Pub Date : 2018-08-01DOI: 10.1109/CCTA.2018.8511401
Sarnaduti Brahma, M. Almassalkhi, H. Ossareh
Quasilinear Control (QLC) is a set of methods used for analysis and design of systems with nonlinear actuators and sensors. It is based on the method of stochastic linearization, which replaces a nonlinearity by an equivalent gain and bias. Here, we leverage QLC to systematically design an optimal droop controller for primary frequency control of power systems with asymmetric generator saturation and renewable penetration. The droop parameters are found by solving an optimization problem wherein the cost function is a combination of the change in frequency and the actuator input. Simulation studies show that the combined output and control cost is improved compared to a baseline design, and that the systematic design process provides an appropriate response to any change in input or system parameters.
{"title":"A Stochastic Linearization Approach to Optimal Primary Control of Power Systems with Generator Saturation","authors":"Sarnaduti Brahma, M. Almassalkhi, H. Ossareh","doi":"10.1109/CCTA.2018.8511401","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511401","url":null,"abstract":"Quasilinear Control (QLC) is a set of methods used for analysis and design of systems with nonlinear actuators and sensors. It is based on the method of stochastic linearization, which replaces a nonlinearity by an equivalent gain and bias. Here, we leverage QLC to systematically design an optimal droop controller for primary frequency control of power systems with asymmetric generator saturation and renewable penetration. The droop parameters are found by solving an optimization problem wherein the cost function is a combination of the change in frequency and the actuator input. Simulation studies show that the combined output and control cost is improved compared to a baseline design, and that the systematic design process provides an appropriate response to any change in input or system parameters.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128684068","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 : 2018-08-01DOI: 10.1109/CCTA.2018.8511638
S. Gelmini, S. Strada, M. Tanelli, S. Savaresi, A. Guzzon
This paper presents an innovative application for the online activation of emergency calls (eCalls) using wearable sensors installed on an instrumented jacket. Such a device allows one to actively monitor the activities performed by the user and to detect possible hazards that lead to loss of consciousness, thus activating the eCall. To do this, a detailed analysis of the measured sensors is carried out, that results to the automatic classification of the human motion. Secondly, the detection of a fall is performed and, in particular, an event associated with a consequent loss of consciousness is monitored and detected. The performance of the proposed approach are analyzed and tested on experimental data collected from several stuntmen simulating different types of falls, and favorably witness the effectiveness of the approach.
{"title":"Analysis and Development of an Automatic eCal1 Algorithm for Wearable Devices","authors":"S. Gelmini, S. Strada, M. Tanelli, S. Savaresi, A. Guzzon","doi":"10.1109/CCTA.2018.8511638","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511638","url":null,"abstract":"This paper presents an innovative application for the online activation of emergency calls (eCalls) using wearable sensors installed on an instrumented jacket. Such a device allows one to actively monitor the activities performed by the user and to detect possible hazards that lead to loss of consciousness, thus activating the eCall. To do this, a detailed analysis of the measured sensors is carried out, that results to the automatic classification of the human motion. Secondly, the detection of a fall is performed and, in particular, an event associated with a consequent loss of consciousness is monitored and detected. The performance of the proposed approach are analyzed and tested on experimental data collected from several stuntmen simulating different types of falls, and favorably witness the effectiveness of the approach.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"282 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127392503","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 : 2018-08-01DOI: 10.1109/CCTA.2018.8511586
M. O. Sayin, T. Başar
We introduce a new defense mechanism for stochastic control systems with control objectives, to enhance their resilience before the detection of any attacks. To this end, we cautiously design the outputs of the sensors that monitor the state of the system since the attackers need the sensor outputs for their malicious objectives in stochastic control scenarios. Different from the defense mechanisms that seek to detect infiltration or to improve detectability of the attacks, the proposed approach seeks to minimize the damage of possible attacks before they actually have even been detected. We, specifically, consider a controlled Gauss-Markov process, where the controller could have been infiltrated into at any time within the system's operation. Within the framework of game-theoretic hierarchical equilibrium, we provide a semi-definite programming based algorithm to compute the optimal linear secure sensor outputs that enhance the resiliency of control systems prior to attack detection.
{"title":"Secure Sensor Design for Resiliency of Control Systems Prior to Attack Detection","authors":"M. O. Sayin, T. Başar","doi":"10.1109/CCTA.2018.8511586","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511586","url":null,"abstract":"We introduce a new defense mechanism for stochastic control systems with control objectives, to enhance their resilience before the detection of any attacks. To this end, we cautiously design the outputs of the sensors that monitor the state of the system since the attackers need the sensor outputs for their malicious objectives in stochastic control scenarios. Different from the defense mechanisms that seek to detect infiltration or to improve detectability of the attacks, the proposed approach seeks to minimize the damage of possible attacks before they actually have even been detected. We, specifically, consider a controlled Gauss-Markov process, where the controller could have been infiltrated into at any time within the system's operation. Within the framework of game-theoretic hierarchical equilibrium, we provide a semi-definite programming based algorithm to compute the optimal linear secure sensor outputs that enhance the resiliency of control systems prior to attack detection.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127509380","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 : 2018-08-01DOI: 10.1109/CCTA.2018.8511408
A. Mayer, O. Sawodny
Continuum robots offer yet unknown possibilities in the design of modular manipulators with several redundant degrees of freedom. Those designs have various advantages such as an increased dexterity or an implicit fail-safe mechanism. However, established singularity definitions and workspace analysis methods are restricted to non-redundant robots in many cases or become computationally demanding because they scale exponentially with the available degrees of freedom. In this paper, a sufficient condition for forward singularities of redundant, constrained manipulators is given and it is explained why the commonly used rank condition is only a necessary condition. Furthermore, a method to improve efficiency for position workspace analysis is proposed. For an exemplary 6-module manipulator, the required number of samples is reduced by as much as 99.9%.
{"title":"Singularity and Workspace Analysis for Modular Continuum Robots","authors":"A. Mayer, O. Sawodny","doi":"10.1109/CCTA.2018.8511408","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511408","url":null,"abstract":"Continuum robots offer yet unknown possibilities in the design of modular manipulators with several redundant degrees of freedom. Those designs have various advantages such as an increased dexterity or an implicit fail-safe mechanism. However, established singularity definitions and workspace analysis methods are restricted to non-redundant robots in many cases or become computationally demanding because they scale exponentially with the available degrees of freedom. In this paper, a sufficient condition for forward singularities of redundant, constrained manipulators is given and it is explained why the commonly used rank condition is only a necessary condition. Furthermore, a method to improve efficiency for position workspace analysis is proposed. For an exemplary 6-module manipulator, the required number of samples is reduced by as much as 99.9%.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"04 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129127768","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 : 2018-08-01DOI: 10.1109/CCTA.2018.8511462
L. J. D. S. Moreira, George Acioli Juinior, P. R. Barros
This paper is about a data-driven frequency domain PID retuning from the initial controller parameters. It uses data collected from a specific closed-loop experiment to estimate frequency response points. The data-driven retuning method is applied to make a process matches with the defined reference model using a convex optimization technique that minimizes modified cost function. The proposed strategy is demonstrated in laboratory scale thermal plant based on Peltier effect, using crossover and critical frequencies estimations.
{"title":"Closed-loop Frequency Data-driven PID Retuning","authors":"L. J. D. S. Moreira, George Acioli Juinior, P. R. Barros","doi":"10.1109/CCTA.2018.8511462","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511462","url":null,"abstract":"This paper is about a data-driven frequency domain PID retuning from the initial controller parameters. It uses data collected from a specific closed-loop experiment to estimate frequency response points. The data-driven retuning method is applied to make a process matches with the defined reference model using a convex optimization technique that minimizes modified cost function. The proposed strategy is demonstrated in laboratory scale thermal plant based on Peltier effect, using crossover and critical frequencies estimations.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131083001","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 : 2018-08-01DOI: 10.1109/CCTA.2018.8511322
C. Rasmussen, R. Relan, H. Madsen
There is an increasing focus on energy savings in buildings but still there exist a gap between the calculated and the realised energy performance. A statistical analysis performed on in situ measurements of occupied buildings is one way to reveal if the occupants' behaviour, the build quality, or the building design is the underlying reasons for this performance gap. A critical issue when carrying out the statistical analysis of the measurements from occupied buildings is to handle the measurement disturbances caused by the occupants' interaction with the building. In this paper, an offline method combining ventilation theory of buildings with change point detection of time series measurements of indoor CO2concentrations is proposed to detect vacant and sleeping periods in dwellings. The proposed method is tested using the CO2measurements obtained from a single apartment. The method developed has classified 19 % of a 14-days period as a vacant or sleeping period with an 81 % accuracy based on indirect measures.
{"title":"Identification of Occupancy Status by Statistical Change Point Detection of CO2Concentration","authors":"C. Rasmussen, R. Relan, H. Madsen","doi":"10.1109/CCTA.2018.8511322","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511322","url":null,"abstract":"There is an increasing focus on energy savings in buildings but still there exist a gap between the calculated and the realised energy performance. A statistical analysis performed on in situ measurements of occupied buildings is one way to reveal if the occupants' behaviour, the build quality, or the building design is the underlying reasons for this performance gap. A critical issue when carrying out the statistical analysis of the measurements from occupied buildings is to handle the measurement disturbances caused by the occupants' interaction with the building. In this paper, an offline method combining ventilation theory of buildings with change point detection of time series measurements of indoor CO2concentrations is proposed to detect vacant and sleeping periods in dwellings. The proposed method is tested using the CO2measurements obtained from a single apartment. The method developed has classified 19 % of a 14-days period as a vacant or sleeping period with an 81 % accuracy based on indirect measures.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132172093","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 : 2018-08-01DOI: 10.1109/ccta.2018.8511484
{"title":"Plenary Sessions [4 abstracts]","authors":"","doi":"10.1109/ccta.2018.8511484","DOIUrl":"https://doi.org/10.1109/ccta.2018.8511484","url":null,"abstract":"","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128859875","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 : 2018-08-01DOI: 10.1109/CCTA.2018.8511500
Zhiheng Xu, Quanyan Zhu
A Robot Operating System (ROS) plays a significant role in organizing industrial robots for manufacturing. With an increasing number of the robots, the operators integrate a ROS with networked communication to share the data. This cyber-physical nature exposes the ROS to cyber attacks. To this end, this paper proposes a cross-layer approach to achieve secure and resilient control of a ROS. In the physical layer, due to the delay caused by the security mechanism, we design a time-delay controller for the ROS agent. In the cyber layer, we define cyber states and use Markov Decision Process to evaluate the tradeoffs between physical and security performance. Due to the uncertainty of the cyber state, we extend the MDP to a Partially Observed Markov Decision Process (POMDP). We propose a threshold solution based on our theoretical results. Finally, we present numerical examples to evaluate the performance of the secure and resilient mechanism.
{"title":"Cross-Layer Secure and Resilient Control of Delay-Sensitive Networked Robot Operating Systems","authors":"Zhiheng Xu, Quanyan Zhu","doi":"10.1109/CCTA.2018.8511500","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511500","url":null,"abstract":"A Robot Operating System (ROS) plays a significant role in organizing industrial robots for manufacturing. With an increasing number of the robots, the operators integrate a ROS with networked communication to share the data. This cyber-physical nature exposes the ROS to cyber attacks. To this end, this paper proposes a cross-layer approach to achieve secure and resilient control of a ROS. In the physical layer, due to the delay caused by the security mechanism, we design a time-delay controller for the ROS agent. In the cyber layer, we define cyber states and use Markov Decision Process to evaluate the tradeoffs between physical and security performance. Due to the uncertainty of the cyber state, we extend the MDP to a Partially Observed Markov Decision Process (POMDP). We propose a threshold solution based on our theoretical results. Finally, we present numerical examples to evaluate the performance of the secure and resilient mechanism.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126655181","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 : 2018-08-01DOI: 10.1109/CCTA.2018.8511482
U. Ansari, A. Bajodah
In this paper, the design of Robust Generalized Dynamic Inversion (RGDI) based attitude control for the rigid body spacecraft is presented. The RGDI control comprises of the particular and the auxiliary parts for tracking of the attitudes and the angular body rates respectively. In the particular part, constraint dynamics based on attitude deviation function is defined in the form of differential equation and is inverted by employing Moore-Penrose Generalized Inverse (MPGI), to realize the control law. The associated null control vector in auxiliary part is constructed which guarantees global closed loop asymptotic stability of spacecraft angular velocities. The singularity issue associated with Generalized Dynamic Inversion (GDI) is handled tactfully by introducing a dynamic scale factor in MPGI. To provide robustness against parametric variations and disturbances, a robust term based on sliding mode control is augmented with GDI control to make it RGDI, such that semi-global practically stable attitude tracking is guaranteed. To analyze the performance of the proposed control method, spacecraft kinematics and dynamics using attitude quaternion are modeled in Simulink/Matlab. Numerical simulations are conducted on the developed spacecraft simulator to demonstrate the tracking performance of the RGDI control.
{"title":"Spacecraft Attitude Control Using Robust Generalized Dynamic Inversion","authors":"U. Ansari, A. Bajodah","doi":"10.1109/CCTA.2018.8511482","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511482","url":null,"abstract":"In this paper, the design of Robust Generalized Dynamic Inversion (RGDI) based attitude control for the rigid body spacecraft is presented. The RGDI control comprises of the particular and the auxiliary parts for tracking of the attitudes and the angular body rates respectively. In the particular part, constraint dynamics based on attitude deviation function is defined in the form of differential equation and is inverted by employing Moore-Penrose Generalized Inverse (MPGI), to realize the control law. The associated null control vector in auxiliary part is constructed which guarantees global closed loop asymptotic stability of spacecraft angular velocities. The singularity issue associated with Generalized Dynamic Inversion (GDI) is handled tactfully by introducing a dynamic scale factor in MPGI. To provide robustness against parametric variations and disturbances, a robust term based on sliding mode control is augmented with GDI control to make it RGDI, such that semi-global practically stable attitude tracking is guaranteed. To analyze the performance of the proposed control method, spacecraft kinematics and dynamics using attitude quaternion are modeled in Simulink/Matlab. Numerical simulations are conducted on the developed spacecraft simulator to demonstrate the tracking performance of the RGDI control.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126374525","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 : 2018-08-01DOI: 10.1109/CCTA.2018.8511378
Julian Willkomm, K. Wulff, J. Reger
We consider the feedforward control design for a local model network (LMN) with possibly non-minimumphase dynamics. For a class of LMN with a parametrisation typical for experimental identification we show that the existence of a flat output is a very restrictive assumption. Therefore we propose a model following control (MFC) structure for the online-generation of a feedforward control signal. This method allows for arbitrary reference signals and has good robustness properties with respect to model uncertainties. We verify our approach by a simulation example and compare with a standard method using model inversion. Applying the proposed approach to a nonlinear process with unstable zero-dynamics illustrates the attainable good performance results.
{"title":"Feedforward Control for Non-Minimumphase Local Model Networks Using Model Following Control","authors":"Julian Willkomm, K. Wulff, J. Reger","doi":"10.1109/CCTA.2018.8511378","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511378","url":null,"abstract":"We consider the feedforward control design for a local model network (LMN) with possibly non-minimumphase dynamics. For a class of LMN with a parametrisation typical for experimental identification we show that the existence of a flat output is a very restrictive assumption. Therefore we propose a model following control (MFC) structure for the online-generation of a feedforward control signal. This method allows for arbitrary reference signals and has good robustness properties with respect to model uncertainties. We verify our approach by a simulation example and compare with a standard method using model inversion. Applying the proposed approach to a nonlinear process with unstable zero-dynamics illustrates the attainable good performance results.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"43 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120911864","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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