Pub Date : 2017-12-01DOI: 10.1109/ANZCC.2017.8298441
Qiongbin Lin, Shican Chen, Qinqin Chai, Wu Wang, Fenghuang Cai
In this paper, a dynamic output feedback-based fuzzy controller is developed for a class of nonlinear network control system where disturbances and multiple random data dropouts exist. Firstly, the network control system is modeled using Takagi-Sugeno fuzzy rules. Meanwhile, the defective communication links with packets loss in both channels, from the sensor to the controller and from the controller to the actuator, are modeled by stochastic binary switching variables with known probability distributions. Then, by using linear matrix inequality method, the sufficient conditions for the existence of the fuzzy controller, the fuzzy robust controller are designed to guarantee the stability of the closed-loop system.
{"title":"Dissipative fuzzy control of nonlinear networked control systems with multiple packet dropout","authors":"Qiongbin Lin, Shican Chen, Qinqin Chai, Wu Wang, Fenghuang Cai","doi":"10.1109/ANZCC.2017.8298441","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298441","url":null,"abstract":"In this paper, a dynamic output feedback-based fuzzy controller is developed for a class of nonlinear network control system where disturbances and multiple random data dropouts exist. Firstly, the network control system is modeled using Takagi-Sugeno fuzzy rules. Meanwhile, the defective communication links with packets loss in both channels, from the sensor to the controller and from the controller to the actuator, are modeled by stochastic binary switching variables with known probability distributions. Then, by using linear matrix inequality method, the sufficient conditions for the existence of the fuzzy controller, the fuzzy robust controller are designed to guarantee the stability of the closed-loop system.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122326117","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298437
Jesse Cranney, J. Doná, P. Piatrou, F. Rigaut, V. Korkiakoski
Turbulence estimation in ground based telescopes as part of the Adaptive Optics (AO) control loop is inherently high-complexity. Even in smaller telescopes such as the EOS 1.8m telescope at Mt Stromlo Observatory, Canberra, closed-loop control systems are required to operate in the order of kHz with hundreds, if not thousands of internal states. Typical Matrix Vector Multiply (MVM) control calculations grow in computational demand to the order of N2. The Distributed Kalman Filter (DKF) proposed by Massioni et al [1] when being performed in the Fourier Domain allows the computational cost to scale as N log N [2], provided that the state space model is shift-invariant in its basis. In this paper we develop a procedure for the modeling and identification of a dynamic shift-invariant turbulence model that does not require prior knowledge of the layers velocities and turbulence profile, while satisfying the structural requirements of the DKF.
{"title":"Modeling and identification of adaptive optics systems to satisfy distributed Kalman filter model structural constraints","authors":"Jesse Cranney, J. Doná, P. Piatrou, F. Rigaut, V. Korkiakoski","doi":"10.1109/ANZCC.2017.8298437","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298437","url":null,"abstract":"Turbulence estimation in ground based telescopes as part of the Adaptive Optics (AO) control loop is inherently high-complexity. Even in smaller telescopes such as the EOS 1.8m telescope at Mt Stromlo Observatory, Canberra, closed-loop control systems are required to operate in the order of kHz with hundreds, if not thousands of internal states. Typical Matrix Vector Multiply (MVM) control calculations grow in computational demand to the order of N2. The Distributed Kalman Filter (DKF) proposed by Massioni et al [1] when being performed in the Fourier Domain allows the computational cost to scale as N log N [2], provided that the state space model is shift-invariant in its basis. In this paper we develop a procedure for the modeling and identification of a dynamic shift-invariant turbulence model that does not require prior knowledge of the layers velocities and turbulence profile, while satisfying the structural requirements of the DKF.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123129412","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298488
Quanwei Qiu, Fuwen Yang, Yong Zhu, L. Qu
This paper is concerned with cooperative control for distributed grid-connected PV system. A two-layer control strategy is adopted, while the upper layer is a cooperative control to organize all the PV units to work cooperatively with given power ratio and the lower layer is a tracking control for a single PV unit. The information communication between PV units is realized through the ring communication structure applied in the upper layer. By using a mixed sensitivity approach, the controller for each single PV unit has strong robustness. The effectiveness of the proposed method is demonstrated by simulation in Matlab.
{"title":"Cooperative H∞ tracking control for distributed grid-connected photovoltaic system","authors":"Quanwei Qiu, Fuwen Yang, Yong Zhu, L. Qu","doi":"10.1109/ANZCC.2017.8298488","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298488","url":null,"abstract":"This paper is concerned with cooperative control for distributed grid-connected PV system. A two-layer control strategy is adopted, while the upper layer is a cooperative control to organize all the PV units to work cooperatively with given power ratio and the lower layer is a tracking control for a single PV unit. The information communication between PV units is realized through the ring communication structure applied in the upper layer. By using a mixed sensitivity approach, the controller for each single PV unit has strong robustness. The effectiveness of the proposed method is demonstrated by simulation in Matlab.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130328391","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298502
M. Simic
One of the main objectives for vehicle designers is to achieve flat, safe ride in any environmental conditions. When a vehicle is moving along the road it is exposed to vibrations in multiple axes and directions. Vehicle behavior is extensively investigated in reference to road imperfections that could be expressed as single step disruptions, like remote bumps on the road. A simulation model, previously designed, was already used to investigate vehicle behavior, when riding over the step inputs. This model is further upgraded and now can perform simulations of the scenarios when vehicle is subjected to continuous imperfections on the road, like long runs of the gravel road in the country areas. Vehicle behavior is analyzed for few, common, speed levels in such scenarios. We can achieve lover amplitudes of pitch vibrations driving with the certain speed, but far the best outcome is obtained when active suspension is applied.
{"title":"Flat ride over the gravel road","authors":"M. Simic","doi":"10.1109/ANZCC.2017.8298502","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298502","url":null,"abstract":"One of the main objectives for vehicle designers is to achieve flat, safe ride in any environmental conditions. When a vehicle is moving along the road it is exposed to vibrations in multiple axes and directions. Vehicle behavior is extensively investigated in reference to road imperfections that could be expressed as single step disruptions, like remote bumps on the road. A simulation model, previously designed, was already used to investigate vehicle behavior, when riding over the step inputs. This model is further upgraded and now can perform simulations of the scenarios when vehicle is subjected to continuous imperfections on the road, like long runs of the gravel road in the country areas. Vehicle behavior is analyzed for few, common, speed levels in such scenarios. We can achieve lover amplitudes of pitch vibrations driving with the certain speed, but far the best outcome is obtained when active suspension is applied.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122409868","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298486
Hamed Habibi, H. R. Nohooji, I. Howard
This paper presents a neural adaptive fault tolerant control design of wind turbines in partial load operation. The controller is designed to be robust against actuator faults as well as noise, while keeping the wind turbine generating as much power as possible. The wind speed variation is considered as an external disturbance, and an adaptive radial basis function neural network is utilized to estimate aerodynamic torque. Estimation of a fault size and establishment of a desired trajectory are adopted in the design. Using the proposed method, the reliability of wind power generation is increased so as to track the optimum power point under faulty conditions, close to the fault free case. Uniformly ultimately boundedness of the closed-loop system is achieved using Lyapunov synthesis. The designed controller is verified via numerical simulations, showing comparison with an industrial reference controller, using predefined criteria.
{"title":"A neuro-adaptive maximum power tracking control of variable speed wind turbines with actuator faults","authors":"Hamed Habibi, H. R. Nohooji, I. Howard","doi":"10.1109/ANZCC.2017.8298486","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298486","url":null,"abstract":"This paper presents a neural adaptive fault tolerant control design of wind turbines in partial load operation. The controller is designed to be robust against actuator faults as well as noise, while keeping the wind turbine generating as much power as possible. The wind speed variation is considered as an external disturbance, and an adaptive radial basis function neural network is utilized to estimate aerodynamic torque. Estimation of a fault size and establishment of a desired trajectory are adopted in the design. Using the proposed method, the reliability of wind power generation is increased so as to track the optimum power point under faulty conditions, close to the fault free case. Uniformly ultimately boundedness of the closed-loop system is achieved using Lyapunov synthesis. The designed controller is verified via numerical simulations, showing comparison with an industrial reference controller, using predefined criteria.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"175 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131786461","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298440
A. Skobeleva, V. Ugrinovskii, I. Petersen
This paper presents a cooperative extremum seeking control scheme that uses a linear formation of two robots to find a maximum of an unknown one-dimensional non-linear map. A consensus control algorithm is used to drive the centre of the formation and an integral feedback control loop is proposed to drive the gradient of an unknown field function to zero. Simulation results are provided to evaluate the performance of the proposed method.
{"title":"Cooperative extremum seeking for a one-dimensional non-linear map using a two-robot formation","authors":"A. Skobeleva, V. Ugrinovskii, I. Petersen","doi":"10.1109/ANZCC.2017.8298440","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298440","url":null,"abstract":"This paper presents a cooperative extremum seeking control scheme that uses a linear formation of two robots to find a maximum of an unknown one-dimensional non-linear map. A consensus control algorithm is used to drive the centre of the formation and an integral feedback control loop is proposed to drive the gradient of an unknown field function to zero. Simulation results are provided to evaluate the performance of the proposed method.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130461652","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298489
Dipesh Lamsal, Thomas Conradie, V. Sreeram, Yateendra Mishra, Deepak Kumar
Increasing levels of the wind and photovoltaic systems require innovative ways to manage the fluctuations caused due to the intermittent generation profile. This paper proposes a fuzzy logic based control approach to smooth the power output of the collocated wind and photovoltaic generation system. A first order filter is modified with a fuzzy logic controller which regulates the battery power, the state of charge and pitch angle for smoothing of the output power. The controller adjusts the time constant of the filter based on the state of charge of battery and pitch angle of wind generation system by considering the battery power. The effectiveness of the proposed approach is analyzed by considering the different values of the state of charge.
{"title":"A fuzzy logic control approach for smoothing of wind and photovoltaic generation output fluctuations","authors":"Dipesh Lamsal, Thomas Conradie, V. Sreeram, Yateendra Mishra, Deepak Kumar","doi":"10.1109/ANZCC.2017.8298489","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298489","url":null,"abstract":"Increasing levels of the wind and photovoltaic systems require innovative ways to manage the fluctuations caused due to the intermittent generation profile. This paper proposes a fuzzy logic based control approach to smooth the power output of the collocated wind and photovoltaic generation system. A first order filter is modified with a fuzzy logic controller which regulates the battery power, the state of charge and pitch angle for smoothing of the output power. The controller adjusts the time constant of the filter based on the state of charge of battery and pitch angle of wind generation system by considering the battery power. The effectiveness of the proposed approach is analyzed by considering the different values of the state of charge.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125353220","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298509
Yonhon Ng, Junming Wei, Changbin Yu, Jonghyuk Kim
Locating the position of a target is a fundamental task in most robotic systems. This paper focuses on a passive localization method. The presented method uses passive, synchronised and localized radio sensors to take the time-difference-of-arrival (TDoA) measurements for different pairs of sensors, with reference to an unknown target-emitted radio signal. The localization method is simple, memory efficient and robust. Importantly, the proposed measurement-wise recursive method is suitable for real-time application of time-critical robotic systems. The method is easily transferable to other problems that involve finding the intersection point of multiple (curved) lines in the presence of noise. Monte Carlo simulations and experimental tests on real data were conducted to evaluate the performance of our localization method. The results obtained compare favourably to other well-known methods.
{"title":"Measurement-wise recursive TDoA-based localization using local straight line approximation","authors":"Yonhon Ng, Junming Wei, Changbin Yu, Jonghyuk Kim","doi":"10.1109/ANZCC.2017.8298509","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298509","url":null,"abstract":"Locating the position of a target is a fundamental task in most robotic systems. This paper focuses on a passive localization method. The presented method uses passive, synchronised and localized radio sensors to take the time-difference-of-arrival (TDoA) measurements for different pairs of sensors, with reference to an unknown target-emitted radio signal. The localization method is simple, memory efficient and robust. Importantly, the proposed measurement-wise recursive method is suitable for real-time application of time-critical robotic systems. The method is easily transferable to other problems that involve finding the intersection point of multiple (curved) lines in the presence of noise. Monte Carlo simulations and experimental tests on real data were conducted to evaluate the performance of our localization method. The results obtained compare favourably to other well-known methods.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116950319","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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