Pub Date : 2016-08-08DOI: 10.1109/MED.2016.7535969
A. Czajkowski, M. Luzar, M. Witczak
This paper presents an design of a Robust Fault Detection and Isolation (FDI) diagnostic system by the means of state-space neural network. First, an solution utilizing multimodel technique is described, in which a Single-Input MultiOutput (SIMO) system is decomposed into a number of Multi-Input Single-Output (MISO) and Single-Input Single-Output (SISO) models. Application of such models makes possible to calculate a set of residual signals required in evaluation process with a Model Error Modelling (MEM) to obtain diagnostic signals. In turn, to isolate faults the diagnostic signals together with defined binary diagnostic table are applied. For experimental verification of the proposed approach, the laboratory stand of Modular Servo is chosen. All necessary data were gathered with the Matlab/Simulink software.
{"title":"Robust multi-model fault detection and isolation with a state-space neural network","authors":"A. Czajkowski, M. Luzar, M. Witczak","doi":"10.1109/MED.2016.7535969","DOIUrl":"https://doi.org/10.1109/MED.2016.7535969","url":null,"abstract":"This paper presents an design of a Robust Fault Detection and Isolation (FDI) diagnostic system by the means of state-space neural network. First, an solution utilizing multimodel technique is described, in which a Single-Input MultiOutput (SIMO) system is decomposed into a number of Multi-Input Single-Output (MISO) and Single-Input Single-Output (SISO) models. Application of such models makes possible to calculate a set of residual signals required in evaluation process with a Model Error Modelling (MEM) to obtain diagnostic signals. In turn, to isolate faults the diagnostic signals together with defined binary diagnostic table are applied. For experimental verification of the proposed approach, the laboratory stand of Modular Servo is chosen. All necessary data were gathered with the Matlab/Simulink software.","PeriodicalId":428139,"journal":{"name":"2016 24th Mediterranean Conference on Control and Automation (MED)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114948829","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 : 2016-08-08DOI: 10.1109/MED.2016.7536019
R. Lamouchi, M. Amairi, T. Raïssi, M. Aoun
In this paper an interval observer for Linear Parameter-Varying (LPV) systems is proposed. The considered systems are assumed to be subject to parameter uncertainties and component faults whose effect can be approximated by parameters deviations. Under some conditions, an interval observer with discrete-time Luenberger structure is developed to cope with uncertainties and faults ensuring guaranteed bounds on the estimated states and their stability. The interval observer design is based on assumption that the uncertainties and the faults magnitudes are considered as unknown but bounded. A numerical example shows the efficiency of the proposed technique.
{"title":"Interval observer design for Linear Parameter-Varying systems subject to component faults","authors":"R. Lamouchi, M. Amairi, T. Raïssi, M. Aoun","doi":"10.1109/MED.2016.7536019","DOIUrl":"https://doi.org/10.1109/MED.2016.7536019","url":null,"abstract":"In this paper an interval observer for Linear Parameter-Varying (LPV) systems is proposed. The considered systems are assumed to be subject to parameter uncertainties and component faults whose effect can be approximated by parameters deviations. Under some conditions, an interval observer with discrete-time Luenberger structure is developed to cope with uncertainties and faults ensuring guaranteed bounds on the estimated states and their stability. The interval observer design is based on assumption that the uncertainties and the faults magnitudes are considered as unknown but bounded. A numerical example shows the efficiency of the proposed technique.","PeriodicalId":428139,"journal":{"name":"2016 24th Mediterranean Conference on Control and Automation (MED)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132786239","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 : 2016-08-08DOI: 10.1109/MED.2016.7536063
N. Uddin, J. Gravdahl
Active surge control system (ASCS) can be classified into two types: upstream energy injection and downstream energy dissipation [1]. Two novel state feedback control laws termed φ-control for the upstream energy injection and ψ-control the downstream energy dissipation are presented. Both state feedback control laws are derived by using the Lyapunov based control method such that the closed loop systems are global asymptotic stable (GAS). The φ-control applies feedback from the compressor mass flow sensor to generate extra pressure to the compressor upstream line, while the ψ-control generates an extra flow out of the plenum using feedback from the compressor discharged pressure and the plenum pressure. Both state feedback control laws offer a minimum number of sensors requirement. Moreover, the ψ-control requires feedback from pressure sensors only which are readily available and make real-time implementation of the system to be easier.
{"title":"Two general state feedback control laws for compressor surge stabilization","authors":"N. Uddin, J. Gravdahl","doi":"10.1109/MED.2016.7536063","DOIUrl":"https://doi.org/10.1109/MED.2016.7536063","url":null,"abstract":"Active surge control system (ASCS) can be classified into two types: upstream energy injection and downstream energy dissipation [1]. Two novel state feedback control laws termed φ-control for the upstream energy injection and ψ-control the downstream energy dissipation are presented. Both state feedback control laws are derived by using the Lyapunov based control method such that the closed loop systems are global asymptotic stable (GAS). The φ-control applies feedback from the compressor mass flow sensor to generate extra pressure to the compressor upstream line, while the ψ-control generates an extra flow out of the plenum using feedback from the compressor discharged pressure and the plenum pressure. Both state feedback control laws offer a minimum number of sensors requirement. Moreover, the ψ-control requires feedback from pressure sensors only which are readily available and make real-time implementation of the system to be easier.","PeriodicalId":428139,"journal":{"name":"2016 24th Mediterranean Conference on Control and Automation (MED)","volume":"57 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123425682","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 : 2016-08-08DOI: 10.1109/MED.2016.7535935
P. Karvelis, G. Georgoulas, Jacqueline A. Fairley, C. Stylios, D. Rye, D. Bliwise
Salient muscle activity identification via the phasic electromyographic metric (PEM) in human polysomnograms/sleep studies (PSGs) represent a potential quantitative metric to aid in differentiation between neurodegenerative disorder populations and age-matched controls. A major impairment to the implementation of PEM analysis for clinical assessment of neurodegenerative disorders includes the time consuming aspects for both visual and automated supervised methods, which require exhaustive expert scoring of PEM and non-PEM events. In order to surmount the aforementioned concerns, we propose a semi-supervised classification methodology encased within an easy-to-use graphical user interface (GUI) utilizing an embedded Minimum Description Length (MDL) criterion to automatically classify PEM and non-PEM events based on expert labeling of a single PEM instance. Results indicate that the application of a semi-supervised approach for PEM identification provides an excellent option to reduce the labeling burden within current human PSG muscle activity identification schemes.
{"title":"Towards a fully automated tool for annotation of phasic electromyographic activity","authors":"P. Karvelis, G. Georgoulas, Jacqueline A. Fairley, C. Stylios, D. Rye, D. Bliwise","doi":"10.1109/MED.2016.7535935","DOIUrl":"https://doi.org/10.1109/MED.2016.7535935","url":null,"abstract":"Salient muscle activity identification via the phasic electromyographic metric (PEM) in human polysomnograms/sleep studies (PSGs) represent a potential quantitative metric to aid in differentiation between neurodegenerative disorder populations and age-matched controls. A major impairment to the implementation of PEM analysis for clinical assessment of neurodegenerative disorders includes the time consuming aspects for both visual and automated supervised methods, which require exhaustive expert scoring of PEM and non-PEM events. In order to surmount the aforementioned concerns, we propose a semi-supervised classification methodology encased within an easy-to-use graphical user interface (GUI) utilizing an embedded Minimum Description Length (MDL) criterion to automatically classify PEM and non-PEM events based on expert labeling of a single PEM instance. Results indicate that the application of a semi-supervised approach for PEM identification provides an excellent option to reduce the labeling burden within current human PSG muscle activity identification schemes.","PeriodicalId":428139,"journal":{"name":"2016 24th Mediterranean Conference on Control and Automation (MED)","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122543262","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 : 2016-08-08DOI: 10.1109/MED.2016.7535930
C. Herrera-Cáceres, A. Ibeas
This paper presents a Model Predictive Control (MPC) for a revenue account belonging to a cash concentration and disbursements system, based on the application of inventory policies to the cash balance. Dynamic Programming (DP) is used for the prediction model by including a standard forecasting model for uncertainty. Moreover, a band for the uncertainty is established to narrow the input of the DP model which, coupled with the introduction of a stabilizing regulator in cascade fashion using a linear feedback gain, allows determining a range for the system stability regardless of size of the prediction horizon. The reference signal used is a sawtooth function, which conveniently adapts to the inventory policy (s, S). Theoretically, and through simulation, it is shown that the proposed controller meets the control objective.
{"title":"Model predictive control for a revenue account of a cash concentration and disbursements system","authors":"C. Herrera-Cáceres, A. Ibeas","doi":"10.1109/MED.2016.7535930","DOIUrl":"https://doi.org/10.1109/MED.2016.7535930","url":null,"abstract":"This paper presents a Model Predictive Control (MPC) for a revenue account belonging to a cash concentration and disbursements system, based on the application of inventory policies to the cash balance. Dynamic Programming (DP) is used for the prediction model by including a standard forecasting model for uncertainty. Moreover, a band for the uncertainty is established to narrow the input of the DP model which, coupled with the introduction of a stabilizing regulator in cascade fashion using a linear feedback gain, allows determining a range for the system stability regardless of size of the prediction horizon. The reference signal used is a sawtooth function, which conveniently adapts to the inventory policy (s, S). Theoretically, and through simulation, it is shown that the proposed controller meets the control objective.","PeriodicalId":428139,"journal":{"name":"2016 24th Mediterranean Conference on Control and Automation (MED)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126762043","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 : 2016-08-08DOI: 10.1109/MED.2016.7535867
Abdelhak Goudjil, M. Pouliquen, E. Pigeon, O. Gehan
This paper presents a new identification algorithm for Piecewise Affine Autoregressive exogenous (PWARX) models in the presence of bounded disturbances. This problem includes the estimation of both parameters of the sub-models and the polyhedral partition of the regressor domain. The proposed algorithm proceeds in two stages. In the first stage, it associates each data point to the most suitable sub-model and realizes the identification of the parameters of each sub-model. This stage is based on an Outer Bounding Ellipsoid (OBE) type algorithm suitable for system identification with bounded disturbances. In the second stage, the algorithm achieves the estimation of the parameter defining the polyhedral partition. A numerical example is given so as to illustrate performance of the algorithm.
{"title":"Identification algorithm for piecewise affine systems with bounded disturbances","authors":"Abdelhak Goudjil, M. Pouliquen, E. Pigeon, O. Gehan","doi":"10.1109/MED.2016.7535867","DOIUrl":"https://doi.org/10.1109/MED.2016.7535867","url":null,"abstract":"This paper presents a new identification algorithm for Piecewise Affine Autoregressive exogenous (PWARX) models in the presence of bounded disturbances. This problem includes the estimation of both parameters of the sub-models and the polyhedral partition of the regressor domain. The proposed algorithm proceeds in two stages. In the first stage, it associates each data point to the most suitable sub-model and realizes the identification of the parameters of each sub-model. This stage is based on an Outer Bounding Ellipsoid (OBE) type algorithm suitable for system identification with bounded disturbances. In the second stage, the algorithm achieves the estimation of the parameter defining the polyhedral partition. A numerical example is given so as to illustrate performance of the algorithm.","PeriodicalId":428139,"journal":{"name":"2016 24th Mediterranean Conference on Control and Automation (MED)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115057088","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 : 2016-08-08DOI: 10.1109/MED.2016.7536005
Mina Kamel, Simone Comari, R. Siegwart
In this paper we present an multi-objective dynamic controller for a micro-aerial vehicle (MAV) equipped with dextrous aerial manipulator. The MAV and the manipulator are considered as a multi-body system where the control input is generated for the MAV and the manipulator joints simultaneously, taking into account dynamic effects. The redundancy of the system is exploited by setting various desired tasks with associated priorities. The proposed controller is compared against classic control approach. Extensive simulation results are presented in Micro Aerial Vehicles Simulator “RotorS”.
{"title":"Full-body multi-objective controller for aerial manipulation","authors":"Mina Kamel, Simone Comari, R. Siegwart","doi":"10.1109/MED.2016.7536005","DOIUrl":"https://doi.org/10.1109/MED.2016.7536005","url":null,"abstract":"In this paper we present an multi-objective dynamic controller for a micro-aerial vehicle (MAV) equipped with dextrous aerial manipulator. The MAV and the manipulator are considered as a multi-body system where the control input is generated for the MAV and the manipulator joints simultaneously, taking into account dynamic effects. The redundancy of the system is exploited by setting various desired tasks with associated priorities. The proposed controller is compared against classic control approach. Extensive simulation results are presented in Micro Aerial Vehicles Simulator “RotorS”.","PeriodicalId":428139,"journal":{"name":"2016 24th Mediterranean Conference on Control and Automation (MED)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127144948","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 : 2016-08-08DOI: 10.1109/MED.2016.7535914
R. Zivanovic
Application of the analytic continuation, based on the quadratic approximation, is able to reconstruct solution branches of a non-linear power flow problem, as well as to locate important singularities. The paper describes the quadratic approximation method, and compares its performance with the Pade-type approximation. Simulation examples are devised to demonstrate superiority of the proposed method compared to results of the Pade approximant, for this type of non-linear problem.
{"title":"Continuation via quadratic approximation to reconstruct solution branches and locate singularities in the power flow problem","authors":"R. Zivanovic","doi":"10.1109/MED.2016.7535914","DOIUrl":"https://doi.org/10.1109/MED.2016.7535914","url":null,"abstract":"Application of the analytic continuation, based on the quadratic approximation, is able to reconstruct solution branches of a non-linear power flow problem, as well as to locate important singularities. The paper describes the quadratic approximation method, and compares its performance with the Pade-type approximation. Simulation examples are devised to demonstrate superiority of the proposed method compared to results of the Pade approximant, for this type of non-linear problem.","PeriodicalId":428139,"journal":{"name":"2016 24th Mediterranean Conference on Control and Automation (MED)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133188967","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 : 2016-08-08DOI: 10.1109/MED.2016.7536009
M. McCourt, P. Antsaklis
Dissipativity is a useful tool for analyzing and synthesizing stable feedback systems. Briefly, the property of dissipativity is that a system only stores and dissipates energy, with respect to a given energy storage function, and does not generate its own energy. This property carries a strong reliance on a notion of time that prohibits its direct application to discrete event systems (DES). The current paper takes the concept of dissipativity and applies it to DES by replacing the notion of time with an event-based definition. Two notions of dissipativity are defined, one for finite automata and the other for a general class of DES. For each notion, properties of dissipative DES are shown that connect with existing notions of stability for DES as would be expected from the classical definition of dissipativity. Examples are provided to illustrate the methods covered in the paper.
{"title":"A notion of dissipativity for discrete event systems","authors":"M. McCourt, P. Antsaklis","doi":"10.1109/MED.2016.7536009","DOIUrl":"https://doi.org/10.1109/MED.2016.7536009","url":null,"abstract":"Dissipativity is a useful tool for analyzing and synthesizing stable feedback systems. Briefly, the property of dissipativity is that a system only stores and dissipates energy, with respect to a given energy storage function, and does not generate its own energy. This property carries a strong reliance on a notion of time that prohibits its direct application to discrete event systems (DES). The current paper takes the concept of dissipativity and applies it to DES by replacing the notion of time with an event-based definition. Two notions of dissipativity are defined, one for finite automata and the other for a general class of DES. For each notion, properties of dissipative DES are shown that connect with existing notions of stability for DES as would be expected from the classical definition of dissipativity. Examples are provided to illustrate the methods covered in the paper.","PeriodicalId":428139,"journal":{"name":"2016 24th Mediterranean Conference on Control and Automation (MED)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126010723","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 : 2016-08-08DOI: 10.1109/MED.2016.7536061
M. Sfakiotakis, Avgousta Chatzidaki, Theodoros Evdaimon, A. Kazakidi, D. Tsakiris
The present paper investigates the effect of compliance on the locomotion of a biologically-inspired soft-body pedundulatory robotic system, employing lateral undulations of its elongated body, which are augmented by the oscillation of sets of lateral appendages (parapodia), to propel itself on unstructured granular substrates. We explore control strategy alternatives for the robot to generate two different locomotor gaits by employing direct or retrograde lateral body waves, combined with appropriately coordinated parapodial motion (pedundulatory modes). Computational models of this class of robots have been devised, which demonstrate the effects of joint compliance on gait generation and on the characteristics of robot propulsion. A new three-segment soft-body robotic prototype has been developed, whose body was fabricated by molding polyurethane elastomers, and was tested extensively on an experimental sandbox, on various formations of the granular substrate, to compare the performance of stiff and compliant joints. Body and joint compliance were found to enhance the adaptability of the robot to environmental irregularities, however they may deteriorate the proper formation of the un-dulatory body wave, degrading somewhat system performance in terms of the attained velocities.
{"title":"Effects of compliance in pedundulatory locomotion over granular substrates","authors":"M. Sfakiotakis, Avgousta Chatzidaki, Theodoros Evdaimon, A. Kazakidi, D. Tsakiris","doi":"10.1109/MED.2016.7536061","DOIUrl":"https://doi.org/10.1109/MED.2016.7536061","url":null,"abstract":"The present paper investigates the effect of compliance on the locomotion of a biologically-inspired soft-body pedundulatory robotic system, employing lateral undulations of its elongated body, which are augmented by the oscillation of sets of lateral appendages (parapodia), to propel itself on unstructured granular substrates. We explore control strategy alternatives for the robot to generate two different locomotor gaits by employing direct or retrograde lateral body waves, combined with appropriately coordinated parapodial motion (pedundulatory modes). Computational models of this class of robots have been devised, which demonstrate the effects of joint compliance on gait generation and on the characteristics of robot propulsion. A new three-segment soft-body robotic prototype has been developed, whose body was fabricated by molding polyurethane elastomers, and was tested extensively on an experimental sandbox, on various formations of the granular substrate, to compare the performance of stiff and compliant joints. Body and joint compliance were found to enhance the adaptability of the robot to environmental irregularities, however they may deteriorate the proper formation of the un-dulatory body wave, degrading somewhat system performance in terms of the attained velocities.","PeriodicalId":428139,"journal":{"name":"2016 24th Mediterranean Conference on Control and Automation (MED)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131605389","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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