Pub Date : 2022-03-08DOI: 10.23919/SICEISCS54350.2022.9754374
Ryuya Tsuchida, Keisuke Yagi, Y. Mori
The paper is concerned with the experimental verification of a digital redesign method for a class of nonlinear control systems, called the Feedback Linearization Plant-Input-Mapping (FL-PIM) method. The Plant-Input-Mapping provides the guaranteed stability in discretization of a linear feedback system for any non-pathological sampling interval. Our previous study shows that its possibility to integrate the feedback linearization law when some conditions satisfied. In the present study, we first simplify the structure of the FL-PIM controller to reduce the calculation cost. Then, the proposed FL-PIM method is verified through the experiment using a single-link elastic-joint robot.
{"title":"Experimental Verification of the Feedback Linearization Plant-Input-Mapping Discretization","authors":"Ryuya Tsuchida, Keisuke Yagi, Y. Mori","doi":"10.23919/SICEISCS54350.2022.9754374","DOIUrl":"https://doi.org/10.23919/SICEISCS54350.2022.9754374","url":null,"abstract":"The paper is concerned with the experimental verification of a digital redesign method for a class of nonlinear control systems, called the Feedback Linearization Plant-Input-Mapping (FL-PIM) method. The Plant-Input-Mapping provides the guaranteed stability in discretization of a linear feedback system for any non-pathological sampling interval. Our previous study shows that its possibility to integrate the feedback linearization law when some conditions satisfied. In the present study, we first simplify the structure of the FL-PIM controller to reduce the calculation cost. Then, the proposed FL-PIM method is verified through the experiment using a single-link elastic-joint robot.","PeriodicalId":391189,"journal":{"name":"2022 SICE International Symposium on Control Systems (SICE ISCS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123410500","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 : 2022-03-08DOI: 10.23919/SICEISCS54350.2022.9754517
Ryo Nakata, M. Tanemura, Y. Chida
In this study, we discuss the undershoot response in a circular path-following control of a vehicle based on the time-state control form. For a circular path-following control of a vehicle, rotational coordinate transformation is applied to the vehicle model. However, through numerical simulations, we found that undershoot responses occurred under certain initial conditions of the vehicle. The occurrence of undershoot responses indicates that the output in the transient response moves in the opposite direction to the step reference value and is related to the zeros of the transfer function. In this study, we focus on the zeros of the transfer function of the vehicle by applying rotational coordinate transformation to clarify the conditions for the undershoot responses.
{"title":"Undershoot Response Analysis for Circular Path-Following Vehicle Control Based on Zeros in the Time-State Control Form","authors":"Ryo Nakata, M. Tanemura, Y. Chida","doi":"10.23919/SICEISCS54350.2022.9754517","DOIUrl":"https://doi.org/10.23919/SICEISCS54350.2022.9754517","url":null,"abstract":"In this study, we discuss the undershoot response in a circular path-following control of a vehicle based on the time-state control form. For a circular path-following control of a vehicle, rotational coordinate transformation is applied to the vehicle model. However, through numerical simulations, we found that undershoot responses occurred under certain initial conditions of the vehicle. The occurrence of undershoot responses indicates that the output in the transient response moves in the opposite direction to the step reference value and is related to the zeros of the transfer function. In this study, we focus on the zeros of the transfer function of the vehicle by applying rotational coordinate transformation to clarify the conditions for the undershoot responses.","PeriodicalId":391189,"journal":{"name":"2022 SICE International Symposium on Control Systems (SICE ISCS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127008068","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 : 2022-03-08DOI: 10.23919/SICEISCS54350.2022.9754525
Zhongwen Wu
In this article, the robust fixed-time synchronization of uncertain fractional-order quaternion-valued neural networks(FQVNNs) is studied. By using direct analytical method and quaternion-valued inequality, a criterion for robust fixed-time synchronization is established, and the settling time for robust fixed-time synchronization is explicitly reckoned. Finally, the validity of the conclusions is illustrated via one numerical example.
{"title":"Robust fixed-time synchronization of uncertain fractional-order quaternion-valued neural networks","authors":"Zhongwen Wu","doi":"10.23919/SICEISCS54350.2022.9754525","DOIUrl":"https://doi.org/10.23919/SICEISCS54350.2022.9754525","url":null,"abstract":"In this article, the robust fixed-time synchronization of uncertain fractional-order quaternion-valued neural networks(FQVNNs) is studied. By using direct analytical method and quaternion-valued inequality, a criterion for robust fixed-time synchronization is established, and the settling time for robust fixed-time synchronization is explicitly reckoned. Finally, the validity of the conclusions is illustrated via one numerical example.","PeriodicalId":391189,"journal":{"name":"2022 SICE International Symposium on Control Systems (SICE ISCS)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128572720","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 : 2022-03-08DOI: 10.23919/SICEISCS54350.2022.9754371
Wei Wang, Kai Zhao, Fuguo Xu, T. Shen
An Internal Combustion Engine (ICE) experiences increased friction loss and fuel injection in cold temperatures, which provides the potential to further improve the energy efficiency based on the control freedom in hybrid electric vehicles (HEVs). This paper presents an engine thermal model with the coefficients calibrated through bench tests under different engine operating points. Moreover, we propose an engine on/off strategy that considers both the power demand and engine temperature preservation. Simulation results verify that the proposed powertrain control with engine thermal dynamics can further improve the energy efficiency for HEVs.
{"title":"A thermal model-based engine on-off control in HEVs","authors":"Wei Wang, Kai Zhao, Fuguo Xu, T. Shen","doi":"10.23919/SICEISCS54350.2022.9754371","DOIUrl":"https://doi.org/10.23919/SICEISCS54350.2022.9754371","url":null,"abstract":"An Internal Combustion Engine (ICE) experiences increased friction loss and fuel injection in cold temperatures, which provides the potential to further improve the energy efficiency based on the control freedom in hybrid electric vehicles (HEVs). This paper presents an engine thermal model with the coefficients calibrated through bench tests under different engine operating points. Moreover, we propose an engine on/off strategy that considers both the power demand and engine temperature preservation. Simulation results verify that the proposed powertrain control with engine thermal dynamics can further improve the energy efficiency for HEVs.","PeriodicalId":391189,"journal":{"name":"2022 SICE International Symposium on Control Systems (SICE ISCS)","volume":"366 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116055138","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 : 2022-03-08DOI: 10.23919/SICEISCS54350.2022.9754372
Hongjia Ou, Andreas Themelis, Yuno Tsuyoshi, T. Kawabe
In today’s world where complying with the requirements of a green economy is more and more imperative for technological progress, energy and fuel-efficient navigation is a topic of primary importance in industrial engineering. In the particular case of autonomous driving and cruise control, the inherent nonlinearity and complexity of the physical dynamics result in a highly nonconvex control problem, which becomes even more challenging if one is to further account for energy saving constraints. Leveraging on recent advancements, we propose a solution based on PANOC [19], a fast optimization solver which can cope with nonconvex problems and enjoys very low computational requirements, provided that some inner subproblems can be solved at negligible effort. In order to account for this binding requirement of the algorithm, we propose a piecewise affine approximation strategy for the fuel consumption model based on the Douglas– Peucker algorithm [7]. The effectiveness of the approach is showcased with numerical simulations on a real-time adaptive cruise control problem for fuel consumption optimization.
{"title":"Douglas–Peucker piecewise affine approximation of an optimal fuel consumption problem to apply PANOC","authors":"Hongjia Ou, Andreas Themelis, Yuno Tsuyoshi, T. Kawabe","doi":"10.23919/SICEISCS54350.2022.9754372","DOIUrl":"https://doi.org/10.23919/SICEISCS54350.2022.9754372","url":null,"abstract":"In today’s world where complying with the requirements of a green economy is more and more imperative for technological progress, energy and fuel-efficient navigation is a topic of primary importance in industrial engineering. In the particular case of autonomous driving and cruise control, the inherent nonlinearity and complexity of the physical dynamics result in a highly nonconvex control problem, which becomes even more challenging if one is to further account for energy saving constraints. Leveraging on recent advancements, we propose a solution based on PANOC [19], a fast optimization solver which can cope with nonconvex problems and enjoys very low computational requirements, provided that some inner subproblems can be solved at negligible effort. In order to account for this binding requirement of the algorithm, we propose a piecewise affine approximation strategy for the fuel consumption model based on the Douglas– Peucker algorithm [7]. The effectiveness of the approach is showcased with numerical simulations on a real-time adaptive cruise control problem for fuel consumption optimization.","PeriodicalId":391189,"journal":{"name":"2022 SICE International Symposium on Control Systems (SICE ISCS)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123524102","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 : 2022-03-08DOI: 10.23919/SICEISCS54350.2022.9754520
Keigo Watanabe, Maierdan Maimaitimin, Kazuki Yamamoto, I. Nagai
This research is aimed at recognizing the gesture of a lifting coordinator and automating the operation of a crane by introducing a system with deep learning. This paper first explains the outline of a gesture recognition system, and describes skeletal detection and its accuracy improvement technique. Furthermore, a gesture recognition system is constructed using a 1DCNN, and the recognition accuracy is verified to be improved by introducing a self-attention mechanism.
{"title":"A Gesture Recognition System for Cranes Using Deep Learning with a Self-attention Mechanism","authors":"Keigo Watanabe, Maierdan Maimaitimin, Kazuki Yamamoto, I. Nagai","doi":"10.23919/SICEISCS54350.2022.9754520","DOIUrl":"https://doi.org/10.23919/SICEISCS54350.2022.9754520","url":null,"abstract":"This research is aimed at recognizing the gesture of a lifting coordinator and automating the operation of a crane by introducing a system with deep learning. This paper first explains the outline of a gesture recognition system, and describes skeletal detection and its accuracy improvement technique. Furthermore, a gesture recognition system is constructed using a 1DCNN, and the recognition accuracy is verified to be improved by introducing a self-attention mechanism.","PeriodicalId":391189,"journal":{"name":"2022 SICE International Symposium on Control Systems (SICE ISCS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131593865","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 : 2022-03-08DOI: 10.23919/SICEISCS54350.2022.9754369
L. Dritsas
This article is concerned with a robust control design framework with various degrees of aggressiveness for a certain class of uncertain nonlinear systems which are nominally linear, but suffer from matched disturbances and system uncertainties and both matched and unmatched nonlinearities. The LMI–based design of the linear part of the composite controller is based on the nominal linear system and is formulated as a multi–objective H-infinity minimization problem for disturbance rejection, performance (with various degrees of control aggressiveness) and minimization of the 2-norm of the state feedback gains. The design of the nonlinear part is based on Lyapunov redesign (the “unit vector” variant of Sliding Mode Control), which is a continuous nonlinear state feedback guaranteeing Uniform Ultimate Boundedness (UUB) of the closed–loop system. Explicit formulae are derived for the size of the UUB region and the Radius of the Attracting Ball (RAB), indicating a tradeoff between aggressiveness and chattering. The numerical example of a single input system demonstrates the efficacy of the proposed methodology.
{"title":"Aggressive Nonlinear Regulators for Nominally Linear Systems with Uncertainties and Nonlinearities","authors":"L. Dritsas","doi":"10.23919/SICEISCS54350.2022.9754369","DOIUrl":"https://doi.org/10.23919/SICEISCS54350.2022.9754369","url":null,"abstract":"This article is concerned with a robust control design framework with various degrees of aggressiveness for a certain class of uncertain nonlinear systems which are nominally linear, but suffer from matched disturbances and system uncertainties and both matched and unmatched nonlinearities. The LMI–based design of the linear part of the composite controller is based on the nominal linear system and is formulated as a multi–objective H-infinity minimization problem for disturbance rejection, performance (with various degrees of control aggressiveness) and minimization of the 2-norm of the state feedback gains. The design of the nonlinear part is based on Lyapunov redesign (the “unit vector” variant of Sliding Mode Control), which is a continuous nonlinear state feedback guaranteeing Uniform Ultimate Boundedness (UUB) of the closed–loop system. Explicit formulae are derived for the size of the UUB region and the Radius of the Attracting Ball (RAB), indicating a tradeoff between aggressiveness and chattering. The numerical example of a single input system demonstrates the efficacy of the proposed methodology.","PeriodicalId":391189,"journal":{"name":"2022 SICE International Symposium on Control Systems (SICE ISCS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114480042","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 : 2022-03-08DOI: 10.23919/SICEISCS54350.2022.9754375
R. Sakata, S. Kawai, Triet Nguyen-Van
A controlled moment gyroscope (CMG) is usually used as an actuator to control the attitude of artificial satellites and spacecrafts by applying the gyro effect. To design and analyze a digital controller of the CMG, it requires a discrete-time model, which can be derived by discretizing a continuous-time model. Since the CMG is nonlinear and has an affine constrain for a nonholonomic system, its linear approximation becomes uncontrollable and unavailable for control design. This paper proposed a discrete-time model for the CMG system, which does not use the linear approximation of the continuous-time model, by using a method called continualized discretization proposed. Simulation results show that the proposed model yields better performances than the conventional forward difference model in reproducing the dynamical characteristic of the continuous-time model, even for a large sampling interval and fast dynamical response.
{"title":"A Nonlinear Discrete-time Model for Controlled Moment Gyroscope","authors":"R. Sakata, S. Kawai, Triet Nguyen-Van","doi":"10.23919/SICEISCS54350.2022.9754375","DOIUrl":"https://doi.org/10.23919/SICEISCS54350.2022.9754375","url":null,"abstract":"A controlled moment gyroscope (CMG) is usually used as an actuator to control the attitude of artificial satellites and spacecrafts by applying the gyro effect. To design and analyze a digital controller of the CMG, it requires a discrete-time model, which can be derived by discretizing a continuous-time model. Since the CMG is nonlinear and has an affine constrain for a nonholonomic system, its linear approximation becomes uncontrollable and unavailable for control design. This paper proposed a discrete-time model for the CMG system, which does not use the linear approximation of the continuous-time model, by using a method called continualized discretization proposed. Simulation results show that the proposed model yields better performances than the conventional forward difference model in reproducing the dynamical characteristic of the continuous-time model, even for a large sampling interval and fast dynamical response.","PeriodicalId":391189,"journal":{"name":"2022 SICE International Symposium on Control Systems (SICE ISCS)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117211438","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 : 2022-03-08DOI: 10.23919/SICEISCS54350.2022.9754370
Atsede G. Gebremedhin, Y. Fujisaki
An adaptive control is proposed for H∞ tracking of uncertain dynamical systems. A reference model which achieves a robust tracking in the presence of L2 disturbances is introduced by using H∞ control with transients. Then an adaptive control law is developed for uncertain dynamical systems, where it employs the specified reference model. It is shown that the boundedness of the error dynamics behaviors as well as zero tracking error in the steady state is guaranteed by the proposed adaptive control in the presence of disturbances and uncertainties. An explicit error bound of tracking is also established.
{"title":"Adaptive control for H∞ tracking of uncertain dynamical systems","authors":"Atsede G. Gebremedhin, Y. Fujisaki","doi":"10.23919/SICEISCS54350.2022.9754370","DOIUrl":"https://doi.org/10.23919/SICEISCS54350.2022.9754370","url":null,"abstract":"An adaptive control is proposed for H∞ tracking of uncertain dynamical systems. A reference model which achieves a robust tracking in the presence of L2 disturbances is introduced by using H∞ control with transients. Then an adaptive control law is developed for uncertain dynamical systems, where it employs the specified reference model. It is shown that the boundedness of the error dynamics behaviors as well as zero tracking error in the steady state is guaranteed by the proposed adaptive control in the presence of disturbances and uncertainties. An explicit error bound of tracking is also established.","PeriodicalId":391189,"journal":{"name":"2022 SICE International Symposium on Control Systems (SICE ISCS)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123571136","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 : 2022-03-08DOI: 10.23919/SICEISCS54350.2022.9754521
Taiga Haba, Taku Itami, J. Yoneyama
In this study, our aim is to extract bone surface of the tibial from ultrasound images by using semantic segmentation and track the feature point of the extraction during knee flexion and extension automatically for dynamic tracking of the tibial movement in the horizontal plane. Automatic dynamic tracking is performed by approximating the bone surface extraction line to a cubic function curve and tracking the inflection point. The effectiveness of the proposed method is verified by analyzing the lower leg during knee flexion and extension by three healthy men in their 20s using ultrasound diagnostic device and confirming the physiological movement of screw-home movement(SHM) during knee flexion and extension movement. From the experimental results, SHM is confirmed during knee flexion and extension movements in each subject. Therefore, the proposed method of this study is effective in the dynamic tracking of the tibial bone surface.
{"title":"Bone surface extraction and dynamic tracking from ultrasound images by semantic segmentation","authors":"Taiga Haba, Taku Itami, J. Yoneyama","doi":"10.23919/SICEISCS54350.2022.9754521","DOIUrl":"https://doi.org/10.23919/SICEISCS54350.2022.9754521","url":null,"abstract":"In this study, our aim is to extract bone surface of the tibial from ultrasound images by using semantic segmentation and track the feature point of the extraction during knee flexion and extension automatically for dynamic tracking of the tibial movement in the horizontal plane. Automatic dynamic tracking is performed by approximating the bone surface extraction line to a cubic function curve and tracking the inflection point. The effectiveness of the proposed method is verified by analyzing the lower leg during knee flexion and extension by three healthy men in their 20s using ultrasound diagnostic device and confirming the physiological movement of screw-home movement(SHM) during knee flexion and extension movement. From the experimental results, SHM is confirmed during knee flexion and extension movements in each subject. Therefore, the proposed method of this study is effective in the dynamic tracking of the tibial bone surface.","PeriodicalId":391189,"journal":{"name":"2022 SICE International Symposium on Control Systems (SICE ISCS)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114266520","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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