V. Cascio, S. Bernasconi, G. Sauba, J. Mendigutxia, M.A. Kung
Global energy management and saving in Europe are definitely key and clear points in the agenda of EU parliament. The European association of White Goods (appliances), so called CECED, already tackled this issue in the recent past, adopting energy labels and producing appliances with lower power consumption. Anyway, the need for energy is continuously increasing and its use is somewhat unbalanced. The TEAHA project (an FP6 1ST co-funded project) is going to make a step forward in managing appliances with different behaviours. This article details potentialities and issues identified by the TEAHA consortium, and explains how to push for standardization in that field can be achieved
{"title":"Integration of digital appliances in Demand Side Management systems","authors":"V. Cascio, S. Bernasconi, G. Sauba, J. Mendigutxia, M.A. Kung","doi":"10.1109/MED.2006.328703","DOIUrl":"https://doi.org/10.1109/MED.2006.328703","url":null,"abstract":"Global energy management and saving in Europe are definitely key and clear points in the agenda of EU parliament. The European association of White Goods (appliances), so called CECED, already tackled this issue in the recent past, adopting energy labels and producing appliances with lower power consumption. Anyway, the need for energy is continuously increasing and its use is somewhat unbalanced. The TEAHA project (an FP6 1ST co-funded project) is going to make a step forward in managing appliances with different behaviours. This article details potentialities and issues identified by the TEAHA consortium, and explains how to push for standardization in that field can be achieved","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125344921","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 describes a software architecture aimed at rapid development and testing of code for mobile robotics applications. The architecture is based on player/stage and allows to integrate in a single environment varieties of heterogeneous mobile platforms and varieties of localization and navigation algorithms. The paper describes the proposed architecture and its usage to develop some relevant applications
{"title":"SARA: a Flexible Framework for Rapid Prototyping of Mobile Robotics Applications","authors":"S. Pagnottelli, P. Valigi","doi":"10.1109/MED.2006.328840","DOIUrl":"https://doi.org/10.1109/MED.2006.328840","url":null,"abstract":"The paper describes a software architecture aimed at rapid development and testing of code for mobile robotics applications. The architecture is based on player/stage and allows to integrate in a single environment varieties of heterogeneous mobile platforms and varieties of localization and navigation algorithms. The paper describes the proposed architecture and its usage to develop some relevant applications","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122024609","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 specific control problem addressed in the paper is the design of controllers that ensure asymptotic tracking of output reference trajectories for overactuated systems. The redundancy in the input space is used to optimize the steady-state performance of the closed-loop system. Since the considered plant models are not square, the control input and state trajectories in steady state that enforce perfect tracking are not unique. The proposed methodology employs a continuous parameterization of all possible steady state input trajectories, that is used for optimizing the selection of the steady state input, while providing perfect tracking and fulfillment of constraints on the magnitude of the control input. An application to altitude and velocity tracking control for an hypersonic vehicle employing air-breathing (scramjet) propulsion is presented and discussed
{"title":"Tracking with Steady-State Optimization: an Application to Air-Breathing Hypersonic Vehicle Control","authors":"D. Sigthorsson, A. Serrani","doi":"10.1109/MED.2006.328752","DOIUrl":"https://doi.org/10.1109/MED.2006.328752","url":null,"abstract":"The specific control problem addressed in the paper is the design of controllers that ensure asymptotic tracking of output reference trajectories for overactuated systems. The redundancy in the input space is used to optimize the steady-state performance of the closed-loop system. Since the considered plant models are not square, the control input and state trajectories in steady state that enforce perfect tracking are not unique. The proposed methodology employs a continuous parameterization of all possible steady state input trajectories, that is used for optimizing the selection of the steady state input, while providing perfect tracking and fulfillment of constraints on the magnitude of the control input. An application to altitude and velocity tracking control for an hypersonic vehicle employing air-breathing (scramjet) propulsion is presented and discussed","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125827382","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}
Hamid Mahboubi, J. Habibi, B. Moshiri, Ali Khaki-Sedigh
Recently, a great amount of interest has been shown in the field of modeling and control of hybrid systems. One of the efficient methods in this area utilizes the mixed logical-dynamical (MLD) systems in the modeling. In this method, the system constraints are transformed into mixed-integer inequalities by defining some logic statements. In this paper, a system containing three tanks is modeled as a nonlinear switched system using the MLD framework. Regarding this three-tank modeling, an n-tank system is modeled and number of binary and continuous auxiliary variables and also number of mixed-integer inequalities are obtained in terms of n. Then, the system size and complexity due to increase in number of tanks are considered. It is concluded that as the number of tanks increases, the system size and complexity increase exponentially which hampers control of the system. Therefore, methods should be found which result in fewer variables
{"title":"Complexity and Size Analysis of Hybrid System Modeling with Mixed Logical Dynamical Approach","authors":"Hamid Mahboubi, J. Habibi, B. Moshiri, Ali Khaki-Sedigh","doi":"10.1109/MED.2006.328826","DOIUrl":"https://doi.org/10.1109/MED.2006.328826","url":null,"abstract":"Recently, a great amount of interest has been shown in the field of modeling and control of hybrid systems. One of the efficient methods in this area utilizes the mixed logical-dynamical (MLD) systems in the modeling. In this method, the system constraints are transformed into mixed-integer inequalities by defining some logic statements. In this paper, a system containing three tanks is modeled as a nonlinear switched system using the MLD framework. Regarding this three-tank modeling, an n-tank system is modeled and number of binary and continuous auxiliary variables and also number of mixed-integer inequalities are obtained in terms of n. Then, the system size and complexity due to increase in number of tanks are considered. It is concluded that as the number of tanks increases, the system size and complexity increase exponentially which hampers control of the system. Therefore, methods should be found which result in fewer variables","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122443396","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 methodology of auxiliary signal design for robust failure detection based on multi-model formulation of normal and failed systems is used to study the problem of incipient fault detection. Here, the fault is modeled as a drift in a system parameter, and an auxiliary signal is to be designed to enhance the detection of variations in this parameter. It is shown that it is possible to consider the model of the system with a drifted parameter as a second model and use the multi-model framework for designing the auxiliary signal by considering the limiting case as the parameter variation goes to zero. The result can be applied very effectively to early detection problems where small parameter variations should be detected
{"title":"Robust detection of incipient faults: an active approach","authors":"R. Nikoukhah, S. Campbell","doi":"10.1109/MED.2006.328694","DOIUrl":"https://doi.org/10.1109/MED.2006.328694","url":null,"abstract":"The methodology of auxiliary signal design for robust failure detection based on multi-model formulation of normal and failed systems is used to study the problem of incipient fault detection. Here, the fault is modeled as a drift in a system parameter, and an auxiliary signal is to be designed to enhance the detection of variations in this parameter. It is shown that it is possible to consider the model of the system with a drifted parameter as a second model and use the multi-model framework for designing the auxiliary signal by considering the limiting case as the parameter variation goes to zero. The result can be applied very effectively to early detection problems where small parameter variations should be detected","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122584632","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}
Web handling systems are complex systems requiring more and more effective control laws to deal with very high speed. Some interesting results have been recently obtained with H2 or Hinfin multivariable control strategies. However such solutions have the drawback to lead to centralized controller difficult to implement on large-scale systems. The use of structured controller is therefore necessary. Considering a 3 motors Web handling system, a suboptimal H 2 controller, internally structured is proposed. Neither centralized nor decentralized, it is based on a state feedback with overlapping two-by-two cooperative local observers. It is shown that such structured controller offers enough degrees of freedom to be as efficient as the centralized controller. The synthesis is made by solving two structured static controller design problems using a dilated LMI algorithm
{"title":"A cooperative local observers - based control for web handling systems: a dilated LMI solution","authors":"F. Claveau, P. Chevrel, M. Yagoubi","doi":"10.1109/MED.2006.328780","DOIUrl":"https://doi.org/10.1109/MED.2006.328780","url":null,"abstract":"Web handling systems are complex systems requiring more and more effective control laws to deal with very high speed. Some interesting results have been recently obtained with H2 or Hinfin multivariable control strategies. However such solutions have the drawback to lead to centralized controller difficult to implement on large-scale systems. The use of structured controller is therefore necessary. Considering a 3 motors Web handling system, a suboptimal H 2 controller, internally structured is proposed. Neither centralized nor decentralized, it is based on a state feedback with overlapping two-by-two cooperative local observers. It is shown that such structured controller offers enough degrees of freedom to be as efficient as the centralized controller. The synthesis is made by solving two structured static controller design problems using a dilated LMI algorithm","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126342844","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 the effects of unaccounted structural dynamics within the control scheme of a micro-Actuator (mu-A) are presented. The mu-A is composed of a micro-capacitor, whose one plate is clamped while its other flexible's plate motion is constrained by hinges acting as a combination of springs and dashpots. The dynamic model of the mu-A allows both linear and angular movements of the plate. Rather than designing a controller for the augmented system, a simplified robust PID control law for the reduced model is employed. The reduced non linear model (RnM) assumes only linear motion for the mu-capacitor's plate. The RnM is linearized at multiple operating points, and the designed PID-controller, tuned via LMI-theory, stabilizes all linear modes. The overall scheme comprises: a) a feedforward controller which stabilizes the micro-actuator around its nominal operating points, and b) a robust PID controller which handles deviations from the operating points. The resulting overall control scheme is applied to the non linear (bimodal structure) of a mu-A, where simulation results are used to investigate the efficacy of the suggested control architecture
{"title":"Robust PID Control for a Micro-Actuator with Structural Uncertainty","authors":"M. Vagia, Y. Koveos, G. Nikolakopoulos, A. Tzes","doi":"10.1109/MED.2006.328778","DOIUrl":"https://doi.org/10.1109/MED.2006.328778","url":null,"abstract":"In this article the effects of unaccounted structural dynamics within the control scheme of a micro-Actuator (mu-A) are presented. The mu-A is composed of a micro-capacitor, whose one plate is clamped while its other flexible's plate motion is constrained by hinges acting as a combination of springs and dashpots. The dynamic model of the mu-A allows both linear and angular movements of the plate. Rather than designing a controller for the augmented system, a simplified robust PID control law for the reduced model is employed. The reduced non linear model (RnM) assumes only linear motion for the mu-capacitor's plate. The RnM is linearized at multiple operating points, and the designed PID-controller, tuned via LMI-theory, stabilizes all linear modes. The overall scheme comprises: a) a feedforward controller which stabilizes the micro-actuator around its nominal operating points, and b) a robust PID controller which handles deviations from the operating points. The resulting overall control scheme is applied to the non linear (bimodal structure) of a mu-A, where simulation results are used to investigate the efficacy of the suggested control architecture","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131846425","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}
C. Lupu, D. Popescu, Bogdan Ciubotaru, C. Petrescu, G. Florea
Systems with multiple models or multi-controller structure represent one of the successful solutions for the real-time control of the nonlinear or multi-regime processes. The use of these structures imposes solving some specific problems, like best algorithm selection or control algorithm switching. The paper proposes a method for switching the algorithms of the multiple-models structure, based on the principles of manual to automatic bumpless transfer. The applicability of the method is proved using a real-time structure with an RST control algorithm. In the end, its software implementation is also shown
{"title":"Switching Solution for Multiple-Models Control Systems","authors":"C. Lupu, D. Popescu, Bogdan Ciubotaru, C. Petrescu, G. Florea","doi":"10.1109/MED.2006.328827","DOIUrl":"https://doi.org/10.1109/MED.2006.328827","url":null,"abstract":"Systems with multiple models or multi-controller structure represent one of the successful solutions for the real-time control of the nonlinear or multi-regime processes. The use of these structures imposes solving some specific problems, like best algorithm selection or control algorithm switching. The paper proposes a method for switching the algorithms of the multiple-models structure, based on the principles of manual to automatic bumpless transfer. The applicability of the method is proved using a real-time structure with an RST control algorithm. In the end, its software implementation is also shown","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124646627","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 paper we apply the concept of intermittent feedback to a class of networked control systems known as model-based networked control systems (MB-NCS). MB-NCS use an explicit model of the plant in order to reduce the network traffic while attempting to prevent performance degradation. In the previous body of work regarding MB-NCS, updates of the plant were given instantaneously; however, in this paper we consider the case where the loop remains closed for a finite length fixed interval before the control system returns to open-loop. We provide a full description of the output, as well as a necessary and sufficient condition for stability of the system. We also provide examples in order to illustrate the behavior indicated by the theory, and we show the advantages of the approach. Finally, we conclude the paper with discussions on possible future extensions
{"title":"Model-Based Control with Intermittent Feedback","authors":"T. Estrada, Hai Lin, P. Antsaklis","doi":"10.1109/MED.2006.328761","DOIUrl":"https://doi.org/10.1109/MED.2006.328761","url":null,"abstract":"In this paper we apply the concept of intermittent feedback to a class of networked control systems known as model-based networked control systems (MB-NCS). MB-NCS use an explicit model of the plant in order to reduce the network traffic while attempting to prevent performance degradation. In the previous body of work regarding MB-NCS, updates of the plant were given instantaneously; however, in this paper we consider the case where the loop remains closed for a finite length fixed interval before the control system returns to open-loop. We provide a full description of the output, as well as a necessary and sufficient condition for stability of the system. We also provide examples in order to illustrate the behavior indicated by the theory, and we show the advantages of the approach. Finally, we conclude the paper with discussions on possible future extensions","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121080204","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 deals with exact linearization - a well-known method for nonlinear control design - from a control education point of view. It presents a couple of interactive tools based on Matlab, Simulink and Matlab Web server that serve as easy-to-use control law calculators. Their main purpose is to remove the mathematical burden involved in exact linearization from students' shoulders and make the method easier to understand and to use. According to our belief, this approach - i.e. let computers do the calculations and let students do the reasoning - can be useful also in other cases where mathematics overshadow the contents and the benefits of a particular control design technique
{"title":"Web-based Tools for Exact Linearization Control Design","authors":"M. Ondera, M. Huba","doi":"10.1109/MED.2006.328730","DOIUrl":"https://doi.org/10.1109/MED.2006.328730","url":null,"abstract":"This paper deals with exact linearization - a well-known method for nonlinear control design - from a control education point of view. It presents a couple of interactive tools based on Matlab, Simulink and Matlab Web server that serve as easy-to-use control law calculators. Their main purpose is to remove the mathematical burden involved in exact linearization from students' shoulders and make the method easier to understand and to use. According to our belief, this approach - i.e. let computers do the calculations and let students do the reasoning - can be useful also in other cases where mathematics overshadow the contents and the benefits of a particular control design technique","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116513393","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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