M. Tzamtzi, F. Koumboulis, N. Kouvakas, G. E. Panagiotakis
A simulated annealing controller for sloshing suppression during the transfer of a liquid using a vehicle with active and passive vibration absorption is proposed. The proposed design technique aims to suppress sloshing induced by vehicle vibrations due to force disturbances applied on the liquid carrying vehicle due to road surface unevenness, while dealing with practical problems like the lack of measurements of the liquid's motion within the tank. Active vibration absorption is achieved with the use of a couple of Delayed Resonators. Despite the high complexity of the system's model, the proposed technique results in an easy to implement linear static measurement output feedback controller with satisfactory performance with respect to sloshing suppression
{"title":"A Simulated Annealing Controller for Sloshing Suppression in Liquid Transfer with Delayed Resonators","authors":"M. Tzamtzi, F. Koumboulis, N. Kouvakas, G. E. Panagiotakis","doi":"10.1109/MED.2006.328779","DOIUrl":"https://doi.org/10.1109/MED.2006.328779","url":null,"abstract":"A simulated annealing controller for sloshing suppression during the transfer of a liquid using a vehicle with active and passive vibration absorption is proposed. The proposed design technique aims to suppress sloshing induced by vehicle vibrations due to force disturbances applied on the liquid carrying vehicle due to road surface unevenness, while dealing with practical problems like the lack of measurements of the liquid's motion within the tank. Active vibration absorption is achieved with the use of a couple of Delayed Resonators. Despite the high complexity of the system's model, the proposed technique results in an easy to implement linear static measurement output feedback controller with satisfactory performance with respect to sloshing suppression","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":"116429129","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 present a yaw stabilization scheme for an automotive vehicle, that has been implemented in a realistic nonlinear multibody vehicle simulation environment. The stabilization strategy is based on two modules independent in design, a high level module that deals with the motion control objective and a low level module that deals with the actuator control allocation. The high level module consists of yaw-rate reference generator and high level controller that provides the low level control allocation module with a desired torque about the yaw axis. The task of the low level module is to command the individual brakes, the longitudinal clamping force, such that the actual torque about the yaw axis tends to the desired torque. These commands are generated by a dynamic control allocation algorithm that also takes actuator constraints and uncertainty in the tyre-road friction model into consideration. Simulation cases where the tyre-road friction parameter was considered both known and unknown, show that the control scheme stabilizes the vehicle in extreme manoeuvres where the nonlinear vehicle yaw dynamics otherwise becomes unstable in the sense of over-or under-steering
{"title":"Adaptive Optimizing Dynamic Control Allocation Algorithm for Yaw Stabilization of an Automotive Vehicle using Brakes","authors":"J. Tjoennas, T. Johansen","doi":"10.1109/MED.2006.328748","DOIUrl":"https://doi.org/10.1109/MED.2006.328748","url":null,"abstract":"In this paper we present a yaw stabilization scheme for an automotive vehicle, that has been implemented in a realistic nonlinear multibody vehicle simulation environment. The stabilization strategy is based on two modules independent in design, a high level module that deals with the motion control objective and a low level module that deals with the actuator control allocation. The high level module consists of yaw-rate reference generator and high level controller that provides the low level control allocation module with a desired torque about the yaw axis. The task of the low level module is to command the individual brakes, the longitudinal clamping force, such that the actual torque about the yaw axis tends to the desired torque. These commands are generated by a dynamic control allocation algorithm that also takes actuator constraints and uncertainty in the tyre-road friction model into consideration. Simulation cases where the tyre-road friction parameter was considered both known and unknown, show that the control scheme stabilizes the vehicle in extreme manoeuvres where the nonlinear vehicle yaw dynamics otherwise becomes unstable in the sense of over-or under-steering","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":"134379468","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 aim is to fill water storage with potable water of a given quality, for subsequent treatment and distribution to a water conveying system. During a given period, a set of several pumping stations is working to deliver water from different sources at different locations. A multi-stage control process is considered whereby the total pumping time is divided into short sampling intervals. The intensity of pumping as a function of time is the control variable. It is assumed that there exists a reliable forecast of every pollutant as a function of time and water source. The amount of the pollutants is constrained in the final mass of water in the storage. The mass of water at the end of the operation period should be maximized
{"title":"Optimal monitoring and management of a water storage with pollution constraints","authors":"I. Ioslovich, P. Gutman","doi":"10.1109/MED.2006.328851","DOIUrl":"https://doi.org/10.1109/MED.2006.328851","url":null,"abstract":"The aim is to fill water storage with potable water of a given quality, for subsequent treatment and distribution to a water conveying system. During a given period, a set of several pumping stations is working to deliver water from different sources at different locations. A multi-stage control process is considered whereby the total pumping time is divided into short sampling intervals. The intensity of pumping as a function of time is the control variable. It is assumed that there exists a reliable forecast of every pollutant as a function of time and water source. The amount of the pollutants is constrained in the final mass of water in the storage. The mass of water at the end of the operation period should be maximized","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":"132572559","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}
Improved implemented algorithms for solving algebraic Riccati equations using Newton's method with line search are discussed. The numerical results illustrate the advantages of using such algorithms.
讨论了用直线搜索牛顿法求解代数里卡第方程的改进实现算法。数值结果说明了这种算法的优越性。
{"title":"A SLICOT Implementation of a Modified Newton's Method for Algebraic Riccati Equations","authors":"V. Sima, Peter Benner","doi":"10.1109/MED.2006.328740","DOIUrl":"https://doi.org/10.1109/MED.2006.328740","url":null,"abstract":"Improved implemented algorithms for solving algebraic Riccati equations using Newton's method with line search are discussed. The numerical results illustrate the advantages of using such algorithms.","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":"128269067","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}
At steady state autonomous underwater vehicles need to compensate for two dynamic effects, the ocean current and the restoring forces; the appropriateness of the adaptive/integral action designed with respect to those persistent effects has been discussed in the literature with respect to 6-degrees-of-freedom controllers. In this paper an adaptive controller, originally designed for full vehicle motion, is properly tailored so that it may be conveniently used for remotely operated vehicles commanded in surge, sway and yaw motion. Numerical simulations confirm the efficiency of the proposed controller
{"title":"An Adaptive Law for Guidance and Control of Remotely Operated Vehicles","authors":"G. Antonelli","doi":"10.1109/MED.2006.328731","DOIUrl":"https://doi.org/10.1109/MED.2006.328731","url":null,"abstract":"At steady state autonomous underwater vehicles need to compensate for two dynamic effects, the ocean current and the restoring forces; the appropriateness of the adaptive/integral action designed with respect to those persistent effects has been discussed in the literature with respect to 6-degrees-of-freedom controllers. In this paper an adaptive controller, originally designed for full vehicle motion, is properly tailored so that it may be conveniently used for remotely operated vehicles commanded in surge, sway and yaw motion. Numerical simulations confirm the efficiency of the proposed controller","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":"134516881","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}
G. Campa, Mohan Krishnamurty, M. Gautam, M. Napolitano, M. Perhinschi
This paper presents the design of a complete sensor fault detection, isolation and accommodation (SFDIA) scheme for heavy-duty diesel engines without physical redundancy in the sensors capabilities. The analytical redundancy in the available measurements is exploited by two different banks of neural approximators that are used for the identification of the nonlinear input/output relationships of the engine system. The first set of approximators is used to evaluate the residual signals needed for fault isolation. The second set is used - following the failure detection and isolation - to provide a replacement for the signal coming from the faulty sensor. The SFDIA scheme is explained with details, and its performance is evaluated through a set of simulations in which failures are injected on measured signals. The experimental data from this study have been acquired using a test vehicle appositely instrumented to measure several engine parameters. The measurements were performed on a specific set of routes, which included a combination of highway and city driving patterns
{"title":"A Neural Network Based Sensor Validation Scheme for Heavy-Duty Diesel Engines","authors":"G. Campa, Mohan Krishnamurty, M. Gautam, M. Napolitano, M. Perhinschi","doi":"10.1109/MED.2006.328823","DOIUrl":"https://doi.org/10.1109/MED.2006.328823","url":null,"abstract":"This paper presents the design of a complete sensor fault detection, isolation and accommodation (SFDIA) scheme for heavy-duty diesel engines without physical redundancy in the sensors capabilities. The analytical redundancy in the available measurements is exploited by two different banks of neural approximators that are used for the identification of the nonlinear input/output relationships of the engine system. The first set of approximators is used to evaluate the residual signals needed for fault isolation. The second set is used - following the failure detection and isolation - to provide a replacement for the signal coming from the faulty sensor. The SFDIA scheme is explained with details, and its performance is evaluated through a set of simulations in which failures are injected on measured signals. The experimental data from this study have been acquired using a test vehicle appositely instrumented to measure several engine parameters. The measurements were performed on a specific set of routes, which included a combination of highway and city driving patterns","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":"126993823","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}
J. Burken, Peggy S. Williams-Hayes, J. Kaneshige, Susan J. Stachowiak
Description of the performance of a simplified dynamic inversion controller with neural network augmentation follows. Simulation studies focus on the results with and without neural network adaptation through the use of an F-15 aircraft simulator that has been modified to include canards. Simulated control law performance with a surface failure, in addition to an aerodynamic failure, is presented. The aircraft, with adaptation, attempts to minimize the inertial cross-coupling effect of the failure (a control derivative anomaly associated with a jammed control surface). The dynamic inversion controller calculates necessary surface commands to achieve desired rates. The dynamic inversion controller uses approximate short period and roll axis dynamics. The yaw axis controller is a sideslip rate command system. Methods are described to reduce the cross-coupling effect and maintain adequate tracking errors for control surface failures. The aerodynamic failure destabilizes the pitching moment due to angle of attack. The results show that control of the aircraft with the neural networks is easier (more damped) than without the neural networks. Simulation results show neural network augmentation of the controller improves performance with aerodynamic and control surface failures in terms of tracking error and cross-coupling reduction
{"title":"Adaptive Control Using Neural Network Augmentation for a Modified F-15 Aircraft","authors":"J. Burken, Peggy S. Williams-Hayes, J. Kaneshige, Susan J. Stachowiak","doi":"10.1109/MED.2006.328857","DOIUrl":"https://doi.org/10.1109/MED.2006.328857","url":null,"abstract":"Description of the performance of a simplified dynamic inversion controller with neural network augmentation follows. Simulation studies focus on the results with and without neural network adaptation through the use of an F-15 aircraft simulator that has been modified to include canards. Simulated control law performance with a surface failure, in addition to an aerodynamic failure, is presented. The aircraft, with adaptation, attempts to minimize the inertial cross-coupling effect of the failure (a control derivative anomaly associated with a jammed control surface). The dynamic inversion controller calculates necessary surface commands to achieve desired rates. The dynamic inversion controller uses approximate short period and roll axis dynamics. The yaw axis controller is a sideslip rate command system. Methods are described to reduce the cross-coupling effect and maintain adequate tracking errors for control surface failures. The aerodynamic failure destabilizes the pitching moment due to angle of attack. The results show that control of the aircraft with the neural networks is easier (more damped) than without the neural networks. Simulation results show neural network augmentation of the controller improves performance with aerodynamic and control surface failures in terms of tracking error and cross-coupling reduction","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":"125857962","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}
X. Yuan, E. Caraballo, M. Debiasi, J. Little, A. Serrani, H. Ozbay, M. Samimy
In this paper, we present the latest results of our ongoing research activities in the development of reduced-order models based feedback control of subsonic cavity flows. The model was developed using the proper orthogonal decomposition of particle image velocimetry images in conjunction with the Galerkin projection of the Navier-Stokes equations onto the resulting spatial eigenfunctions. Stochastic estimation method was used to obtain the state estimation of the Galerkin system from real time surface pressure measurements. A linear-quadratic optimal controller was designed to reduce cavity flow resonance and tested in the experiments. Real-time implementation shows a significant reduction of the sound pressure level within the cavity, with a remarkable attenuation of the resonant tone and a redistribution of the energy into various modes with lower energy levels. A mathematical analysis of the performance of the LQ control, in agreement with the experimental results, is presented and discussed
{"title":"Experimental Results and Bifurcation Analysis on Scaled Feedback Control for Subsonic Cavity Flows","authors":"X. Yuan, E. Caraballo, M. Debiasi, J. Little, A. Serrani, H. Ozbay, M. Samimy","doi":"10.1109/MED.2006.328754","DOIUrl":"https://doi.org/10.1109/MED.2006.328754","url":null,"abstract":"In this paper, we present the latest results of our ongoing research activities in the development of reduced-order models based feedback control of subsonic cavity flows. The model was developed using the proper orthogonal decomposition of particle image velocimetry images in conjunction with the Galerkin projection of the Navier-Stokes equations onto the resulting spatial eigenfunctions. Stochastic estimation method was used to obtain the state estimation of the Galerkin system from real time surface pressure measurements. A linear-quadratic optimal controller was designed to reduce cavity flow resonance and tested in the experiments. Real-time implementation shows a significant reduction of the sound pressure level within the cavity, with a remarkable attenuation of the resonant tone and a redistribution of the energy into various modes with lower energy levels. A mathematical analysis of the performance of the LQ control, in agreement with the experimental results, 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":"123533613","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 present preliminary results about the development of a ducted-fan micro aerial vehicle (MAV), of reduced mechanical complexity, capable of stationary flight. Force and torque generation mechanisms are investigated and a nonlinear model for control purpose is derived. A preliminary study of the zero dynamics of the model is derived and its asymptotic properties are investigated in relation to the values of some physical parameters. Finally a simple linear optimal control is designed on the linear approximation of the model
{"title":"Modeling and analysis of a reduced-complexity ducted MAV","authors":"L. Marconi, R. Naldi, A. Sala","doi":"10.1109/MED.2006.328770","DOIUrl":"https://doi.org/10.1109/MED.2006.328770","url":null,"abstract":"In this paper we present preliminary results about the development of a ducted-fan micro aerial vehicle (MAV), of reduced mechanical complexity, capable of stationary flight. Force and torque generation mechanisms are investigated and a nonlinear model for control purpose is derived. A preliminary study of the zero dynamics of the model is derived and its asymptotic properties are investigated in relation to the values of some physical parameters. Finally a simple linear optimal control is designed on the linear approximation of the model","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":"125991283","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 proposes a comparison of different strategies of regressors selection for the design of a soft sensor for a sulfur recovery unit of a refinery. The soft sensor is designed to replace the on line analyzer during maintenance and it is designed by using nonlinear MA models implemented by a MLP neural network. A number of strategies for the automatic choice of influent input variables and regressors selection, on the basis of available experimental data, are compared with a strategy based on a trial and error approach, guided by the knowledge of the experts, both in terms of their performance and their computational complexity
{"title":"Comparing regressors selection methods for the Soft Sensor design of a Sulfur Recovery Unit","authors":"L. Fortuna, S. Graziani, M. Xibilia, G. Napoli","doi":"10.1109/MED.2006.328855","DOIUrl":"https://doi.org/10.1109/MED.2006.328855","url":null,"abstract":"The paper proposes a comparison of different strategies of regressors selection for the design of a soft sensor for a sulfur recovery unit of a refinery. The soft sensor is designed to replace the on line analyzer during maintenance and it is designed by using nonlinear MA models implemented by a MLP neural network. A number of strategies for the automatic choice of influent input variables and regressors selection, on the basis of available experimental data, are compared with a strategy based on a trial and error approach, guided by the knowledge of the experts, both in terms of their performance and their computational complexity","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":"127079554","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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