses compatible with available measures
{"title":"Pose recovery for a mobile manipulator using a particle filter","authors":"A. Gasparri, S. Panzieri, F. Pascucci, G. Ulivi","doi":"10.1109/MED.2006.328871","DOIUrl":"https://doi.org/10.1109/MED.2006.328871","url":null,"abstract":"A multirobot system composed by a five DoF manipulator (SCORTEC-ER 1) and a mobile base (ATRV-Jr by iRobot) is considered. The system is equipped with uniform software architecture able to control the motion of both components. Some exteroceptive sensors like sonars and laser rangefinders are available on the mobile platform, some others are mounted on the end-effector of the manipulator: a colour camera, able to locate objects to operate with; an ultrasound range finder, near the camera, that will be used to get distance measures. In this paper we consider the problem of relocalising the mobile manipulator in a known environment supposing that no base movement is allowed to avoid hazard operations. As only the arm can be safely panned to explore the surroundings, the proposed procedure is based exclusively on the ultrasound rangefinder. Using such measures, and making the hypothesis that the arm configuration in known, a Monte Carlo filter is designed to estimate the base pose. Such multiple hypotheses filter is appropriate in this kind of problems where, in the best case, it is possible to retrieve a finite number of possible poses compatible with available measures","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"87 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":"122436500","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}
A. Balestrino, A. Landi, Michele Medaglia, Massimo Satler
Industrial practice in process control shows a very wide gap with respect to the theory, as usually taught at the university. Standard controller tuning is often a compromise between performance and robustness. In this paper we examine some common PI(D) controller tuning rules and the achievable performances for a PI(D) controlled plant modeled as a first order plus time delay. The performance indices considered are IAE and ISE in a particular non-dimensional form including also controller output variations. The output performance indices are weakly dependent on loop gain. Therefore loop gain is essentially constrained by robustness, while the indices are dominated by the frequency response. Conversely the controller output variations are strongly dependent on the loop gain
{"title":"Performance Indices and Tuning in Process Control","authors":"A. Balestrino, A. Landi, Michele Medaglia, Massimo Satler","doi":"10.1109/MED.2006.328852","DOIUrl":"https://doi.org/10.1109/MED.2006.328852","url":null,"abstract":"Industrial practice in process control shows a very wide gap with respect to the theory, as usually taught at the university. Standard controller tuning is often a compromise between performance and robustness. In this paper we examine some common PI(D) controller tuning rules and the achievable performances for a PI(D) controlled plant modeled as a first order plus time delay. The performance indices considered are IAE and ISE in a particular non-dimensional form including also controller output variations. The output performance indices are weakly dependent on loop gain. Therefore loop gain is essentially constrained by robustness, while the indices are dominated by the frequency response. Conversely the controller output variations are strongly dependent on the loop gain","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"7 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":"126649108","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}
This paper introduces a fault detection and isolation (FDI) scheme for aircraft systems based on the modelling of the relationships among flight variables. The modelling is performed by means of pooled nonlinear autoregressive with exogenous (NARX) excitation representations. During the system's operation in healthy mode, these relationships are valid. Hence, a scheme using statistical hypothesis testing is designed to detect changes in these relationships as a result of fault occurrence. The FDI scheme's performance and robustness are assessed with flights conducted under various external flight conditions (turbulence)
{"title":"Fault Detection and Isolation in Aircraft Systems Using Stochastic Nonlinear Modelling of Flight Data Dependencies","authors":"D. Dimogianopoulos, J. D. Hios, S. Fassois","doi":"10.1109/MED.2006.328695","DOIUrl":"https://doi.org/10.1109/MED.2006.328695","url":null,"abstract":"This paper introduces a fault detection and isolation (FDI) scheme for aircraft systems based on the modelling of the relationships among flight variables. The modelling is performed by means of pooled nonlinear autoregressive with exogenous (NARX) excitation representations. During the system's operation in healthy mode, these relationships are valid. Hence, a scheme using statistical hypothesis testing is designed to detect changes in these relationships as a result of fault occurrence. The FDI scheme's performance and robustness are assessed with flights conducted under various external flight conditions (turbulence)","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":"88 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":"127370005","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}
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