Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751806
Mert Can Kurucu, E. Yumuk, M. Güzelkaya, I. Eksin
In this study, an online-tuning method for derivative order term of Fractional PD and Filtered Fractional PI controllers is presented. For this purpose, closed-loop step response is divided to certain regions and a different tuning strategy is proposed for each region. These tuning strategies basically depend on the error between the system output and reference input. The strategy formulas are formed as linear equations arranged in terms of system error and system time constant. Simulations are performed to show the effectiveness of the proposed on-line tuning method on various systems.
{"title":"Online Tuning of Derivative Order Term in Fractional Controllers","authors":"Mert Can Kurucu, E. Yumuk, M. Güzelkaya, I. Eksin","doi":"10.1109/CEIT.2018.8751806","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751806","url":null,"abstract":"In this study, an online-tuning method for derivative order term of Fractional PD and Filtered Fractional PI controllers is presented. For this purpose, closed-loop step response is divided to certain regions and a different tuning strategy is proposed for each region. These tuning strategies basically depend on the error between the system output and reference input. The strategy formulas are formed as linear equations arranged in terms of system error and system time constant. Simulations are performed to show the effectiveness of the proposed on-line tuning method on various systems.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115846562","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}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751819
Billie Pratama, A. Muis, Aries Subiantoro, M. Djemai, R. Ben Atitallah
The aim of this paper is to build a trajectory tracking system considering the attitude of the quadrotor. Nowadays, quadcopter is often used for taking landscape pictures. The roll pitch Euler angle of the quadcopter greatly affects the resulting pictures so that it needs to be controlled. As a limitation, the roll pitch Euler angle based on inertial reference frame is not allowed to be more than fifteen degrees. Two main factors that affect the Euler angle of quadcopter are velocity and acceleration. Therefore, the velocity and acceleration of the UAV is maintained. A linear regression method is used to determine the velocity and acceleration reference that affect the resulting Euler angle. PID (Proportional, Integral, Derivative) controller is used as the controller method for the tracking control system. Finally, the trajectory tracking and attitude control is evaluated through simulation with ROS and Gazebo.
{"title":"Quadcopter Trajectory Tracking and Attitude Control Based on Euler Angle Limitation","authors":"Billie Pratama, A. Muis, Aries Subiantoro, M. Djemai, R. Ben Atitallah","doi":"10.1109/CEIT.2018.8751819","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751819","url":null,"abstract":"The aim of this paper is to build a trajectory tracking system considering the attitude of the quadrotor. Nowadays, quadcopter is often used for taking landscape pictures. The roll pitch Euler angle of the quadcopter greatly affects the resulting pictures so that it needs to be controlled. As a limitation, the roll pitch Euler angle based on inertial reference frame is not allowed to be more than fifteen degrees. Two main factors that affect the Euler angle of quadcopter are velocity and acceleration. Therefore, the velocity and acceleration of the UAV is maintained. A linear regression method is used to determine the velocity and acceleration reference that affect the resulting Euler angle. PID (Proportional, Integral, Derivative) controller is used as the controller method for the tracking control system. Finally, the trajectory tracking and attitude control is evaluated through simulation with ROS and Gazebo.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124897651","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}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751935
Özlem Örnek, Seval Vatan, S. Sarioglu, A. Yazıcı
Autonomous robots are critical components of factories of futures. In this era, autonomous transfer vehicles are expected to play important role for flexible manufacturing. But the system should detect abnormal events itself. In this study, anomaly detection approach is proposed for autonomous transfer vehicles in the smart factories. Decision trees are used to detect stopping and slow down anomalies in internal transportation of the factories. The proposed approach is tested in simulation environment.
{"title":"Anomaly Detection for Autonomous Transfer Vehicles in Smart Factories","authors":"Özlem Örnek, Seval Vatan, S. Sarioglu, A. Yazıcı","doi":"10.1109/CEIT.2018.8751935","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751935","url":null,"abstract":"Autonomous robots are critical components of factories of futures. In this era, autonomous transfer vehicles are expected to play important role for flexible manufacturing. But the system should detect abnormal events itself. In this study, anomaly detection approach is proposed for autonomous transfer vehicles in the smart factories. Decision trees are used to detect stopping and slow down anomalies in internal transportation of the factories. The proposed approach is tested in simulation environment.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134434818","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}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751932
H. Benariba, A. Boumédiène
This paper presents the model and the lateral control of an electric vehicle. A three degree-of-freedom yaw plane model is introduced to describe the lateral motion system. Two cases studies are discussed to synthetize the lateral dynamic controller. First case uses a steering wheel angle as an input and a lateral acceleration as the output. However, the second case uses a differential torque to control the yaw rate output. Simulation results illustrate the effective solution for better autonomous or assisted lateral control.
{"title":"Lateral Sliding Mode Control of an Electric Vehicle","authors":"H. Benariba, A. Boumédiène","doi":"10.1109/CEIT.2018.8751932","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751932","url":null,"abstract":"This paper presents the model and the lateral control of an electric vehicle. A three degree-of-freedom yaw plane model is introduced to describe the lateral motion system. Two cases studies are discussed to synthetize the lateral dynamic controller. First case uses a steering wheel angle as an input and a lateral acceleration as the output. However, the second case uses a differential torque to control the yaw rate output. Simulation results illustrate the effective solution for better autonomous or assisted lateral control.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133853294","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}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751803
Nail Akçura, L. Çetin, Aytaç Kahveci, A. Alasli, Fatih Cemal Can, Özgür Tamer
A guided microrobot position control methodology is introduced in this paper. Using an electromagnetic actuator (EMA) as an end-effector of a robot manipulator, it is possible to have microrobot follow a correlated path with robot manipulator motion in case when there is no task space feedback from microrobot environment. For this purpose, a concept EMA system with an actuation principle depending on the magnetic field homogeneity and gradient generated by two coaxially aligned electromagnets is introduced. The functionality of developed system is experimentally analyzed for translational and rotational motion tracking cases. It is observed that the correlation between the robot manipulator motion and microrobot motion is nearly 1 in x and y direction.
{"title":"Guided Motion Control Methodology for Microrobots","authors":"Nail Akçura, L. Çetin, Aytaç Kahveci, A. Alasli, Fatih Cemal Can, Özgür Tamer","doi":"10.1109/CEIT.2018.8751803","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751803","url":null,"abstract":"A guided microrobot position control methodology is introduced in this paper. Using an electromagnetic actuator (EMA) as an end-effector of a robot manipulator, it is possible to have microrobot follow a correlated path with robot manipulator motion in case when there is no task space feedback from microrobot environment. For this purpose, a concept EMA system with an actuation principle depending on the magnetic field homogeneity and gradient generated by two coaxially aligned electromagnets is introduced. The functionality of developed system is experimentally analyzed for translational and rotational motion tracking cases. It is observed that the correlation between the robot manipulator motion and microrobot motion is nearly 1 in x and y direction.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133972353","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}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751807
H. Denoun, Mohamed Lamine Hamida, A. Fekik, Dyhia Kais, M. Ghanes
A two-cell power chopper system will be studied in this paper. The topology of this chopper is based on a combination of two cell switching interconnected via a flying capacitor. The system is a particular hybrid dynamical one which induces new and difficult control problems. In this paper, such problem is tackled by a new control concept based on Petri Nets modeling. The main advantage of this control is to use a discrete event algorithm for both current tracking and capacitor voltage balancing with the ability to drive directly the chopper switching components, by respecting the tolerance errors of load current and capacitor voltage. Simulation and experiment tests are carried out to verify the feasibility and effectiveness of the proposed control. The obtained results show that; the proposed controller presents good performances, in terms of both current tracking and voltage balancing compared to conventional existing controls according to the variation of the tolerance errors.
{"title":"Petri Nets Modeling for Two-Cell Chopper Control Using DSPACE 1104","authors":"H. Denoun, Mohamed Lamine Hamida, A. Fekik, Dyhia Kais, M. Ghanes","doi":"10.1109/CEIT.2018.8751807","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751807","url":null,"abstract":"A two-cell power chopper system will be studied in this paper. The topology of this chopper is based on a combination of two cell switching interconnected via a flying capacitor. The system is a particular hybrid dynamical one which induces new and difficult control problems. In this paper, such problem is tackled by a new control concept based on Petri Nets modeling. The main advantage of this control is to use a discrete event algorithm for both current tracking and capacitor voltage balancing with the ability to drive directly the chopper switching components, by respecting the tolerance errors of load current and capacitor voltage. Simulation and experiment tests are carried out to verify the feasibility and effectiveness of the proposed control. The obtained results show that; the proposed controller presents good performances, in terms of both current tracking and voltage balancing compared to conventional existing controls according to the variation of the tolerance errors.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133638175","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}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751919
Muhammed Ali Nur Oz, Bilal Erol, L. Ucun
Disturbance attenuation problem is considered as an important topic in control literature. This paper deals with the design of HOSIDF (Higher Order Sinusoidal Input Describing Functions) based Chebyshev structured compensator in order to increase the disturbance attenuation performance of the system involving actuator saturation. This study consists of the proposed compensator design in addition to ℋ∞ dynamic output feedback controller that already exists in the system. The simulation studies are carried out with an active suspension system which is known as a benchmark problem in control literature. The improvement in disturbance attenuation performance of the closed loop system involving HOSIDF-based compensator is illustrated with time-domain and harmonic plots.
{"title":"HOSIDF-based Chebyshev Structured Compensator Design for Disturbance Attenuation Problem","authors":"Muhammed Ali Nur Oz, Bilal Erol, L. Ucun","doi":"10.1109/CEIT.2018.8751919","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751919","url":null,"abstract":"Disturbance attenuation problem is considered as an important topic in control literature. This paper deals with the design of HOSIDF (Higher Order Sinusoidal Input Describing Functions) based Chebyshev structured compensator in order to increase the disturbance attenuation performance of the system involving actuator saturation. This study consists of the proposed compensator design in addition to ℋ∞ dynamic output feedback controller that already exists in the system. The simulation studies are carried out with an active suspension system which is known as a benchmark problem in control literature. The improvement in disturbance attenuation performance of the closed loop system involving HOSIDF-based compensator is illustrated with time-domain and harmonic plots.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114976982","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}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751704
Şamil Baycan Yalçın, Mahir Bülent Başel, A. N. Mete
This paper presents an adaptive time delay compensator design based on PMU signals for damping inter-area oscillations. Proposed design employs an adaptive switching period selection algorithm in order to provide near real-time delay compensation. Switching period is decreased adaptively when time delay characteristics change fast. For slow changing dynamics of time delay, the algorithm picks longer switching periods in order to prevent sustained oscillations. Benchmark model of the two area power system and a designed random delay model are employed for simulations. The algorithm is shown to be successful in tracking the fast changing dynamics of a communication network through simulations.
{"title":"An Adaptive Wide-Area Damping Control Scheme Considering Networked Induced Time Delays","authors":"Şamil Baycan Yalçın, Mahir Bülent Başel, A. N. Mete","doi":"10.1109/CEIT.2018.8751704","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751704","url":null,"abstract":"This paper presents an adaptive time delay compensator design based on PMU signals for damping inter-area oscillations. Proposed design employs an adaptive switching period selection algorithm in order to provide near real-time delay compensation. Switching period is decreased adaptively when time delay characteristics change fast. For slow changing dynamics of time delay, the algorithm picks longer switching periods in order to prevent sustained oscillations. Benchmark model of the two area power system and a designed random delay model are employed for simulations. The algorithm is shown to be successful in tracking the fast changing dynamics of a communication network through simulations.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121880404","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}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751776
Murtaza Cicioğlu, A. Çalhan
Lightweight and low power sensor nodes designed for wireless body area networks (WBANs) are of great importance for being widespread e-health services. IEEE 802.15.6 standard is a new standard defined for the WBANs architecture. The purpose of this standard is to define specific standards for the physical and data link layers of various applications with different service quality requirements. In this study, the default energy consumption approach for the coordinator node of IEEE 802.15.6 standard is tackled, and as a result, a new algorithm is developed for energy consumption.In the traditional approach, the coordinator node is fixed for WBAN architecture. With the proposed algorithm the coordinator node is dynamically selected. This algorithm called dynamic HUB (or coordinator) selection (DHS) is performed with Riverbed Modeler simulation software with sample scenarios and the performance results are examined. Consequently, the coordinator node energy consumption level is reduced and the network lifetime of the architecture is extended significantly.
{"title":"Performance Evaluation of Dynamic HUB Selection Algorithm for WBAN","authors":"Murtaza Cicioğlu, A. Çalhan","doi":"10.1109/CEIT.2018.8751776","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751776","url":null,"abstract":"Lightweight and low power sensor nodes designed for wireless body area networks (WBANs) are of great importance for being widespread e-health services. IEEE 802.15.6 standard is a new standard defined for the WBANs architecture. The purpose of this standard is to define specific standards for the physical and data link layers of various applications with different service quality requirements. In this study, the default energy consumption approach for the coordinator node of IEEE 802.15.6 standard is tackled, and as a result, a new algorithm is developed for energy consumption.In the traditional approach, the coordinator node is fixed for WBAN architecture. With the proposed algorithm the coordinator node is dynamically selected. This algorithm called dynamic HUB (or coordinator) selection (DHS) is performed with Riverbed Modeler simulation software with sample scenarios and the performance results are examined. Consequently, the coordinator node energy consumption level is reduced and the network lifetime of the architecture is extended significantly.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125404050","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}
Pub Date : 2018-10-01DOI: 10.1109/CEIT.2018.8751791
Zied Ben Hazem, Mohammad Javad Fotuhi, Z. Bingül
Rotary Inverted Pendulums (RIP) are mechatronic systems that include a nonlinearity due to the frictions in the joints. RIP is the most convenient example to understand the influence of the frictions on the dynamics of the motion systems. In this paper, an adaptive friction coefficients estimation method was developed to estimate the frictions in three pendulums joints of a Rotary Triple Inverted Pendulums (RTIP) and compared with existing friction estimation models in the literature such as Non-conservative, Linear, and Non-Linear friction models. Joint accelerations were classified into three groups such as low, medium and high. The adaptive friction coefficients were optimized based on this classification of acceleration. Based on the position RMSEs obtained from each joint friction model, the adaptive friction estimation method was much better than the existing friction estimation models in the literature. Among the friction estimation models, the best results were produced by Adaptive Non-linear Friction model.
{"title":"A Comparative Study of the Friction Models with Adaptive Coefficients for a Rotary Triple Inverted Pendulum","authors":"Zied Ben Hazem, Mohammad Javad Fotuhi, Z. Bingül","doi":"10.1109/CEIT.2018.8751791","DOIUrl":"https://doi.org/10.1109/CEIT.2018.8751791","url":null,"abstract":"Rotary Inverted Pendulums (RIP) are mechatronic systems that include a nonlinearity due to the frictions in the joints. RIP is the most convenient example to understand the influence of the frictions on the dynamics of the motion systems. In this paper, an adaptive friction coefficients estimation method was developed to estimate the frictions in three pendulums joints of a Rotary Triple Inverted Pendulums (RTIP) and compared with existing friction estimation models in the literature such as Non-conservative, Linear, and Non-Linear friction models. Joint accelerations were classified into three groups such as low, medium and high. The adaptive friction coefficients were optimized based on this classification of acceleration. Based on the position RMSEs obtained from each joint friction model, the adaptive friction estimation method was much better than the existing friction estimation models in the literature. Among the friction estimation models, the best results were produced by Adaptive Non-linear Friction model.","PeriodicalId":357613,"journal":{"name":"2018 6th International Conference on Control Engineering & Information Technology (CEIT)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121384463","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：