Pub Date : 2017-05-01DOI: 10.1109/DDCLS.2017.8067721
Lanjing Wang, D. Shen, Xuefang Li, Chiang-Ju Chien, Ying-Chung Wang
This note addresses the problem of sampled-data iterative learning control (SDILC) for continuous-time nonlinear systems with randomly iteration varying lengths. To deal with the iteration varying trial lengths, a P-type ILC scheme with a modified tracking error is proposed. Sufficient conditions are derived to ensure the convergence of the nonlinear system at each sampling instant. An illustrative example is carried out to verify the effectiveness of the proposed ILC algorithm.
{"title":"Sampled-data iterative learning control for nonlinear systems with iteration varying lengths","authors":"Lanjing Wang, D. Shen, Xuefang Li, Chiang-Ju Chien, Ying-Chung Wang","doi":"10.1109/DDCLS.2017.8067721","DOIUrl":"https://doi.org/10.1109/DDCLS.2017.8067721","url":null,"abstract":"This note addresses the problem of sampled-data iterative learning control (SDILC) for continuous-time nonlinear systems with randomly iteration varying lengths. To deal with the iteration varying trial lengths, a P-type ILC scheme with a modified tracking error is proposed. Sufficient conditions are derived to ensure the convergence of the nonlinear system at each sampling instant. An illustrative example is carried out to verify the effectiveness of the proposed ILC algorithm.","PeriodicalId":419114,"journal":{"name":"2017 6th Data Driven Control and Learning Systems (DDCLS)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131915126","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 : 2017-05-01DOI: 10.1109/DDCLS.2017.8068112
Wang Lu, Daibing Zhang, Jiyang Zhang, Tengxiang Li, Tianjiang Hu
Vertical take-off and landing (VTOL) aerial vehicles have been a hot topic in the aerospace field, since they possess joint advantages of the multi-rotor drone and the fixed-wing unmanned aerial vehicle (UAV). In this paper, a novel propulsion scheme is proposed for a micro triple tilt-rotor VTOL prototype. Furthermore, the design, implementation and analysis of a gasoline-electric hybrid propulsion system are respectively presented. Hybrid power architecture is designed with constraints on the characteristics of the power-plants and the energy and is based on three fundamental hybrid-electric configurations. The dynamic model and attitude control principle is also given for this triple tilt-rotor VTOL UAV. Dynamics performance testing is conducted by flight experiments of the developed micro triple tilt-rotor VTOL prototype.
{"title":"Design and implementation of a gasoline-electric hybrid propulsion system for a micro triple tilt-rotor VTOL UAV","authors":"Wang Lu, Daibing Zhang, Jiyang Zhang, Tengxiang Li, Tianjiang Hu","doi":"10.1109/DDCLS.2017.8068112","DOIUrl":"https://doi.org/10.1109/DDCLS.2017.8068112","url":null,"abstract":"Vertical take-off and landing (VTOL) aerial vehicles have been a hot topic in the aerospace field, since they possess joint advantages of the multi-rotor drone and the fixed-wing unmanned aerial vehicle (UAV). In this paper, a novel propulsion scheme is proposed for a micro triple tilt-rotor VTOL prototype. Furthermore, the design, implementation and analysis of a gasoline-electric hybrid propulsion system are respectively presented. Hybrid power architecture is designed with constraints on the characteristics of the power-plants and the energy and is based on three fundamental hybrid-electric configurations. The dynamic model and attitude control principle is also given for this triple tilt-rotor VTOL UAV. Dynamics performance testing is conducted by flight experiments of the developed micro triple tilt-rotor VTOL prototype.","PeriodicalId":419114,"journal":{"name":"2017 6th Data Driven Control and Learning Systems (DDCLS)","volume":"132 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131405130","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}
In this paper, a robust UKF algorithm based on least-square is proposed for the semi-submersible ship dynamic positioning speed sensorless control system, which lacks the ability to adapt itself to system state anomalies. The algorithm uses the least-square method to compute the suboptimal fading factor, it adjusts the filter estimation gain adaptively, and it realizes the strong tracking to the real state of the system. The algorithm is applied to the semi-submersible ship dynamic position sensorless control system and compared with the standard UKF. The results show that when the state of the dynamic positioning system is abnormal, the improved UKF algorithm based on the least-square for positioning control system has better control quality and response characteristics. The disturbance rejection ability and robustness of the system are improved, and its estimation ability to disturbance is enhanced obviously, which improves the positioning accuracy of the semi-submersible ship dynamic positioning system.
{"title":"Speed sensorless vector control of semi-submersible ship dynamic positioning based on LSSUKF","authors":"Wenlong Yao, Guotao Zhuang, Boyang Li, Ai-ling Chen","doi":"10.1109/DDCLS.2017.8068107","DOIUrl":"https://doi.org/10.1109/DDCLS.2017.8068107","url":null,"abstract":"In this paper, a robust UKF algorithm based on least-square is proposed for the semi-submersible ship dynamic positioning speed sensorless control system, which lacks the ability to adapt itself to system state anomalies. The algorithm uses the least-square method to compute the suboptimal fading factor, it adjusts the filter estimation gain adaptively, and it realizes the strong tracking to the real state of the system. The algorithm is applied to the semi-submersible ship dynamic position sensorless control system and compared with the standard UKF. The results show that when the state of the dynamic positioning system is abnormal, the improved UKF algorithm based on the least-square for positioning control system has better control quality and response characteristics. The disturbance rejection ability and robustness of the system are improved, and its estimation ability to disturbance is enhanced obviously, which improves the positioning accuracy of the semi-submersible ship dynamic positioning system.","PeriodicalId":419114,"journal":{"name":"2017 6th Data Driven Control and Learning Systems (DDCLS)","volume":"228 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114411480","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 addresses a feed-forward anti-windup structure and its detailed realization method based on qualitative analysis. By adding three static compensators to the Internal model control (IMC) structure, the controller output defects caused by the input saturation can be compensated, which leads to a satisfactory tracking performance and interference elimination. A new anti-windup IMC structure with three feed-forward compensators which can be transformed into IMC-PID controllers is provided, with a design procedure formulated as a constrained optimization problem depended on SCS algorithm. Illustrative examples are given to show the effectiveness and merits of the anti-windup IMC-PID structure based on the qualitative analysis.
{"title":"An anti-windup IMC structure with feed-forward compensators based on qualitative analysis","authors":"Zhongwei Liu, Jing Wang, Q. Jin, Linfeng Qi, Beiyan Jiang","doi":"10.1109/DDCLS.2017.8068124","DOIUrl":"https://doi.org/10.1109/DDCLS.2017.8068124","url":null,"abstract":"This paper addresses a feed-forward anti-windup structure and its detailed realization method based on qualitative analysis. By adding three static compensators to the Internal model control (IMC) structure, the controller output defects caused by the input saturation can be compensated, which leads to a satisfactory tracking performance and interference elimination. A new anti-windup IMC structure with three feed-forward compensators which can be transformed into IMC-PID controllers is provided, with a design procedure formulated as a constrained optimization problem depended on SCS algorithm. Illustrative examples are given to show the effectiveness and merits of the anti-windup IMC-PID structure based on the qualitative analysis.","PeriodicalId":419114,"journal":{"name":"2017 6th Data Driven Control and Learning Systems (DDCLS)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115552217","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}
ADP is an effective optimal method. However, the optimality depends on its network structure and training algorithm. This paper adopts RBF neural network to realize its critic and action networks after a detailed analysis on ADP. The LSM method is introduced as training algorithm, and a novel basis function is defined, which achieves global optimization and online control. The validity is verified by finding the optimal point through local minimums.
{"title":"A data-driven ADP with RBF network and LSM learning algorithm","authors":"Zhijian Huang, Yudong Li, Wentao Chen, Qin Zhang, Qili Wu, Qinmin Tan, Zhiyuan Yang","doi":"10.1109/DDCLS.2017.8068095","DOIUrl":"https://doi.org/10.1109/DDCLS.2017.8068095","url":null,"abstract":"ADP is an effective optimal method. However, the optimality depends on its network structure and training algorithm. This paper adopts RBF neural network to realize its critic and action networks after a detailed analysis on ADP. The LSM method is introduced as training algorithm, and a novel basis function is defined, which achieves global optimization and online control. The validity is verified by finding the optimal point through local minimums.","PeriodicalId":419114,"journal":{"name":"2017 6th Data Driven Control and Learning Systems (DDCLS)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117311863","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 : 2017-05-01DOI: 10.1109/DDCLS.2017.8068134
Xue Han, Na Dong, Jianfang Chang
This article designs a dual-loop energy-saving control scheme for the refrigeration system. To deal with the actual refrigeration system with characteristics of large time-delay, a model-free adaptive control method with input rate constraint of time delay is designed to reduce the impact of large time delay on the whole control process. Simulation study of typical system with large time delay is carried out and the energy saving control scheme using the proposed novel model-free control algorithm is considered. It is shown that the proposed control algorithm has better dynamic characteristics and faster response speed. The effectiveness of the proposed control method is validated.
{"title":"Energy saving method of refrigeration system based on model-free control algorithm","authors":"Xue Han, Na Dong, Jianfang Chang","doi":"10.1109/DDCLS.2017.8068134","DOIUrl":"https://doi.org/10.1109/DDCLS.2017.8068134","url":null,"abstract":"This article designs a dual-loop energy-saving control scheme for the refrigeration system. To deal with the actual refrigeration system with characteristics of large time-delay, a model-free adaptive control method with input rate constraint of time delay is designed to reduce the impact of large time delay on the whole control process. Simulation study of typical system with large time delay is carried out and the energy saving control scheme using the proposed novel model-free control algorithm is considered. It is shown that the proposed control algorithm has better dynamic characteristics and faster response speed. The effectiveness of the proposed control method is validated.","PeriodicalId":419114,"journal":{"name":"2017 6th Data Driven Control and Learning Systems (DDCLS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117043660","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 : 2017-05-01DOI: 10.1109/DDCLS.2017.8068057
Jingshen Qi, Rongmin Cao, Z. Hou, Huixing Zhou
The key of controlling the H-type motion platform is to realize the synchronous feed of two linear motors. There are many disadvantages in traditional master slave serial synchronous control method. In view of this, this paper designs a new controller which is decentralized estimation and centralized control type Model-Free Adaptive Control. This control system will effectively make up the shortcomings of the master-slave series control mode, and improve the positioning accuracy of the system.
{"title":"The model-free adaptive control for complex connected systems in the H-type motion platform","authors":"Jingshen Qi, Rongmin Cao, Z. Hou, Huixing Zhou","doi":"10.1109/DDCLS.2017.8068057","DOIUrl":"https://doi.org/10.1109/DDCLS.2017.8068057","url":null,"abstract":"The key of controlling the H-type motion platform is to realize the synchronous feed of two linear motors. There are many disadvantages in traditional master slave serial synchronous control method. In view of this, this paper designs a new controller which is decentralized estimation and centralized control type Model-Free Adaptive Control. This control system will effectively make up the shortcomings of the master-slave series control mode, and improve the positioning accuracy of the system.","PeriodicalId":419114,"journal":{"name":"2017 6th Data Driven Control and Learning Systems (DDCLS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115237541","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 : 2017-05-01DOI: 10.1109/DDCLS.2017.8068043
Chunhui Zhao, Xuanhong Chen, Limin Lu, Shumei Zhang, Youxian Sun
The conventional multivariate statistical process control (MSPC) methods may not be sensitive to the detection of incipient changes since they in general quantify the distance between the new sample and the modeling samples without checking the changes of data distribution. In the present works, a method with dissimilarity analysis and quality-relevant subspace decomposition based on process monitoring method is developed to detect incipient abnormal behaviors that cannot be readily picked up by the conventional MSPC. First, the data are divided into quality-relevant subspace and the other subspace. Then dissimilarity analysis is performed to quantitatively evaluate the distribution difference between the normal condition and fault status for both subspaces. It can evaluate the incipient abnormal behaviors from the quality-relevant perspective to reveal the influences of incipient abnormality on quality. The paper demonstrates that the new method is more sensitive to the detection and isolation of incipient abnormal behaviors that are responsible for the distortion of the underlying covariance structure. Besides, it can tell whether the incipient fault can influence the quality index or not. Its feasibility and performance are illustrated with industrial process data.
{"title":"Incipient fault detection and variable isolation based on subspace decomposition and distribution dissimilarity analysis","authors":"Chunhui Zhao, Xuanhong Chen, Limin Lu, Shumei Zhang, Youxian Sun","doi":"10.1109/DDCLS.2017.8068043","DOIUrl":"https://doi.org/10.1109/DDCLS.2017.8068043","url":null,"abstract":"The conventional multivariate statistical process control (MSPC) methods may not be sensitive to the detection of incipient changes since they in general quantify the distance between the new sample and the modeling samples without checking the changes of data distribution. In the present works, a method with dissimilarity analysis and quality-relevant subspace decomposition based on process monitoring method is developed to detect incipient abnormal behaviors that cannot be readily picked up by the conventional MSPC. First, the data are divided into quality-relevant subspace and the other subspace. Then dissimilarity analysis is performed to quantitatively evaluate the distribution difference between the normal condition and fault status for both subspaces. It can evaluate the incipient abnormal behaviors from the quality-relevant perspective to reveal the influences of incipient abnormality on quality. The paper demonstrates that the new method is more sensitive to the detection and isolation of incipient abnormal behaviors that are responsible for the distortion of the underlying covariance structure. Besides, it can tell whether the incipient fault can influence the quality index or not. Its feasibility and performance are illustrated with industrial process data.","PeriodicalId":419114,"journal":{"name":"2017 6th Data Driven Control and Learning Systems (DDCLS)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126882299","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 : 2017-05-01DOI: 10.1109/DDCLS.2017.8068097
Qinglai Wei, Ruizhuo Song, Yancai Xu, Derong Liu, Qiao Lin
In this paper, a novel discrete-time iterative zero-sum adaptive dynamic programming (ADP) algorithm is developed for solving the optimal control problems of nonlinear systems. Two iteration processes, which are lower and upper iterations, are employed to solve the lower and upper value functions, respectively. Arbitrary positive semi-definite functions are acceptable to initialize the upper and lower iterations of the iterative zero-sum ADP algorithm. It is proven that the upper and lower value functions converge to the optimal performance index function if the optimal performance index function exists, where the existence criterion of the optimal performance index function is unnecessary. Simulation examples are given to illustrate the effective performance of the present method.
{"title":"Discrete-time optimal zero-sum games for nonlinear systems via adaptive dynamic programming","authors":"Qinglai Wei, Ruizhuo Song, Yancai Xu, Derong Liu, Qiao Lin","doi":"10.1109/DDCLS.2017.8068097","DOIUrl":"https://doi.org/10.1109/DDCLS.2017.8068097","url":null,"abstract":"In this paper, a novel discrete-time iterative zero-sum adaptive dynamic programming (ADP) algorithm is developed for solving the optimal control problems of nonlinear systems. Two iteration processes, which are lower and upper iterations, are employed to solve the lower and upper value functions, respectively. Arbitrary positive semi-definite functions are acceptable to initialize the upper and lower iterations of the iterative zero-sum ADP algorithm. It is proven that the upper and lower value functions converge to the optimal performance index function if the optimal performance index function exists, where the existence criterion of the optimal performance index function is unnecessary. Simulation examples are given to illustrate the effective performance of the present method.","PeriodicalId":419114,"journal":{"name":"2017 6th Data Driven Control and Learning Systems (DDCLS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129437817","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 : 2017-05-01DOI: 10.1109/DDCLS.2017.8068045
Qiao Zhu
The purpose of this work is to improve the tracking performance of the iterative learning control (ILC) by designing a new learning law that has the ability to update the input along both the time and iterative axes. First, the reference is generated by a high-order internal model (HOIM) along the iterative axis and can be approximated by an HOIM along the time axis. Then, the HOIM-based repetitive control (RC) and ILC design methods are introduced, which can update the input along the time and iterative axes, respectively. Inspired by the design methods of the HOIM-based RC and ILC, a new ILC scheme, named as repetitive iterative learning control (RILC), is constructed by incorporating both the HOIMs of the reference along the time and iterative axes. Due to the additional use of the time-varying information of the reference, it is verified that the RILC is superior to the ILC. Finally, a microscale robotic deposition system is given to illustrate the advantage of the proposed RILC scheme.
{"title":"A novel repetitive iterative learning control for linear discrete-time systems with time-iteration-varying reference","authors":"Qiao Zhu","doi":"10.1109/DDCLS.2017.8068045","DOIUrl":"https://doi.org/10.1109/DDCLS.2017.8068045","url":null,"abstract":"The purpose of this work is to improve the tracking performance of the iterative learning control (ILC) by designing a new learning law that has the ability to update the input along both the time and iterative axes. First, the reference is generated by a high-order internal model (HOIM) along the iterative axis and can be approximated by an HOIM along the time axis. Then, the HOIM-based repetitive control (RC) and ILC design methods are introduced, which can update the input along the time and iterative axes, respectively. Inspired by the design methods of the HOIM-based RC and ILC, a new ILC scheme, named as repetitive iterative learning control (RILC), is constructed by incorporating both the HOIMs of the reference along the time and iterative axes. Due to the additional use of the time-varying information of the reference, it is verified that the RILC is superior to the ILC. Finally, a microscale robotic deposition system is given to illustrate the advantage of the proposed RILC scheme.","PeriodicalId":419114,"journal":{"name":"2017 6th Data Driven Control and Learning Systems (DDCLS)","volume":"22 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124237335","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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