Pub Date : 2009-06-24DOI: 10.1109/MED.2009.5164539
A. Babbar, E. Ortiz, V. Syrmos
Fault diagnosis plays a crucial role in aircraft health management for modern military and commercial aircrafts. Accurate detection and diagnosis of impending aircraft faults can lay the foundation to reduce maintenance turnaround times, operational costs and improve flight safety. Modern aircrafts are capable of generating massive amount of in-flight data and maintenance reports, which makes the task of developing a robust fault diagnosis scheme greatly challenging. Using flight parameters such as Exhaust Gas Temperature (EGT), Fuel Flow (FF), Engine Fan Speeds (N1 and N2), Total Air Temperature (TAT) decisions can be made on current and future health of aircraft engines. In this paper such flight parameters are used as the basis to develop a diagnostic scheme which can identify a fault and relate this information with the ground reports and maintenance data to allow the maintainer decide necessary maintenance procedures. The baseline values for the in-flight parameters are used as a reference for this evaluation. Any deviation from the baseline values can be considered as a system fault and has to be addressed by the maintenance crew. The data used for this analysis is obtained from flight data recorders. The final decision on a fault being accurately detected is taken by the ground maintenance crew or engineers. Once the fault has been accurately detected and identified Fault Isolation Manuals (FIM) are used to identify necessary maintenance actions required to repair the system or sub-system under fault. A robust fault diagnosis scheme combined with the maintenance actions can give the maintainer enhanced foresight in aircraft system health thus reducing unnecessary maintenance actions.
{"title":"Fuzzy clustering based fault diagnosis for aircraft engine health management","authors":"A. Babbar, E. Ortiz, V. Syrmos","doi":"10.1109/MED.2009.5164539","DOIUrl":"https://doi.org/10.1109/MED.2009.5164539","url":null,"abstract":"Fault diagnosis plays a crucial role in aircraft health management for modern military and commercial aircrafts. Accurate detection and diagnosis of impending aircraft faults can lay the foundation to reduce maintenance turnaround times, operational costs and improve flight safety. Modern aircrafts are capable of generating massive amount of in-flight data and maintenance reports, which makes the task of developing a robust fault diagnosis scheme greatly challenging. Using flight parameters such as Exhaust Gas Temperature (EGT), Fuel Flow (FF), Engine Fan Speeds (N1 and N2), Total Air Temperature (TAT) decisions can be made on current and future health of aircraft engines. In this paper such flight parameters are used as the basis to develop a diagnostic scheme which can identify a fault and relate this information with the ground reports and maintenance data to allow the maintainer decide necessary maintenance procedures. The baseline values for the in-flight parameters are used as a reference for this evaluation. Any deviation from the baseline values can be considered as a system fault and has to be addressed by the maintenance crew. The data used for this analysis is obtained from flight data recorders. The final decision on a fault being accurately detected is taken by the ground maintenance crew or engineers. Once the fault has been accurately detected and identified Fault Isolation Manuals (FIM) are used to identify necessary maintenance actions required to repair the system or sub-system under fault. A robust fault diagnosis scheme combined with the maintenance actions can give the maintainer enhanced foresight in aircraft system health thus reducing unnecessary maintenance actions.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132695600","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 : 2009-06-24DOI: 10.1109/MED.2009.5164580
Grigoris Lionis, K. Kyriakopoulos
In this paper we investigate a class of algorithms for solving a target allocation problem for a team of mobile robots. The problem solved concerns the concurrent solution of the target allocation problem and the motion planning problem, and it is solved for a specific class of targets. Specifically we are studying the solution of the target allocation problem when the targets are structured on a full grid structure. The problem is solved decentralized, with each agent having information regarding its position and its immediate vicinity. The main idea is to transform the problem from a 2D problem in a 1D problem. Time bounds for convergence are also given.
{"title":"A grid forming target allocation strategy for multi robot systems.","authors":"Grigoris Lionis, K. Kyriakopoulos","doi":"10.1109/MED.2009.5164580","DOIUrl":"https://doi.org/10.1109/MED.2009.5164580","url":null,"abstract":"In this paper we investigate a class of algorithms for solving a target allocation problem for a team of mobile robots. The problem solved concerns the concurrent solution of the target allocation problem and the motion planning problem, and it is solved for a specific class of targets. Specifically we are studying the solution of the target allocation problem when the targets are structured on a full grid structure. The problem is solved decentralized, with each agent having information regarding its position and its immediate vicinity. The main idea is to transform the problem from a 2D problem in a 1D problem. Time bounds for convergence are also given.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114319939","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 : 2009-06-24DOI: 10.1109/MED.2009.5164628
M. Volckaert, A. Van Mulders, J. Schoukens, M. Diehl, J. Swevers
A new method is proposed to solve the model inversion problem that is part of model based iterative learning control (ILC) for nonlinear systems. The model inversion problem consists of finding the input signal corresponding to a given output signal. This problem is formulated as a nonlinear dynamic optimization problem in time domain and solved efficiently using a constrained Gauss-Newton algorithm. A nonlinear ILC algorithm based on this model inversion approach is validated numerically and experimentally. The considered application is an electric circuit described by a polynomial nonlinear state-space model. The nonlinear ILC algorithm shows fast convergence and accurate tracking control.
{"title":"Model based nonlinear iterative learning control: A constrained Gauss-Newton approach","authors":"M. Volckaert, A. Van Mulders, J. Schoukens, M. Diehl, J. Swevers","doi":"10.1109/MED.2009.5164628","DOIUrl":"https://doi.org/10.1109/MED.2009.5164628","url":null,"abstract":"A new method is proposed to solve the model inversion problem that is part of model based iterative learning control (ILC) for nonlinear systems. The model inversion problem consists of finding the input signal corresponding to a given output signal. This problem is formulated as a nonlinear dynamic optimization problem in time domain and solved efficiently using a constrained Gauss-Newton algorithm. A nonlinear ILC algorithm based on this model inversion approach is validated numerically and experimentally. The considered application is an electric circuit described by a polynomial nonlinear state-space model. The nonlinear ILC algorithm shows fast convergence and accurate tracking control.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116438422","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 : 2009-06-24DOI: 10.1109/MED.2009.5164757
Ramin Naderi, A. Azemi, M. Yazdanpanah
In this paper, we present a sliding mode controller for FitzHugh-Nagumo (FHN) model affected by uncertainties, disturbances and immeasurable states. The sliding mode controller has been utilized with the aim of external signal tracking for the single cell FHN model. Both methods of Proportional Derivative Sliding Mode Control (PDSMC) and Proportional Integrator Derivative Sliding Mode Control (PIDSMC) are applied to the FHN model. For these control strategies, salient features of the controllers and their potentials are described. Simulation results for both methods are presented and compared. It is shown that different features of the control performance of the PIDSMC such as robustness, precision and chattering elimination are quite comparable to those of PDSMC. Since FHN model seems to correctly capture the electrical behavior of the heart Conduction system, therefore, this method might have important applications, especially, the proposed approach may be employed in control of cardiac arrhythmia.
{"title":"Control of heart conduction system arrhythmia by means of sliding mode scheme","authors":"Ramin Naderi, A. Azemi, M. Yazdanpanah","doi":"10.1109/MED.2009.5164757","DOIUrl":"https://doi.org/10.1109/MED.2009.5164757","url":null,"abstract":"In this paper, we present a sliding mode controller for FitzHugh-Nagumo (FHN) model affected by uncertainties, disturbances and immeasurable states. The sliding mode controller has been utilized with the aim of external signal tracking for the single cell FHN model. Both methods of Proportional Derivative Sliding Mode Control (PDSMC) and Proportional Integrator Derivative Sliding Mode Control (PIDSMC) are applied to the FHN model. For these control strategies, salient features of the controllers and their potentials are described. Simulation results for both methods are presented and compared. It is shown that different features of the control performance of the PIDSMC such as robustness, precision and chattering elimination are quite comparable to those of PDSMC. Since FHN model seems to correctly capture the electrical behavior of the heart Conduction system, therefore, this method might have important applications, especially, the proposed approach may be employed in control of cardiac arrhythmia.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114806626","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 : 2009-06-24DOI: 10.1109/MED.2009.5164627
K. Michail, A. Zolotas, R. Goodall, J. Pearson
The paper presents a method to recover the performance of an EMS (Electromagnetic suspension) under faulty air gap measurement. The controller is a combination of classical control loops, a Kalman estimator and analytical redundancy (for the air gap signal). In case of a faulty air gap sensor the air gap signal is recovered using the Kalman filter and analytical redundancy. Simulations verify the proposed sensor Fault Tolerant Control (FTC) method for the EMS system.
{"title":"Fault Tolerant Control for EMS systems with sensor failure","authors":"K. Michail, A. Zolotas, R. Goodall, J. Pearson","doi":"10.1109/MED.2009.5164627","DOIUrl":"https://doi.org/10.1109/MED.2009.5164627","url":null,"abstract":"The paper presents a method to recover the performance of an EMS (Electromagnetic suspension) under faulty air gap measurement. The controller is a combination of classical control loops, a Kalman estimator and analytical redundancy (for the air gap signal). In case of a faulty air gap sensor the air gap signal is recovered using the Kalman filter and analytical redundancy. Simulations verify the proposed sensor Fault Tolerant Control (FTC) method for the EMS system.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131799472","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 : 2009-06-24DOI: 10.1109/MED.2009.5164727
I. Shames, Pouyan T. Bibalan, B. Fidan, B. Anderson
In this paper we introduce a polynomial method for addressing sensor network localization problems when the inter-sensor measurements are noisy. We compare the results obtained applying this method with the results obtained by other localization methods in the literature. Later in the paper we propose tools from algebraic geometry to aid us solve the problem in a more computationally appealing way.
{"title":"Polynomial methods in noisy network localization","authors":"I. Shames, Pouyan T. Bibalan, B. Fidan, B. Anderson","doi":"10.1109/MED.2009.5164727","DOIUrl":"https://doi.org/10.1109/MED.2009.5164727","url":null,"abstract":"In this paper we introduce a polynomial method for addressing sensor network localization problems when the inter-sensor measurements are noisy. We compare the results obtained applying this method with the results obtained by other localization methods in the literature. Later in the paper we propose tools from algebraic geometry to aid us solve the problem in a more computationally appealing way.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132217033","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 : 2009-06-24DOI: 10.1109/MED.2009.5164762
V. C. Ilioudis, N. Margaris
This paper introduces a new simple sensorless algorithm of estimating the Permanent Magnet Synchronous Motor (PMSM) speed and position. The proposed estimation method is implemented using a stator flux/current and a modified back Electromotive Force (EMF) observer connected in cascade. The flux/current observer based on sliding mode techniques ensures stator currents convergence while the modified back EMF observer provides accurate rotor position estimation at a wide range of motor speeds. An adaptive stator resistance observer is embedded in the flux/current Sliding Mode Observer (SMO) and improves the overall observation system convergence. Simulation results show good properties of the proposed estimation approach.
{"title":"Sensorless Sliding Mode Observer based on rotor position error for salient-pole PMSM","authors":"V. C. Ilioudis, N. Margaris","doi":"10.1109/MED.2009.5164762","DOIUrl":"https://doi.org/10.1109/MED.2009.5164762","url":null,"abstract":"This paper introduces a new simple sensorless algorithm of estimating the Permanent Magnet Synchronous Motor (PMSM) speed and position. The proposed estimation method is implemented using a stator flux/current and a modified back Electromotive Force (EMF) observer connected in cascade. The flux/current observer based on sliding mode techniques ensures stator currents convergence while the modified back EMF observer provides accurate rotor position estimation at a wide range of motor speeds. An adaptive stator resistance observer is embedded in the flux/current Sliding Mode Observer (SMO) and improves the overall observation system convergence. Simulation results show good properties of the proposed estimation approach.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128357796","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 : 2009-06-24DOI: 10.1109/MED.2009.5164683
D. Chakraborty, J. Hammer
The problem of keeping performance errors within bounds while controlling a perturbed open loop linear system is considered. The objective is to maximize the time during which performance errors remain acceptable, given that the controlled system is within a specified neighborhood of its nominal parameter values. It is shown that the optimal solution is associated with a switching function z(t) which has the following feature: the optimal input signal is a bang-bang signal when z(t) is not the zero function.
{"title":"Control during feedback failure: Characteristics of the optimal solution","authors":"D. Chakraborty, J. Hammer","doi":"10.1109/MED.2009.5164683","DOIUrl":"https://doi.org/10.1109/MED.2009.5164683","url":null,"abstract":"The problem of keeping performance errors within bounds while controlling a perturbed open loop linear system is considered. The objective is to maximize the time during which performance errors remain acceptable, given that the controlled system is within a specified neighborhood of its nominal parameter values. It is shown that the optimal solution is associated with a switching function z(t) which has the following feature: the optimal input signal is a bang-bang signal when z(t) is not the zero function.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"58-60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134237744","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 : 2009-06-24DOI: 10.1109/MED.2009.5164592
G. Tenenbaum, M. Tucsnak
It is well known that for pointwise control problems we generally have a lack of robustness with respect to the location of the actuator. More precisely, any open subset of the considered domain ([0, π] in our case) contains points for which controllability fails, see, for instance, [1] and references therein. A remedy which has been proposed in Berggren [2] is to consider an actuator which moves according to a prescribed law. To describe the problem introduced in [2], let α, β and ω be positive numbers and define the given equation. We consider the initial and boundary value problem with a given equation where, for every real a, δa stands for the Dirac measure at a. The above system describes the linear vibrations of an elastic string with a pointwise scanning actuator. This means that, for very t ⩾ 0 the actuator is positioned at ϱ(t) at instant t. It is easy to see that if α/π ∈ Q and β = 0 (i.e., for some fixed actuators) the above system is not approximately controllable.
{"title":"Scanning control for the string equation","authors":"G. Tenenbaum, M. Tucsnak","doi":"10.1109/MED.2009.5164592","DOIUrl":"https://doi.org/10.1109/MED.2009.5164592","url":null,"abstract":"It is well known that for pointwise control problems we generally have a lack of robustness with respect to the location of the actuator. More precisely, any open subset of the considered domain ([0, π] in our case) contains points for which controllability fails, see, for instance, [1] and references therein. A remedy which has been proposed in Berggren [2] is to consider an actuator which moves according to a prescribed law. To describe the problem introduced in [2], let α, β and ω be positive numbers and define the given equation. We consider the initial and boundary value problem with a given equation where, for every real a, δa stands for the Dirac measure at a. The above system describes the linear vibrations of an elastic string with a pointwise scanning actuator. This means that, for very t ⩾ 0 the actuator is positioned at ϱ(t) at instant t. It is easy to see that if α/π ∈ Q and β = 0 (i.e., for some fixed actuators) the above system is not approximately controllable.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134354993","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 : 2009-06-24DOI: 10.1109/MED.2009.5164641
G. Karras, S. Loizou, K. Kyriakopoulos
This paper describes a switching visual servoing control scheme designed for an underwater vehicle with nonholonomic constraints. The objective of the proposed control methodology is to provide a human tele-operator the capability to move the vehicle without loosing a visual target from the vision system's optical field. Target tracking and vehicle pose are obtained using a Laser Vision System (LVS). Using a Lyapunov based switching controller design, the resulting controller has analytically guaranteed stability and convergence properties, while its applicability and performance have been experimentally verified using a small non-holonomic Remotely Operated Vehicle (ROV), in a test tank.
{"title":"Semi-autonomous teleoperation of a non-holonomic underwater vehicle using a Laser Vision System: A visual-servoing switching control approach","authors":"G. Karras, S. Loizou, K. Kyriakopoulos","doi":"10.1109/MED.2009.5164641","DOIUrl":"https://doi.org/10.1109/MED.2009.5164641","url":null,"abstract":"This paper describes a switching visual servoing control scheme designed for an underwater vehicle with nonholonomic constraints. The objective of the proposed control methodology is to provide a human tele-operator the capability to move the vehicle without loosing a visual target from the vision system's optical field. Target tracking and vehicle pose are obtained using a Laser Vision System (LVS). Using a Lyapunov based switching controller design, the resulting controller has analytically guaranteed stability and convergence properties, while its applicability and performance have been experimentally verified using a small non-holonomic Remotely Operated Vehicle (ROV), in a test tank.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133939814","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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