Pub Date : 2019-08-26DOI: 10.1109/MMAR.2019.8864718
S. Ifqir, A. Rauh, Julia Kersten, D. Ichalal, N. A. Oufroukh, S. Mammar
For many practical applications, it is necessary to design controllers that are, one the one hand, robust against bounded uncertainty in selected parameters and external disturbances. On the other hand, it is also quite common for such systems, that state constraints need to be accounted for which must not be exceeded for any possible parameter value. Although the task is quite challenging, several robust control design procedures were designed in recent years which allow for solving these problems, especially with respect to the latter aspect. In this paper, such robust control procedures are combined in a novel manner with an interval observer to additionally handle the influence of unknown but bounded measurement noise and to prevent the violation of state constraints in a provable fashion.
{"title":"Interval Observer-Based Controller Design for Systems with State Constraints: Application to Solid Oxide Fuel Cells Stacks","authors":"S. Ifqir, A. Rauh, Julia Kersten, D. Ichalal, N. A. Oufroukh, S. Mammar","doi":"10.1109/MMAR.2019.8864718","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864718","url":null,"abstract":"For many practical applications, it is necessary to design controllers that are, one the one hand, robust against bounded uncertainty in selected parameters and external disturbances. On the other hand, it is also quite common for such systems, that state constraints need to be accounted for which must not be exceeded for any possible parameter value. Although the task is quite challenging, several robust control design procedures were designed in recent years which allow for solving these problems, especially with respect to the latter aspect. In this paper, such robust control procedures are combined in a novel manner with an interval observer to additionally handle the influence of unknown but bounded measurement noise and to prevent the violation of state constraints in a provable fashion.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127797142","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864720
W. Domski, A. Mazur
In this paper the problem of quality control of a SSMP platform with a kinematics of an unicycle was addressed. During the movement of a SSMP platform a slippage occurs when the vehicle is changing its orientation. On the other hand, the presence of slippage is unavoidable because the platform has to induce a differential velocity on each side to change its orientation. However, when the platform moves on a trajectory without a curvature then there is no lateral slippage. It was shown that the kinematics of a SSMP platform can be approximated with a kinematics of an unicycle. The quality of the approximation depends on how much the slipping effect is introduced into the system.
{"title":"Slippage Influence in Skid-Steering Platform Trajectory Tracking Quality with Unicycle Approximation","authors":"W. Domski, A. Mazur","doi":"10.1109/MMAR.2019.8864720","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864720","url":null,"abstract":"In this paper the problem of quality control of a SSMP platform with a kinematics of an unicycle was addressed. During the movement of a SSMP platform a slippage occurs when the vehicle is changing its orientation. On the other hand, the presence of slippage is unavoidable because the platform has to induce a differential velocity on each side to change its orientation. However, when the platform moves on a trajectory without a curvature then there is no lateral slippage. It was shown that the kinematics of a SSMP platform can be approximated with a kinematics of an unicycle. The quality of the approximation depends on how much the slipping effect is introduced into the system.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116802992","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864634
Michal Pikus, Jarosław Wąs
Advanced driving-assistance systems (ADAS) have become more popular and received more aid in automotive business. ADAS systems evolution requires more efforts to prepare efficient and reliable systems. Because of safety restrictions we need to validate systems by driving over several million kilometers in different conditions. That is why research, development and verification processes are highly required. The best solution to solve this problem are computer simulations. Application of digital scenarios saves time, money and human resources. There are many simulators which are developed by automotive companies. In our paper we would like to present set of simulators which are used to simulate and validate camera sensors, control and path planning algorithms for ADAS. Our tools are able to simulate/emulate vehicle components and road environment elements. However, mainly in case of ADAS systems this is a difficult task. Our paper presents approaches the methodology of virtual simulations [1],
{"title":"The Application of Virtual Logic Models to Simulate Real Environment for Testing Advanced Driving-Assistance Systems","authors":"Michal Pikus, Jarosław Wąs","doi":"10.1109/MMAR.2019.8864634","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864634","url":null,"abstract":"Advanced driving-assistance systems (ADAS) have become more popular and received more aid in automotive business. ADAS systems evolution requires more efforts to prepare efficient and reliable systems. Because of safety restrictions we need to validate systems by driving over several million kilometers in different conditions. That is why research, development and verification processes are highly required. The best solution to solve this problem are computer simulations. Application of digital scenarios saves time, money and human resources. There are many simulators which are developed by automotive companies. In our paper we would like to present set of simulators which are used to simulate and validate camera sensors, control and path planning algorithms for ADAS. Our tools are able to simulate/emulate vehicle components and road environment elements. However, mainly in case of ADAS systems this is a difficult task. Our paper presents approaches the methodology of virtual simulations [1],","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117353860","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864700
D. Pączko, W. Hunek
In the previous research study it has been pointed out that employing the approximation of the induced matrix norm can be useful during design of minimum-energy perfect control law for LTI MIMO discrete-time state-space plants. It has also been shown that this scenario was related to the case involving the closed-loop control matrix norm being less than unity, which was preserved by proper selection of applied nonunique inverses. This paper focuses on the systems which have been excluded from our past considerations. The methodology of minimum-energy approach for plants with norm greater than one is postulated here and some peculiarities in this matter additionally are given. This innovative method allows to predefine in a simple way a minimum-energy behavior of this intriguing control procedure.
{"title":"An application of the induced matrix norm in the minimum-energy design of perfect control algorithm","authors":"D. Pączko, W. Hunek","doi":"10.1109/MMAR.2019.8864700","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864700","url":null,"abstract":"In the previous research study it has been pointed out that employing the approximation of the induced matrix norm can be useful during design of minimum-energy perfect control law for LTI MIMO discrete-time state-space plants. It has also been shown that this scenario was related to the case involving the closed-loop control matrix norm being less than unity, which was preserved by proper selection of applied nonunique inverses. This paper focuses on the systems which have been excluded from our past considerations. The methodology of minimum-energy approach for plants with norm greater than one is postulated here and some peculiarities in this matter additionally are given. This innovative method allows to predefine in a simple way a minimum-energy behavior of this intriguing control procedure.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123400484","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864617
J. Kabzinski, Przemysław Mosiołek
A general tracking problem is formulated and solved for a third-order Duffing-Holmes type chaotic oscillator implemented as an electronic circuit with unknown parameters. Two nonlinear controllers, based on adaptive backstepping techniques, are derived and compared. Both are sufficiently robust and accurate for practical implementation. The same approach may be used for chaos stabilization and synchronization.
{"title":"Adaptive, nonlinear control of a third-order Duffing-Holmes type chaotic oscillator","authors":"J. Kabzinski, Przemysław Mosiołek","doi":"10.1109/MMAR.2019.8864617","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864617","url":null,"abstract":"A general tracking problem is formulated and solved for a third-order Duffing-Holmes type chaotic oscillator implemented as an electronic circuit with unknown parameters. Two nonlinear controllers, based on adaptive backstepping techniques, are derived and compared. Both are sufficiently robust and accurate for practical implementation. The same approach may be used for chaos stabilization and synchronization.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116410378","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 simulated distributed embedded system consisting of two Automotive Ethernet applications based on the SOME/IP-SD (Scalable Service-Oriented Middleware over IP - Service Discovery) concept: angular position control of a DC motor actuator for an automobile's trunk lid and interior lights control based on the vehicle's doors state. The paper also proposes a different in-vehicle E/E (Electric and Electronic) architecture which contains only the scalable Ethernet network. For this reason, the paper motivates the need for Ethernet in Automotive and makes a comparison to conventional busses.
{"title":"Automotive Ethernet Applications Using Scalable Service-Oriented Middleware over IP: Service Discovery","authors":"Teodor-Constantin Nichiţelea, Maria-Geanina Unguritu","doi":"10.1109/MMAR.2019.8864701","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864701","url":null,"abstract":"This paper presents a simulated distributed embedded system consisting of two Automotive Ethernet applications based on the SOME/IP-SD (Scalable Service-Oriented Middleware over IP - Service Discovery) concept: angular position control of a DC motor actuator for an automobile's trunk lid and interior lights control based on the vehicle's doors state. The paper also proposes a different in-vehicle E/E (Electric and Electronic) architecture which contains only the scalable Ethernet network. For this reason, the paper motivates the need for Ethernet in Automotive and makes a comparison to conventional busses.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"29 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120862832","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864615
Shengkai Wang, Jie Zhang
With industrial production processes becoming more and more sophisticated, traditional fault diagnosis systems may not achieve reliable diagnosis performance. In order to improve fault diagnosis performance, this paper proposes an enhanced fault diagnosis system by integrating neural networks with Andrews plot. On-line measurements are first processed by Andrews plot and then fed to a neural network for fault classification. Application to a simulated CSTR process indicates that the proposed method can give more reliable and earlier diagnosis than the traditional neural network based fault diagnosis method combined with principal component analysis.
{"title":"Enhanced Process Fault Diagnosis through Integrating Neural Networks and Andrews Plot","authors":"Shengkai Wang, Jie Zhang","doi":"10.1109/MMAR.2019.8864615","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864615","url":null,"abstract":"With industrial production processes becoming more and more sophisticated, traditional fault diagnosis systems may not achieve reliable diagnosis performance. In order to improve fault diagnosis performance, this paper proposes an enhanced fault diagnosis system by integrating neural networks with Andrews plot. On-line measurements are first processed by Andrews plot and then fed to a neural network for fault classification. Application to a simulated CSTR process indicates that the proposed method can give more reliable and earlier diagnosis than the traditional neural network based fault diagnosis method combined with principal component analysis.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128095839","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864721
W. Byrski, Michal Drapala
Adaptive identification method based on modulating function approach is described in this paper. The real glass melting process is modelled by a linear system, which parameters values can be changed on-line during the identification procedure. The overall model is composed of several submodels. The models, which inputs can be controlled, are approximated by the Strejc transfer function. This approach allows to reduce the number of model parameters. Moreover, PID tuning methods dedicated to the Strejc models can be applied. The developed procedure was applied for data collected from a real glass containers production installation.
{"title":"Adaptive identification method for simulation and control of glass melting process","authors":"W. Byrski, Michal Drapala","doi":"10.1109/MMAR.2019.8864721","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864721","url":null,"abstract":"Adaptive identification method based on modulating function approach is described in this paper. The real glass melting process is modelled by a linear system, which parameters values can be changed on-line during the identification procedure. The overall model is composed of several submodels. The models, which inputs can be controlled, are approximated by the Strejc transfer function. This approach allows to reduce the number of model parameters. Moreover, PID tuning methods dedicated to the Strejc models can be applied. The developed procedure was applied for data collected from a real glass containers production installation.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132613283","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864632
P. Zhang, Jie Zhang, Yang Long, Bingzhang Hu
Batch processes are significant and essential manufacturing route for the agile manufacturing of high value added products and they are typically difficult to control because of unknown disturbances, model plant mismatches, and highly nonlinear characteristic. Traditional one-step reinforcement learning and neural network have been applied to optimize and control batch processes. However, traditional one-step reinforcement learning and the neural network lack accuracy and robustness leading to unsatisfactory performance. To overcome these issues and difficulties, a modified multi-step action Q-learning algorithm (MMSA) based on multiple step action Q-learning (MSA) is proposed in this paper. For MSA, the action space is divided into some periods of same time steps and the same action is explored with fixed greedy policy being applied continuously during a period. Compared with MSA, the modification of MMSA is that the exploration and selection of action will follow an improved and various greedy policy in the whole system time which can improve the flexibility and speed of the learning algorithm. The proposed algorithm is applied to a highly nonlinear batch process and it is shown giving better control performance than the traditional one-step reinforcement learning and MSA.
{"title":"An improved reinforcement learning control strategy for batch processes","authors":"P. Zhang, Jie Zhang, Yang Long, Bingzhang Hu","doi":"10.1109/MMAR.2019.8864632","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864632","url":null,"abstract":"Batch processes are significant and essential manufacturing route for the agile manufacturing of high value added products and they are typically difficult to control because of unknown disturbances, model plant mismatches, and highly nonlinear characteristic. Traditional one-step reinforcement learning and neural network have been applied to optimize and control batch processes. However, traditional one-step reinforcement learning and the neural network lack accuracy and robustness leading to unsatisfactory performance. To overcome these issues and difficulties, a modified multi-step action Q-learning algorithm (MMSA) based on multiple step action Q-learning (MSA) is proposed in this paper. For MSA, the action space is divided into some periods of same time steps and the same action is explored with fixed greedy policy being applied continuously during a period. Compared with MSA, the modification of MMSA is that the exploration and selection of action will follow an improved and various greedy policy in the whole system time which can improve the flexibility and speed of the learning algorithm. The proposed algorithm is applied to a highly nonlinear batch process and it is shown giving better control performance than the traditional one-step reinforcement learning and MSA.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133546947","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 : 2019-08-01DOI: 10.1109/MMAR.2019.8864649
M. Pazera, M. Witczak, Norbert Kukurowski
The paper deals with the problem of simultaneous estimation of the state as well as the sensor and actuator faults. The proposed approach is developed in such a way that it allows decoupling the actuator faults from the state. In a similar fashion, the sensor fault is derived directly from the output. Moreover, the quadratic boundedness approach is utilised for guaranteeing the robust stability of the observer. It supposes that the uncertainty are limited within an ellipsoidal set. The final part of the paper shows the illustrative example with the implementation to the laboratory multi-tank system.
{"title":"Robust unknown input observer design for simultaneous actuator and sensor faults","authors":"M. Pazera, M. Witczak, Norbert Kukurowski","doi":"10.1109/MMAR.2019.8864649","DOIUrl":"https://doi.org/10.1109/MMAR.2019.8864649","url":null,"abstract":"The paper deals with the problem of simultaneous estimation of the state as well as the sensor and actuator faults. The proposed approach is developed in such a way that it allows decoupling the actuator faults from the state. In a similar fashion, the sensor fault is derived directly from the output. Moreover, the quadratic boundedness approach is utilised for guaranteeing the robust stability of the observer. It supposes that the uncertainty are limited within an ellipsoidal set. The final part of the paper shows the illustrative example with the implementation to the laboratory multi-tank system.","PeriodicalId":392498,"journal":{"name":"2019 24th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"264 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133805992","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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