Pub Date : 2009-06-24DOI: 10.1109/MED.2009.5164562
A. Pantelous, A. D. Karageorgos, G. Kalogeropoulos
This paper is concerned with the solution of linear higher order rectangular differential matrix systems which are appeared in many applications of optimal and filtering control theory. The classical power series method is employed to obtain the analytic solution of linear higher order rectangular (singular) differential matrix equations. In the present paper, the authors provide some preliminary results for solving linear singular matrix systems with the power series approach.
{"title":"Power series solutions for linear higher order rectangular differential matrix control systems","authors":"A. Pantelous, A. D. Karageorgos, G. Kalogeropoulos","doi":"10.1109/MED.2009.5164562","DOIUrl":"https://doi.org/10.1109/MED.2009.5164562","url":null,"abstract":"This paper is concerned with the solution of linear higher order rectangular differential matrix systems which are appeared in many applications of optimal and filtering control theory. The classical power series method is employed to obtain the analytic solution of linear higher order rectangular (singular) differential matrix equations. In the present paper, the authors provide some preliminary results for solving linear singular matrix systems with the power series approach.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"62 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":"116804165","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.2009.5164553
F. Chaves, M. Abbas-Turki, H. Abou-Kandil, J. Romano
This paper proposes a distributed power control framework for wireless communication networks that is able to provide a flexible QoS with the introduction of a dynamic target QoS into a conventional (fixed) target tracking power control algorithm. The target QoS of individual terminals is automatically updated according to a given performance criterion. The distributed power control is formulated as a Linear Quadratic Regulator (LQR) problem, where system operating points are met according to channel quality and the choice of key parameters. Effectiveness of the LQR-based power control is analyzed and the influence of such parameters on the algorithm's performance is investigated with the help of computer experiments.
{"title":"Distributed power control for QoS-flexible services in wireless communication networks","authors":"F. Chaves, M. Abbas-Turki, H. Abou-Kandil, J. Romano","doi":"10.1109/MED.2009.5164553","DOIUrl":"https://doi.org/10.1109/MED.2009.5164553","url":null,"abstract":"This paper proposes a distributed power control framework for wireless communication networks that is able to provide a flexible QoS with the introduction of a dynamic target QoS into a conventional (fixed) target tracking power control algorithm. The target QoS of individual terminals is automatically updated according to a given performance criterion. The distributed power control is formulated as a Linear Quadratic Regulator (LQR) problem, where system operating points are met according to channel quality and the choice of key parameters. Effectiveness of the LQR-based power control is analyzed and the influence of such parameters on the algorithm's performance is investigated with the help of computer experiments.","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":"125318401","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.2009.5164618
J. Novák, V. Bobál
The paper deals with the problem of modeling and control of nonlinear processes using the Local Model Network (LMN). The idea is based on development of the local linear models for the whole operating range of the controlled process. The nonlinear plant is then approximated by a set of locally valid sub-models, which are smoothly connected using the validity function. For saving the computational load, linear model is obtained by interpolating these linear models at each sample instant and then used in Model Predictive Control (MPC) framework to calculate the future behavior of the process. The approach is verified in a real-time control of Multifunction Process Control Teaching System (MPCTS) - the Armfield PCT 40.
{"title":"Predictive control of the heat exchanger using Local Model Network","authors":"J. Novák, V. Bobál","doi":"10.1109/MED.2009.5164618","DOIUrl":"https://doi.org/10.1109/MED.2009.5164618","url":null,"abstract":"The paper deals with the problem of modeling and control of nonlinear processes using the Local Model Network (LMN). The idea is based on development of the local linear models for the whole operating range of the controlled process. The nonlinear plant is then approximated by a set of locally valid sub-models, which are smoothly connected using the validity function. For saving the computational load, linear model is obtained by interpolating these linear models at each sample instant and then used in Model Predictive Control (MPC) framework to calculate the future behavior of the process. The approach is verified in a real-time control of Multifunction Process Control Teaching System (MPCTS) - the Armfield PCT 40.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"23 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":"125419776","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.2009.5164729
Nick Karamolegkos, G. Stathopoulos, A. Tzes
The development of an adaptive controller for a flexible link manipulator is the subject of this article. The system's measurements are assumed to be corrupted with noise of a priori known bounds. A Set Membership Identifier computes the feasible set (orthotope) within which the parameter vector resides. The orthotope's vertices provide the parameter-vector's bounds, which are used to compute the predicted system-output uncertainty. The controller tunes its gains through an on-line minimization of a cost that penalizes the control effort, the induced uncertainty on the system output, and the tracking error. The scheme is applied in simulation studies on a planar single flexible-link manipulator.
{"title":"Adaptive minimum uncertainty control for a flexible link manipulator","authors":"Nick Karamolegkos, G. Stathopoulos, A. Tzes","doi":"10.1109/MED.2009.5164729","DOIUrl":"https://doi.org/10.1109/MED.2009.5164729","url":null,"abstract":"The development of an adaptive controller for a flexible link manipulator is the subject of this article. The system's measurements are assumed to be corrupted with noise of a priori known bounds. A Set Membership Identifier computes the feasible set (orthotope) within which the parameter vector resides. The orthotope's vertices provide the parameter-vector's bounds, which are used to compute the predicted system-output uncertainty. The controller tunes its gains through an on-line minimization of a cost that penalizes the control effort, the induced uncertainty on the system output, and the tracking error. The scheme is applied in simulation studies on a planar single flexible-link manipulator.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"58 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":"121518306","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.2009.5164591
Sivakumar Pitchaiah, A. Armaou
The problem of robust feedback control of spatially distributed processes described by highly dissipative partial differential equations (PDEs) is considered. Typically, this problem is addressed through model reduction where finite dimensional approximations to the original PDE system are derived. A common approach to this task is the Karhunen-Loève expansion combined with the method of snapshots. To circumvent the issue of a priori availability of a sufficiently large ensemble of PDE solution data, we focus on the recursive computation of eigenfunctions as additional data from the process become available. Initially, an ensemble of eigenfunctions is constructed with a relatively small number of snapshots. The dominant eigenspace of this ensemble is then identified to compute the empirical eigenfunctions required for model reduction. This dominant eigenspace is reevaluated with the addition of new snapshots the dominant eigenspace is reevaluated and its dimensionality may increase or decrease. Because this dimensionality is typically small the computational burden is also small. This approach is applied to a representative example of dissipative PDEs, to demonstrate the effectiveness of the approach to design robust controllers.
{"title":"Robust control of dissipative PDE systems in the presence of uncertainty using adaptive model reduction","authors":"Sivakumar Pitchaiah, A. Armaou","doi":"10.1109/MED.2009.5164591","DOIUrl":"https://doi.org/10.1109/MED.2009.5164591","url":null,"abstract":"The problem of robust feedback control of spatially distributed processes described by highly dissipative partial differential equations (PDEs) is considered. Typically, this problem is addressed through model reduction where finite dimensional approximations to the original PDE system are derived. A common approach to this task is the Karhunen-Loève expansion combined with the method of snapshots. To circumvent the issue of a priori availability of a sufficiently large ensemble of PDE solution data, we focus on the recursive computation of eigenfunctions as additional data from the process become available. Initially, an ensemble of eigenfunctions is constructed with a relatively small number of snapshots. The dominant eigenspace of this ensemble is then identified to compute the empirical eigenfunctions required for model reduction. This dominant eigenspace is reevaluated with the addition of new snapshots the dominant eigenspace is reevaluated and its dimensionality may increase or decrease. Because this dimensionality is typically small the computational burden is also small. This approach is applied to a representative example of dissipative PDEs, to demonstrate the effectiveness of the approach to design robust controllers.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"15 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":"121693971","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.2009.5164709
S. Zanoli, L. Barboni
In this paper, a supervisory control system for oxygen consumption optimization on a Syngas Manufacturing Process Plant is proposed. A grey-box multivariable parametric identification of the oxygen compressor system is first performed. Consequently, by means of dynamic simulations the structure of an optimal control system has been determined, also reflecting the implementation constraints linked with the use of a DCS. Finally, operating results of the system implemented on the real process are shown which confirmed the expected results obtained by simulations.
{"title":"A DCS supervisory control of a centrifugal compessor for oxygen consumption optimization","authors":"S. Zanoli, L. Barboni","doi":"10.1109/MED.2009.5164709","DOIUrl":"https://doi.org/10.1109/MED.2009.5164709","url":null,"abstract":"In this paper, a supervisory control system for oxygen consumption optimization on a Syngas Manufacturing Process Plant is proposed. A grey-box multivariable parametric identification of the oxygen compressor system is first performed. Consequently, by means of dynamic simulations the structure of an optimal control system has been determined, also reflecting the implementation constraints linked with the use of a DCS. Finally, operating results of the system implemented on the real process are shown which confirmed the expected results obtained by simulations.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"85 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":"122487688","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.2009.5164603
J. Levin, Petros A. Ioannou
This paper presents an adaptive disturbance rejection scheme which makes use of a neural model of the disturbance. Unknown disturbances may account for the reduction in the performance of a control system where precise tracking is required. These disturbances may be nonlinear and dynamic making the rejection problem difficult for traditional methods. Also the plant being controlled may be unknown, as the model may be inaccurate or the parameters may vary over time. Classical controllers may not be able to stabilize the system and meet performance requirements under these conditions. For this purpose, the scheme presented employs an adaptive controller in conjunction with an adaptive disturbance rejector which is based on a neural model of the unknown disturbance. Numerical simulations are included to show the benefit of the scheme in terms of tracking performance.
{"title":"Adaptive control with neuro-adaptive disturbance rejection","authors":"J. Levin, Petros A. Ioannou","doi":"10.1109/MED.2009.5164603","DOIUrl":"https://doi.org/10.1109/MED.2009.5164603","url":null,"abstract":"This paper presents an adaptive disturbance rejection scheme which makes use of a neural model of the disturbance. Unknown disturbances may account for the reduction in the performance of a control system where precise tracking is required. These disturbances may be nonlinear and dynamic making the rejection problem difficult for traditional methods. Also the plant being controlled may be unknown, as the model may be inaccurate or the parameters may vary over time. Classical controllers may not be able to stabilize the system and meet performance requirements under these conditions. For this purpose, the scheme presented employs an adaptive controller in conjunction with an adaptive disturbance rejector which is based on a neural model of the unknown disturbance. Numerical simulations are included to show the benefit of the scheme in terms of tracking performance.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"78 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":"128806055","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.2009.5164567
J. D. Covarrubias, H. Boussalis, C. P. Torres
Fault Detection and Isolation is one of the necessary requirements to guarantee the stability and performance of a control system under fault conditions. This scope of this paper will focus on the methods used to identify sensor and actuator failures. An observer based approach is used in conjunction with a sensor relationship on a segmented primary dish telescope testbed located at the NASA sponsored Structures Pointing And Control Engineering (SPACE) laboratory at California State University, Los Angeles. The use of a sensor relationship that is not dependent on the input of the system allows for a differentiation between actuator and sensor faults.
{"title":"Fault Detection and Isolation of a segmented telescope testbed","authors":"J. D. Covarrubias, H. Boussalis, C. P. Torres","doi":"10.1109/MED.2009.5164567","DOIUrl":"https://doi.org/10.1109/MED.2009.5164567","url":null,"abstract":"Fault Detection and Isolation is one of the necessary requirements to guarantee the stability and performance of a control system under fault conditions. This scope of this paper will focus on the methods used to identify sensor and actuator failures. An observer based approach is used in conjunction with a sensor relationship on a segmented primary dish telescope testbed located at the NASA sponsored Structures Pointing And Control Engineering (SPACE) laboratory at California State University, Los Angeles. The use of a sensor relationship that is not dependent on the input of the system allows for a differentiation between actuator and sensor faults.","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":"131122872","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.2009.5164717
D. Katzourakis, Nikos I. Vitzilaios, N. Tsourveloudis
The development of a vision system to aid the autonomous navigation of an unmanned helicopter, primarily based on inertial sensors and GPS data, is presented. An unmanned helicopter has been equipped with appropriate sensors and a vision system fitted on a custom pan-tilt mechanism. Robust software, based on the Open Computer Vision Library (OpenCV), has been developed for handling images and video from a camera. Our implementation involves real time object recognition, histogram matching for real time video streaming, pattern matching and object tracking. Software implemented in C++ interacts with Matlab in order to aid the autonomous navigation of the helicopter.
{"title":"Vision aided navigation for unmanned helicopters","authors":"D. Katzourakis, Nikos I. Vitzilaios, N. Tsourveloudis","doi":"10.1109/MED.2009.5164717","DOIUrl":"https://doi.org/10.1109/MED.2009.5164717","url":null,"abstract":"The development of a vision system to aid the autonomous navigation of an unmanned helicopter, primarily based on inertial sensors and GPS data, is presented. An unmanned helicopter has been equipped with appropriate sensors and a vision system fitted on a custom pan-tilt mechanism. Robust software, based on the Open Computer Vision Library (OpenCV), has been developed for handling images and video from a camera. Our implementation involves real time object recognition, histogram matching for real time video streaming, pattern matching and object tracking. Software implemented in C++ interacts with Matlab in order to aid the autonomous navigation of the helicopter.","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":"129244794","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.2009.5164525
Theofanis P. Lambrou, C. Panayiotou
This paper presents an efficient distributed collaboration scheme for a team of autonomous mobile sensor nodes which enables them to navigate through a sparse sensor network with stationary nodes searching for events and improving area coverage. The mobile sensor nodes have limited communication and sensing ranges and autonomously plan their trajectories in order to enhance the probability of event detection. The main objective of this work is to investigate collaboration schemes between the sensor nodes such that each mobile samples areas not covered by the stationary or other mobile nodes. The aim is to reduce the amount of information that needs to be exchanged between nodes without significant loss of performance (in terms of area coverage).
{"title":"Distributed collaborative path planning in sensor networks with multiple mobile sensor nodes","authors":"Theofanis P. Lambrou, C. Panayiotou","doi":"10.1109/MED.2009.5164525","DOIUrl":"https://doi.org/10.1109/MED.2009.5164525","url":null,"abstract":"This paper presents an efficient distributed collaboration scheme for a team of autonomous mobile sensor nodes which enables them to navigate through a sparse sensor network with stationary nodes searching for events and improving area coverage. The mobile sensor nodes have limited communication and sensing ranges and autonomously plan their trajectories in order to enhance the probability of event detection. The main objective of this work is to investigate collaboration schemes between the sensor nodes such that each mobile samples areas not covered by the stationary or other mobile nodes. The aim is to reduce the amount of information that needs to be exchanged between nodes without significant loss of performance (in terms of area coverage).","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"1 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":"130502647","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：