Pub Date : 2009-06-24DOI: 10.1109/MED.2009.5164721
E. Bossanyi, G. Ramtharan, B. Savini
The importance of the controller in determining the design loads of a wind turbine has been recognised for many years. This paper will discuss this topic from the following perspectives:
控制器在确定风力发电机设计负荷方面的重要性已被认识多年。本文将从以下几个方面来探讨这个问题:
{"title":"The importance of control in wind turbine design and loading","authors":"E. Bossanyi, G. Ramtharan, B. Savini","doi":"10.1109/MED.2009.5164721","DOIUrl":"https://doi.org/10.1109/MED.2009.5164721","url":null,"abstract":"The importance of the controller in determining the design loads of a wind turbine has been recognised for many years. This paper will discuss this topic from the following perspectives:","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"6 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":"131035898","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.2009.5164532
Niel Canty, T. O'Mahony
A PieceWise AutoRegressive eXogenous (PWARX) model for the AMIRA DR300 DC motor is identified using clustering techniques available in the Hybrid Identification Toolbox (HIT). The choice of design parameters like magnitude of the noise variance and size of the local dataset are discussed. These parameters influence the quality and performance of the PWARX model. The performance of the PWARX model is compared with that of a linear model. The results show superior performance of the PWARX model especially in the nonlinear regions.
{"title":"Design considerations for piecewise affine system identification of nonlinear systems","authors":"Niel Canty, T. O'Mahony","doi":"10.1109/MED.2009.5164532","DOIUrl":"https://doi.org/10.1109/MED.2009.5164532","url":null,"abstract":"A PieceWise AutoRegressive eXogenous (PWARX) model for the AMIRA DR300 DC motor is identified using clustering techniques available in the Hybrid Identification Toolbox (HIT). The choice of design parameters like magnitude of the noise variance and size of the local dataset are discussed. These parameters influence the quality and performance of the PWARX model. The performance of the PWARX model is compared with that of a linear model. The results show superior performance of the PWARX model especially in the nonlinear regions.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"42 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":"133015543","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.2009.5164560
Mashuq un Nabi, P. Guha
A modeling and control strategy is presented for a nonlinear problem of heating a domain of nontrivial geometry from an arbitrary initial to another arbitrary desired temperature profile. A large dynamic model of the nonlinear heat equation is obtained through finite element (FE), which is reduced using proper orthogonal decomposition. Finally, a nonlinear control law is proposed for the control problem and its stability proved through Lyapunov analysis. Results of numerical implementation are presented and possible extensions identified.
{"title":"A control law for a nonlinear heat conduction problem on nontrivial domains using FEM","authors":"Mashuq un Nabi, P. Guha","doi":"10.1109/MED.2009.5164560","DOIUrl":"https://doi.org/10.1109/MED.2009.5164560","url":null,"abstract":"A modeling and control strategy is presented for a nonlinear problem of heating a domain of nontrivial geometry from an arbitrary initial to another arbitrary desired temperature profile. A large dynamic model of the nonlinear heat equation is obtained through finite element (FE), which is reduced using proper orthogonal decomposition. Finally, a nonlinear control law is proposed for the control problem and its stability proved through Lyapunov analysis. Results of numerical implementation are presented and possible extensions identified.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"160 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":"133119020","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.2009.5164740
He Huang, G. Feng
This paper presents a delay-dependent approach to studying the exponential stability of linear systems with interval time-varying delay. It is assumed that the upper and lower bounds of the time delay are known. Delay-dependent stability conditions are derived based on an integral inequality, and the exponential decay rate can be obtained by means of the feasibility of a linear matrix inequality. By fully considering the information of the delayed states and introducing slack variables, the conservatism in some existing results is further reduced. Two numerical examples are finally provided to demonstrate the effectiveness of the proposed approach.
{"title":"On estimating the exponential decay rate for linear systems with interval time-varying delay","authors":"He Huang, G. Feng","doi":"10.1109/MED.2009.5164740","DOIUrl":"https://doi.org/10.1109/MED.2009.5164740","url":null,"abstract":"This paper presents a delay-dependent approach to studying the exponential stability of linear systems with interval time-varying delay. It is assumed that the upper and lower bounds of the time delay are known. Delay-dependent stability conditions are derived based on an integral inequality, and the exponential decay rate can be obtained by means of the feasibility of a linear matrix inequality. By fully considering the information of the delayed states and introducing slack variables, the conservatism in some existing results is further reduced. Two numerical examples are finally provided to demonstrate the effectiveness of the proposed approach.","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":"131660202","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.2009.5164669
M. Lazarevic, A. Obradović, Marko Joka, Ljubiša Bučanović
This paper suggests a new optimal control of robotic system based on a biologically inspired control principle-synergy, which allows resolving actuator redundancy. The redundancy control problem has been discussed in the framework of optimal control problem which is solved by Pontryagin's maximum principle. Joint actuator synergy approach is suggested which is established by optimization law at coordination level, where is introduced a central control as suggested Bernstein in [1]. In that way, one may obtain a specific constraint(s) on the control variables. Finally, the effectiveness of suggested biologically inspired optimal control is demonstrated with a suitable robot with three degrees of freedom and four control variables as the illustrative example.
{"title":"Biologically inspired optimal control of robotic system:synergy approach","authors":"M. Lazarevic, A. Obradović, Marko Joka, Ljubiša Bučanović","doi":"10.1109/MED.2009.5164669","DOIUrl":"https://doi.org/10.1109/MED.2009.5164669","url":null,"abstract":"This paper suggests a new optimal control of robotic system based on a biologically inspired control principle-synergy, which allows resolving actuator redundancy. The redundancy control problem has been discussed in the framework of optimal control problem which is solved by Pontryagin's maximum principle. Joint actuator synergy approach is suggested which is established by optimization law at coordination level, where is introduced a central control as suggested Bernstein in [1]. In that way, one may obtain a specific constraint(s) on the control variables. Finally, the effectiveness of suggested biologically inspired optimal control is demonstrated with a suitable robot with three degrees of freedom and four control variables as the illustrative example.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"18 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":"115454376","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}
We consider the tracking problem of Single Input Single Output, unknown, nonaffine systems with guaranteed prescribed performance in the presence of additive input disturbances. By prescribed performance we mean that the tracking error should converge to a predefined arbitrarily small residual set, with convergence rate no less than a prespecified value, exhibiting a maximum overshoot less than a sufficiently small preassigned constant. An output error transformation is incorporated to produce a transformed system the boundedness of which is proven to be sufficient to solve the problem. A fuzzy system is utilized to approximate the unknown system nonlinearities and consequently a smooth robust adaptive fuzzy controller is designed to achieve the boundedness of the transformed system as well as of all signals in the closed loop. System performance is independent of controller gains, while no almost perfect fuzzy modeling is required. Simulation studies clarify and verify the approach.
{"title":"Robust adaptive fuzzy control of nonaffine systems guaranteeing transient and steady state error bounds","authors":"C. Bechlioulis, G. Rovithakis","doi":"10.1002/acs.2283","DOIUrl":"https://doi.org/10.1002/acs.2283","url":null,"abstract":"We consider the tracking problem of Single Input Single Output, unknown, nonaffine systems with guaranteed prescribed performance in the presence of additive input disturbances. By prescribed performance we mean that the tracking error should converge to a predefined arbitrarily small residual set, with convergence rate no less than a prespecified value, exhibiting a maximum overshoot less than a sufficiently small preassigned constant. An output error transformation is incorporated to produce a transformed system the boundedness of which is proven to be sufficient to solve the problem. A fuzzy system is utilized to approximate the unknown system nonlinearities and consequently a smooth robust adaptive fuzzy controller is designed to achieve the boundedness of the transformed system as well as of all signals in the closed loop. System performance is independent of controller gains, while no almost perfect fuzzy modeling is required. Simulation studies clarify and verify the approach.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"319 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":"119309081","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.2009.5164731
X. Papageorgiou, K. Kyriakopoulos
We present a methodology to steer the end effector of a robotic manipulator, which is constrained in terms of joint rates, on the surface within the workspace, to perform surface tasks. We develop smooth controllers for stabilizing the end effector to a point, and for tracking a trajectory on this surface, while respecting the input constraints, and the same time applying a specific force on it. We show that the resulting closed loop system is uniformly asymptotically stable and we verify our analytical development with computer simulations.
{"title":"Controlling the motion of robot manipulators on constrained surfaces","authors":"X. Papageorgiou, K. Kyriakopoulos","doi":"10.1109/MED.2009.5164731","DOIUrl":"https://doi.org/10.1109/MED.2009.5164731","url":null,"abstract":"We present a methodology to steer the end effector of a robotic manipulator, which is constrained in terms of joint rates, on the surface within the workspace, to perform surface tasks. We develop smooth controllers for stabilizing the end effector to a point, and for tracking a trajectory on this surface, while respecting the input constraints, and the same time applying a specific force on it. We show that the resulting closed loop system is uniformly asymptotically stable and we verify our analytical development with computer simulations.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"544 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":"116236253","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.2009.5164646
P. Herman
A globally stabilizing controller in terms of the normalized quasi-velocities (NQV) for the cart-pendulum system is considered in this note. Introducing the NQV vector together with generalized coordinates leads to first-order differential equations with the identity mass matrix of the system. The proposed NQV controller, based on an energy approach, ensures balancing the inverted pendulum and bringing it to its upper equilibrium position. At the same time the cart displacement tends to zero. Some differences between the modified controller and the classical one given by Lozano et al. (2000) were discussed too.
本文考虑了小车摆系统的一种基于归一化准速度的全局稳定控制器。引入NQV矢量和广义坐标，得到系统的一阶微分方程，该方程具有系统的单位质量矩阵。所提出的NQV控制器基于能量方法，保证了倒立摆的平衡并使倒立摆达到上平衡位置。同时小车位移趋于零。讨论了改进后的控制器与Lozano et al.(2000)给出的经典控制器之间的一些差异。
{"title":"Stabilization of the cart-pendulum system using normalized quasi-velocities","authors":"P. Herman","doi":"10.1109/MED.2009.5164646","DOIUrl":"https://doi.org/10.1109/MED.2009.5164646","url":null,"abstract":"A globally stabilizing controller in terms of the normalized quasi-velocities (NQV) for the cart-pendulum system is considered in this note. Introducing the NQV vector together with generalized coordinates leads to first-order differential equations with the identity mass matrix of the system. The proposed NQV controller, based on an energy approach, ensures balancing the inverted pendulum and bringing it to its upper equilibrium position. At the same time the cart displacement tends to zero. Some differences between the modified controller and the classical one given by Lozano et al. (2000) were discussed too.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"31 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":"116462382","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.2009.5164588
L. Ciprian, Udrea Andreea, P. Dumitru
The paper proposes a combined feedforward - feedback control scheme with nonlinear compensator as a solution for some classes of hysteretic processes. This is developed using the nonlinear geometric characteristic of the process and a classical robust control algorithm. The design methods for the components of the proposed structure are based on experimental tests, classic identification and closed loop pole placement methods. The applicability of the proposed method and of other recent methods is proved using a real-time structure implementation based on a RST control algorithm. A comparison between them and the analysis on advantages and disadvantages was made. In the end, its software implementation and the obtained results are also showed and commented.
{"title":"Robust control solutions for some classes of hysteretic processes","authors":"L. Ciprian, Udrea Andreea, P. Dumitru","doi":"10.1109/MED.2009.5164588","DOIUrl":"https://doi.org/10.1109/MED.2009.5164588","url":null,"abstract":"The paper proposes a combined feedforward - feedback control scheme with nonlinear compensator as a solution for some classes of hysteretic processes. This is developed using the nonlinear geometric characteristic of the process and a classical robust control algorithm. The design methods for the components of the proposed structure are based on experimental tests, classic identification and closed loop pole placement methods. The applicability of the proposed method and of other recent methods is proved using a real-time structure implementation based on a RST control algorithm. A comparison between them and the analysis on advantages and disadvantages was made. In the end, its software implementation and the obtained results are also showed and commented.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"9 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":"123929675","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.2009.5164585
J. Bian, R. Seker, S. Ramaswamy, N. Yilmazer
U.S. Immigration and Customs Enforcement is overwhelmed with the number of containers entering U.S.A. on a regular basis. Although containers are pre-screened and inspected at the time of shipment, it does not necessarily address all security risks. Containers stay en-route for long enough time that their contents can be tempered with or altered according to the procedures/needs of a terrorist attack. Moreover, considering the huge amount of shipments entering U.S. board daily, it is not practical to inspect every container again upon arriving U.S. ports. There is a urgent need to develop a protection system, such that the integrity of the containers can be persevered or at least the intrusion can be detected and properly handled. This paper proposes a design of a comprehensive solution that would monitor containers' integrity from the originating port to the destination port and report any intrusion event if it has taken place so the intruded container can be handled in an appropriate way. More important, the system itself needs to be secure and intrusion resistant. In the proposed system, intrusion detection sensors are deployed on each container, and form a Wireless Sensor Network (WSN) to report intrusion incidents. A secure and reliable communication protocol has been developed to ensure not only the integrity but also the authenticity of the communication conducted among among sensor nodes. With in the proposed system, not only the intrusions can be identified and properly handled, but also the system itself is attack resistant by utilizing Wireless Sensor Networks in a smart fashion.
{"title":"Container communities: Anti-tampering Wireless Sensor Network for global cargo security","authors":"J. Bian, R. Seker, S. Ramaswamy, N. Yilmazer","doi":"10.1109/MED.2009.5164585","DOIUrl":"https://doi.org/10.1109/MED.2009.5164585","url":null,"abstract":"U.S. Immigration and Customs Enforcement is overwhelmed with the number of containers entering U.S.A. on a regular basis. Although containers are pre-screened and inspected at the time of shipment, it does not necessarily address all security risks. Containers stay en-route for long enough time that their contents can be tempered with or altered according to the procedures/needs of a terrorist attack. Moreover, considering the huge amount of shipments entering U.S. board daily, it is not practical to inspect every container again upon arriving U.S. ports. There is a urgent need to develop a protection system, such that the integrity of the containers can be persevered or at least the intrusion can be detected and properly handled. This paper proposes a design of a comprehensive solution that would monitor containers' integrity from the originating port to the destination port and report any intrusion event if it has taken place so the intruded container can be handled in an appropriate way. More important, the system itself needs to be secure and intrusion resistant. In the proposed system, intrusion detection sensors are deployed on each container, and form a Wireless Sensor Network (WSN) to report intrusion incidents. A secure and reliable communication protocol has been developed to ensure not only the integrity but also the authenticity of the communication conducted among among sensor nodes. With in the proposed system, not only the intrusions can be identified and properly handled, but also the system itself is attack resistant by utilizing Wireless Sensor Networks in a smart fashion.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"10 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":"129906889","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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