Pub Date : 2009-06-24DOI: 10.1109/MED.2009.5164645
I. N’Doye, M. Zasadzinski, N. Radhy, Abdelhaq Bouaziz
In this article, a robust linear controller design in time domain is presented for linear fractional-order systems with nonlinear model uncertainties. The Gronwall-Bellman lemma is employed to investigate the robust stability conditions which are based on the upper norm-bounds of the uncertainties. The parameters of a dynamic controller are selected to satisfy the requirements of robust stability under plant uncertainties.
{"title":"Robust controller design for linear fractional-order systems with nonlinear time-varying model uncertainties","authors":"I. N’Doye, M. Zasadzinski, N. Radhy, Abdelhaq Bouaziz","doi":"10.1109/MED.2009.5164645","DOIUrl":"https://doi.org/10.1109/MED.2009.5164645","url":null,"abstract":"In this article, a robust linear controller design in time domain is presented for linear fractional-order systems with nonlinear model uncertainties. The Gronwall-Bellman lemma is employed to investigate the robust stability conditions which are based on the upper norm-bounds of the uncertainties. The parameters of a dynamic controller are selected to satisfy the requirements of robust stability under plant uncertainties.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"14 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":"117001243","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.2009.5164699
B. A. Costa, M. M. Silva, Teresa Mendonça, João M. Lemos
This paper presents a methodology for parameter estimation of a nonlinear neuromuscular blockade dynamic model to be used as a predictive model for automated control, in general anesthesia. The neuromuscular blockade dynamic model comprises two blocks connected in series, a pharmacokinetic model and the pharmacodynamic model. The pharmacokinetic model is a second order linear dynamic model and describes the redistribution of the drug in the body. The pharmacodynamic model is a nonlinear function, named as the Hill equation, and it describes the interaction between the concentration of the drug in the effect site and the measured patient's muscle paralysis state. The identification methodology uses four data points taken from the neuromuscular blockade response obtained with the administration of the first bolus. The four data points are chosen to avoid the identification difficulties caused by the presence of the nonlinear behavior of the Hill equation. This approach enables the identification of the pharmacokinetic dynamics, that is, the two poles of the second order linear dynamic model followed by the estimation of the normalized parameters of the Hill equation. Computer simulations show that the proposed identification methodology is able to provide good results even when the pharmacokinetic dynamics has an order higher that two. This suggests that the methodology may be employed in neuromuscular blockade automated control as a predictive model, to help the initial tuning of the controller parameters or in adaptive control to get a first model that can be improved with online identification using some recursive minimization techniques to adjust the adaptive controller or as an advising mechanism to help the anesthesiologist during the anesthesia.
{"title":"Neuromuscular blockade nonlinear model identification","authors":"B. A. Costa, M. M. Silva, Teresa Mendonça, João M. Lemos","doi":"10.1109/MED.2009.5164699","DOIUrl":"https://doi.org/10.1109/MED.2009.5164699","url":null,"abstract":"This paper presents a methodology for parameter estimation of a nonlinear neuromuscular blockade dynamic model to be used as a predictive model for automated control, in general anesthesia. The neuromuscular blockade dynamic model comprises two blocks connected in series, a pharmacokinetic model and the pharmacodynamic model. The pharmacokinetic model is a second order linear dynamic model and describes the redistribution of the drug in the body. The pharmacodynamic model is a nonlinear function, named as the Hill equation, and it describes the interaction between the concentration of the drug in the effect site and the measured patient's muscle paralysis state. The identification methodology uses four data points taken from the neuromuscular blockade response obtained with the administration of the first bolus. The four data points are chosen to avoid the identification difficulties caused by the presence of the nonlinear behavior of the Hill equation. This approach enables the identification of the pharmacokinetic dynamics, that is, the two poles of the second order linear dynamic model followed by the estimation of the normalized parameters of the Hill equation. Computer simulations show that the proposed identification methodology is able to provide good results even when the pharmacokinetic dynamics has an order higher that two. This suggests that the methodology may be employed in neuromuscular blockade automated control as a predictive model, to help the initial tuning of the controller parameters or in adaptive control to get a first model that can be improved with online identification using some recursive minimization techniques to adjust the adaptive controller or as an advising mechanism to help the anesthesiologist during the anesthesia.","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":"115373112","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.2009.5164711
P. Dostál, V. Bobál, J. Vojtesek
The paper deals with adaptive control of a tubular chemical reactor. As a part of the control design, preliminary steady-state and dynamic analysis of the process is incorporated. A nonlinear model of the process is approximated by a continuous-time external linear model with parameters estimated using a corresponding delta model. The controller design is based on the polynomial approach. The adaptive control is tested on the nonlinear model of the tubular chemical reactor with a consecutive exothermic reaction.
{"title":"Adaptive temperature control in a tubular chemical reactor","authors":"P. Dostál, V. Bobál, J. Vojtesek","doi":"10.1109/MED.2009.5164711","DOIUrl":"https://doi.org/10.1109/MED.2009.5164711","url":null,"abstract":"The paper deals with adaptive control of a tubular chemical reactor. As a part of the control design, preliminary steady-state and dynamic analysis of the process is incorporated. A nonlinear model of the process is approximated by a continuous-time external linear model with parameters estimated using a corresponding delta model. The controller design is based on the polynomial approach. The adaptive control is tested on the nonlinear model of the tubular chemical reactor with a consecutive exothermic reaction.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"180 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":"115405857","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.2009.5164706
P. Dobra, D. Dumitrache, L. Tomesc, R. Duma, M. Trusca
Proportional Integral Derivative (PID) control is the most common control algorithm used in industry today. The popularity of PID controllers can be attributed to their effectiveness in a wide range of operating conditions, their functional simplicity and how easily engineers can implement them using current computer technology. This article discusses PID control and practical implementations and provides a brief overview on how to tuning parameters of PID controllers.
{"title":"Low-cost embedded solution for PID controllers of DC motors","authors":"P. Dobra, D. Dumitrache, L. Tomesc, R. Duma, M. Trusca","doi":"10.1109/MED.2009.5164706","DOIUrl":"https://doi.org/10.1109/MED.2009.5164706","url":null,"abstract":"Proportional Integral Derivative (PID) control is the most common control algorithm used in industry today. The popularity of PID controllers can be attributed to their effectiveness in a wide range of operating conditions, their functional simplicity and how easily engineers can implement them using current computer technology. This article discusses PID control and practical implementations and provides a brief overview on how to tuning parameters of PID controllers.","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":"114246941","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.2009.5164608
J. Andersh, B. Mettler, N. Papanikolopoulos
This paper describes the hardware and software systems that make up an experimental architecture developed to facilitate teleoperation research for miniature rotorcraft. One objective in developing this platform is to place the minimum required sensors and electronics onboard a miniature helicopter with limited payload. The onboard hardware resources must be sufficient to simplify the teleoperation task for the operator. While being developed, the onboard system is coupled with the infrastructure at the Interactive Guidance and Control Lab at the University of Minnesota to allow for a systematic approach to the investigation of onboard control and guidance augmentations. The overall architecture integrates components that allow a variety of estimation, control and guidance algorithms to be conveniently implemented and tested. In the lab environment, a Vicon tracking system is used to accurately determine a helicopter's pose and orientation and evaluate algorithms on stationary computers. This accurate information is used to develop the necessary metrics and evaluate the performance of different algorithms before transition to real-world situations.
{"title":"Miniature embedded rotorcraft platform for aerial teleoperation experiments","authors":"J. Andersh, B. Mettler, N. Papanikolopoulos","doi":"10.1109/MED.2009.5164608","DOIUrl":"https://doi.org/10.1109/MED.2009.5164608","url":null,"abstract":"This paper describes the hardware and software systems that make up an experimental architecture developed to facilitate teleoperation research for miniature rotorcraft. One objective in developing this platform is to place the minimum required sensors and electronics onboard a miniature helicopter with limited payload. The onboard hardware resources must be sufficient to simplify the teleoperation task for the operator. While being developed, the onboard system is coupled with the infrastructure at the Interactive Guidance and Control Lab at the University of Minnesota to allow for a systematic approach to the investigation of onboard control and guidance augmentations. The overall architecture integrates components that allow a variety of estimation, control and guidance algorithms to be conveniently implemented and tested. In the lab environment, a Vicon tracking system is used to accurately determine a helicopter's pose and orientation and evaluate algorithms on stationary computers. This accurate information is used to develop the necessary metrics and evaluate the performance of different algorithms before transition to real-world situations.","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":"127181781","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.2009.5164505
A. Hmamed, A. El Hajjaji, A. Benzaouia
This paper deals with sufficient conditions of asymptotic stability for non linear discrete-time 2D systems represented by a Takagi-Sugeno fuzzy model of Roesser type with state feedback control. This work is based on common and multiple Lyapunov functions. The results are presented in LMI's form.
{"title":"Stabilization of discrete-time 2D T-S fuzzy systems by state feedback control","authors":"A. Hmamed, A. El Hajjaji, A. Benzaouia","doi":"10.1109/MED.2009.5164505","DOIUrl":"https://doi.org/10.1109/MED.2009.5164505","url":null,"abstract":"This paper deals with sufficient conditions of asymptotic stability for non linear discrete-time 2D systems represented by a Takagi-Sugeno fuzzy model of Roesser type with state feedback control. This work is based on common and multiple Lyapunov functions. The results are presented in LMI's form.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"82 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":"126179155","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.2009.5164764
L. Ntogramatzidis, M. Cantoni
The concepts of conditioned-invariant, detectability and input-containing subspaces are developed within the context of observer design for 2-D Fornasini-Marchesini models in a general form. Specifically, a link is establised between these subspaces and the existence of so-called quotient observers, which estimate the local state modulo a conditioned invariant subspace. We also consider the synthesis of observers that are asymptotic in the sense that the estimation error (modulo a conditioned invariant subspace) tends to zero away from the boundary values.
{"title":"Asymptotic quotient observers for 2-D Fornasini Marchesini models","authors":"L. Ntogramatzidis, M. Cantoni","doi":"10.1109/MED.2009.5164764","DOIUrl":"https://doi.org/10.1109/MED.2009.5164764","url":null,"abstract":"The concepts of conditioned-invariant, detectability and input-containing subspaces are developed within the context of observer design for 2-D Fornasini-Marchesini models in a general form. Specifically, a link is establised between these subspaces and the existence of so-called quotient observers, which estimate the local state modulo a conditioned invariant subspace. We also consider the synthesis of observers that are asymptotic in the sense that the estimation error (modulo a conditioned invariant subspace) tends to zero away from the boundary values.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"24 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":"125092128","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.2009.5164703
Konstantinos Kontonikolas, C. Ziogou, F. Stergiopoulos, S. Papadopoulou, S. Voutetakis
The non-linear behavior of the Voltage-Current (VI) fuel cells' output curve is one of the major issues the scientific community deals with, in order to improve fuel cell technology and expand its use to both domestic and industrial applications. Many power conditioning topologies of a fuel cell's output electrical energy have been presented in the past years, but the DC/DC Interleaved Boost Converter (IBC) topology seems to be one of the most attractive solutions. Therefore, IBC control schemes become a key factor in fuel cell energy systems and the use of Embedded Systems is highly indicated for efficient and reliable real-time control. The traditional methods of programming microcontrollers via “C” or Assembly language, may take a respectable amount of time to develop, significantly slowing down the procedures for system development and validation. This paper presents a new model-based rapid prototyping method for programming Embedded Systems using Matlab/Simulink® models. The Embedded Control System (ECS) is designed to control the input current of an IBC connected to a fuel cell, by suitably varying the switching signals which drive the Power Switches on the IBC.
{"title":"Design and development of an Embedded Control System of a DC/DC power converter for a fuel cell","authors":"Konstantinos Kontonikolas, C. Ziogou, F. Stergiopoulos, S. Papadopoulou, S. Voutetakis","doi":"10.1109/MED.2009.5164703","DOIUrl":"https://doi.org/10.1109/MED.2009.5164703","url":null,"abstract":"The non-linear behavior of the Voltage-Current (VI) fuel cells' output curve is one of the major issues the scientific community deals with, in order to improve fuel cell technology and expand its use to both domestic and industrial applications. Many power conditioning topologies of a fuel cell's output electrical energy have been presented in the past years, but the DC/DC Interleaved Boost Converter (IBC) topology seems to be one of the most attractive solutions. Therefore, IBC control schemes become a key factor in fuel cell energy systems and the use of Embedded Systems is highly indicated for efficient and reliable real-time control. The traditional methods of programming microcontrollers via “C” or Assembly language, may take a respectable amount of time to develop, significantly slowing down the procedures for system development and validation. This paper presents a new model-based rapid prototyping method for programming Embedded Systems using Matlab/Simulink® models. The Embedded Control System (ECS) is designed to control the input current of an IBC connected to a fuel cell, by suitably varying the switching signals which drive the Power Switches on the IBC.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"128 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":"124225097","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.2009.5164743
D. Vrabie, K. Vamvoudakis, F. Lewis
In this paper we present two adaptive algorithms which offer solution to the continuous-time optimal control problem for nonlinear, affine in the inputs, time-invariant systems. Both algorithms were developed based on the Generalized Policy Iteration technique and involve adaptation of two neural network structures namely Actor, providing the control signal, and Critic, performing evaluation of the control performance. Despite the similarities, the two adaptive algorithms differ in the manner in which the adaptation takes place, required knowledge on the system dynamics, and formulation of the persistence of excitation requirement. The main difference is that one algorithm uses sequential adaptation of the actor and critic structures, i.e. while one is trained the other one is kept constant, while for the second algorithm the two neural networks are trained synchronously in a continuous-time fashion. The two algorithms are described in detail and proof of convergence is provided. Simulation results of applying the two algorithms for finding the optimal state feedback controller of a nonlinear system are also presented.
{"title":"Adaptive optimal controllers based on Generalized Policy Iteration in a continuous-time framework","authors":"D. Vrabie, K. Vamvoudakis, F. Lewis","doi":"10.1109/MED.2009.5164743","DOIUrl":"https://doi.org/10.1109/MED.2009.5164743","url":null,"abstract":"In this paper we present two adaptive algorithms which offer solution to the continuous-time optimal control problem for nonlinear, affine in the inputs, time-invariant systems. Both algorithms were developed based on the Generalized Policy Iteration technique and involve adaptation of two neural network structures namely Actor, providing the control signal, and Critic, performing evaluation of the control performance. Despite the similarities, the two adaptive algorithms differ in the manner in which the adaptation takes place, required knowledge on the system dynamics, and formulation of the persistence of excitation requirement. The main difference is that one algorithm uses sequential adaptation of the actor and critic structures, i.e. while one is trained the other one is kept constant, while for the second algorithm the two neural networks are trained synchronously in a continuous-time fashion. The two algorithms are described in detail and proof of convergence is provided. Simulation results of applying the two algorithms for finding the optimal state feedback controller of a nonlinear system are also presented.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"136 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":"124264637","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.2009.5164753
V. Moulianitis, V. Syrimpeis, N. Aspragathos, E. Panagiotopoulos
In this paper, an Expert System (ES) for supporting the conceptual design of a closed loop control scheme for the rehabilitation of lower limb disabilities is presented. The design of the controllers is based on the exploitation of experts knowledge concerning the gait cycle and uses pathological muscles electromyographical (EMG) data for feedback signals. EMGs from normal muscles are also used to detect the gait phases and an expert system for supporting the selection of the suitable set of muscles is developed. The acquired knowledge concerning the gait phases and the muscles EMGs is presented. Finally, a case study of designing a controller for the correction of the drop foot syndrome is presented.
{"title":"An Expert System for supporting the conceptual design of controllers for lower limbs rehabilitation systems","authors":"V. Moulianitis, V. Syrimpeis, N. Aspragathos, E. Panagiotopoulos","doi":"10.1109/MED.2009.5164753","DOIUrl":"https://doi.org/10.1109/MED.2009.5164753","url":null,"abstract":"In this paper, an Expert System (ES) for supporting the conceptual design of a closed loop control scheme for the rehabilitation of lower limb disabilities is presented. The design of the controllers is based on the exploitation of experts knowledge concerning the gait cycle and uses pathological muscles electromyographical (EMG) data for feedback signals. EMGs from normal muscles are also used to detect the gait phases and an expert system for supporting the selection of the suitable set of muscles is developed. The acquired knowledge concerning the gait phases and the muscles EMGs is presented. Finally, a case study of designing a controller for the correction of the drop foot syndrome is presented.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"133 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":"124336612","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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