The principle of operation of the switched reluctance motor (SRM) drive demands that the motor and converter be treated as one unit. The control of the SRM is very important and difficult. The motor's double salient structure makes its magnetic characteristics highly nonlinear. The motor flux linkage appears to be a nonlinear function of stator currents as well as rotor position. This paper deals with control parameters and converter topology of switched reluctance motor, where an equivalent circuit model is used. Its converter topology and its control are discussed in detail. Control parameters and its converter topology are obtained by using linear model and dynamics of the switched reluctance motor. Simulation studies are performed for phase currents and the steady-state motor operation
{"title":"Control of Switched Reluctance Motor Containing a Linear Model","authors":"M. Ayaz, A. Yıldız","doi":"10.1109/MED.2006.328699","DOIUrl":"https://doi.org/10.1109/MED.2006.328699","url":null,"abstract":"The principle of operation of the switched reluctance motor (SRM) drive demands that the motor and converter be treated as one unit. The control of the SRM is very important and difficult. The motor's double salient structure makes its magnetic characteristics highly nonlinear. The motor flux linkage appears to be a nonlinear function of stator currents as well as rotor position. This paper deals with control parameters and converter topology of switched reluctance motor, where an equivalent circuit model is used. Its converter topology and its control are discussed in detail. Control parameters and its converter topology are obtained by using linear model and dynamics of the switched reluctance motor. Simulation studies are performed for phase currents and the steady-state motor operation","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":"124016970","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 presents a modification of a predictive adaptive controller that renders it robust with respect to the occurrence of outliers in the plant measured output. Outliers are large deviations of the signal being measured that are not explained by a Gaussian distribution. Making a Gaussian assumption on the statistics of the observation noise results in the use of a quadratic loss for designing either estimators or controllers. In turn of a quadratic loss yields major amplification of large signal deviations causing poor parameter estimates and, consequently, controller gain detuning and loss of performance. The algorithm presented to solve this problem relies on a modification of the cost being minimized, such as to render it more insensitive to large prediction error values. Simulations on the position control in a ball and beam plant are presented to illustrate the advantages of the controller proposed
{"title":"Adaptive Control in the Presence of Outliers","authors":"J. M. Lemos","doi":"10.1109/MED.2006.328762","DOIUrl":"https://doi.org/10.1109/MED.2006.328762","url":null,"abstract":"This paper presents a modification of a predictive adaptive controller that renders it robust with respect to the occurrence of outliers in the plant measured output. Outliers are large deviations of the signal being measured that are not explained by a Gaussian distribution. Making a Gaussian assumption on the statistics of the observation noise results in the use of a quadratic loss for designing either estimators or controllers. In turn of a quadratic loss yields major amplification of large signal deviations causing poor parameter estimates and, consequently, controller gain detuning and loss of performance. The algorithm presented to solve this problem relies on a modification of the cost being minimized, such as to render it more insensitive to large prediction error values. Simulations on the position control in a ball and beam plant are presented to illustrate the advantages of the controller proposed","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":"115652877","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 presents the application and the comparison of bilateral teleoperation laws applied on a device made of two industrial systems equipped with force sensors. Theoretical study of these kinesthetic couplings were carried on and experimental results are presented showing forces interactions during movements. A poor connection is found between the accuracy of the force sensor and the quality of the haptic feedback
{"title":"Theoretical and experimental overview of bilateral teleoperation control laws","authors":"N. Marcassus, A. Chriette, M. Gautier","doi":"10.1109/MED.2006.328766","DOIUrl":"https://doi.org/10.1109/MED.2006.328766","url":null,"abstract":"This paper presents the application and the comparison of bilateral teleoperation laws applied on a device made of two industrial systems equipped with force sensors. Theoretical study of these kinesthetic couplings were carried on and experimental results are presented showing forces interactions during movements. A poor connection is found between the accuracy of the force sensor and the quality of the haptic feedback","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":"132630149","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}
Necessary and sufficient conditions are established for the positivity of bilinear discrete-time systems with delays. The controllability to zero of the bilinear positive systems with delays is addressed. Necessary and sufficient conditions for the controllability to zero of positive bilinear systems with delays are formulated and proved. The considerations are illustrated by examples
{"title":"Controllability to Zero of Positive Bilinear Discrete-Time Systems with Delays","authors":"Tadeusz Kaczorek","doi":"10.1109/MED.2006.328719","DOIUrl":"https://doi.org/10.1109/MED.2006.328719","url":null,"abstract":"Necessary and sufficient conditions are established for the positivity of bilinear discrete-time systems with delays. The controllability to zero of the bilinear positive systems with delays is addressed. Necessary and sufficient conditions for the controllability to zero of positive bilinear systems with delays are formulated and proved. The considerations are illustrated by examples","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":"123796738","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}
An overview of the prototypes of autonomous surface craft (ASC) developed in the last years is presented in this paper, together with a discussion of main research issues, design trends and technological developments
本文概述了近年来自主水面艇(ASC)的原型，并讨论了主要研究问题、设计趋势和技术发展
{"title":"Autonomous Surface Craft: prototypes and basic research issues","authors":"M. Caccia","doi":"10.1109/MED.2006.328786","DOIUrl":"https://doi.org/10.1109/MED.2006.328786","url":null,"abstract":"An overview of the prototypes of autonomous surface craft (ASC) developed in the last years is presented in this paper, together with a discussion of main research issues, design trends and technological developments","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":"121666513","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}
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}
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}
Robust fault detection problem for discrete-time LTI systems is considered. Allowing stochastic white noises and bounded unknown deterministic disturbances to model system uncertainties, it is shown that this problem can be cast as a mixed norm H2/Halpha residual generation problem. An example is presented to illustrate the application of the results.
{"title":"Robust Fault Detection in a Mixed Η2/Ηα Setting: The Discrete - Time Case","authors":"M. Khosrowjerdi, N. Safari-Shad, R. Nikoukhah","doi":"10.1109/MED.2006.328743","DOIUrl":"https://doi.org/10.1109/MED.2006.328743","url":null,"abstract":"Robust fault detection problem for discrete-time LTI systems is considered. Allowing stochastic white noises and bounded unknown deterministic disturbances to model system uncertainties, it is shown that this problem can be cast as a mixed norm H2/Halpha residual generation problem. An example is presented to illustrate the application of the results.","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":"124044350","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. Cai, Ben M. Chen, K. Peng, Miaobo Dong, Tong-heng Lee
We present in this paper a linearized hovering model of a UAV helicopter obtained using the in-flight data generated through a perturbation method. The UAV helicopter is constructed from a radio-controlled helicopter by integrating an onboard system, which includes a data processing unit, a data acquisition system, a wireless communications and all necessary sensors. A flight control law is then designed using a newly developed nonlinear control technique, i.e. the composite nonlinear feedback control. Actual flight testing shows that the design is successful
{"title":"Modeling and Control System Design for a UAV Helicopter","authors":"G. Cai, Ben M. Chen, K. Peng, Miaobo Dong, Tong-heng Lee","doi":"10.1109/MED.2006.328860","DOIUrl":"https://doi.org/10.1109/MED.2006.328860","url":null,"abstract":"We present in this paper a linearized hovering model of a UAV helicopter obtained using the in-flight data generated through a perturbation method. The UAV helicopter is constructed from a radio-controlled helicopter by integrating an onboard system, which includes a data processing unit, a data acquisition system, a wireless communications and all necessary sensors. A flight control law is then designed using a newly developed nonlinear control technique, i.e. the composite nonlinear feedback control. Actual flight testing shows that the design is successful","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":"124422606","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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