Pub Date : 2013-08-01DOI: 10.1109/MMAR.2013.6669955
A. Kowalewski
Various optimization problems associated with the optimal control of distributed hyperbolic systems with time delays appearing in the boundary conditions have been studied recently in Refs. [2] – [7] respectively. In this paper, we consider an optimal control problem for a linear hyperbolic system in which multiple time delays appear in the state equation. The initial conditions are given by control functions. Sufficient conditions for the existence of a unique solution of such hyperbolic equations with the Dirichlet boundary conditions are presented. The performance functional has the quadratic form. The time horizon T is fixed. Finally, we impose some constraints on the control. Making use of the Lions scheme [8], necessary and sufficient conditions of optimality for the Dirichlet problem with the quadratic performance functional and constrained control are derived.
{"title":"Optimal control via initial conditions of a time delay hyperbolic system","authors":"A. Kowalewski","doi":"10.1109/MMAR.2013.6669955","DOIUrl":"https://doi.org/10.1109/MMAR.2013.6669955","url":null,"abstract":"Various optimization problems associated with the optimal control of distributed hyperbolic systems with time delays appearing in the boundary conditions have been studied recently in Refs. [2] – [7] respectively. In this paper, we consider an optimal control problem for a linear hyperbolic system in which multiple time delays appear in the state equation. The initial conditions are given by control functions. Sufficient conditions for the existence of a unique solution of such hyperbolic equations with the Dirichlet boundary conditions are presented. The performance functional has the quadratic form. The time horizon T is fixed. Finally, we impose some constraints on the control. Making use of the Lions scheme [8], necessary and sufficient conditions of optimality for the Dirichlet problem with the quadratic performance functional and constrained control are derived.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131662030","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031363
Janis Zuters
Among the rule induction algorithms, the classic CN2 is still one of the most popular ones; a great amount of enhancements and improvements to it is to witness this. Despite the growing computing capacities since the algorithm was proposed, one of the main issues is resource demand. The proposed modification, CN2-R, substitutes the star concept of the original algorithm with a technique of randomly generated complexes in order to substantially improve on running times without significant loss in accuracy.
{"title":"CN2-R: Faster CN2 with randomly generated complexes","authors":"Janis Zuters","doi":"10.1109/MMAR.2011.6031363","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031363","url":null,"abstract":"Among the rule induction algorithms, the classic CN2 is still one of the most popular ones; a great amount of enhancements and improvements to it is to witness this. Despite the growing computing capacities since the algorithm was proposed, one of the main issues is resource demand. The proposed modification, CN2-R, substitutes the star concept of the original algorithm with a technique of randomly generated complexes in order to substantially improve on running times without significant loss in accuracy.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"58 1-2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120906325","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031348
M. Jafarinasab, M. Keshmiri, H. Azizan, M. Danesh
A novel six-DOF parallel manipulator is introduced. Kinematics analysis is discussed and using Lagrange equations for constrained systems the full dynamic modeling is performed. Sliding mode control as a class of very special nonlinear control is proposed to control the position of the manipulator in the presence of parametric uncertainties. Stability of the system is guaranteed via Lyapunov approach. An intensive series of simulation studies has been fulfilled to show the abilities of the proposed controller for trajectory tracking even in the case of large parameter variations.
{"title":"Sliding mode control of a novel 6-DOF parallel manipulator with rotary actuators","authors":"M. Jafarinasab, M. Keshmiri, H. Azizan, M. Danesh","doi":"10.1109/MMAR.2011.6031348","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031348","url":null,"abstract":"A novel six-DOF parallel manipulator is introduced. Kinematics analysis is discussed and using Lagrange equations for constrained systems the full dynamic modeling is performed. Sliding mode control as a class of very special nonlinear control is proposed to control the position of the manipulator in the presence of parametric uncertainties. Stability of the system is guaranteed via Lyapunov approach. An intensive series of simulation studies has been fulfilled to show the abilities of the proposed controller for trajectory tracking even in the case of large parameter variations.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121872087","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031339
Xiaoyan Xu, M. He
Firstly, the technology of harmonic suppression in a traditional civil electric network is introduced. Then the characteristics of an isolated electric network is analyzed, and afterwards, a model of combined harmonic suppression and power factor correction circuit is designed, which integrates the method of solving problems on its own initiative with the method of solving problems passively, to solve the harmonic pollution of an isolated small capacity electric network. The results of relevant simulation experiment show that the model of designed circuit is suitable for the power quality improvement of an isolated electric network.
{"title":"Model of power quality control circuit in isolated limit capacity electric networks","authors":"Xiaoyan Xu, M. He","doi":"10.1109/MMAR.2011.6031339","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031339","url":null,"abstract":"Firstly, the technology of harmonic suppression in a traditional civil electric network is introduced. Then the characteristics of an isolated electric network is analyzed, and afterwards, a model of combined harmonic suppression and power factor correction circuit is designed, which integrates the method of solving problems on its own initiative with the method of solving problems passively, to solve the harmonic pollution of an isolated small capacity electric network. The results of relevant simulation experiment show that the model of designed circuit is suitable for the power quality improvement of an isolated electric network.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116283419","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031332
D. Sierociuk, A. Dzieliński
In the paper a novel method of analog modeling of fractional order integrators is presented. In particular, two special cases are discussed, i.e. integrators of order α = 0.25, and α = 0.5. The method proposed is based on the domino ladder approximation of irrational transfer function. It allows to obtain an analog model using only electric elements like resistors and capacitors of standard produced values.
{"title":"New method of fractional order integrator analog modeling for orders 0.5 and 0.25","authors":"D. Sierociuk, A. Dzieliński","doi":"10.1109/MMAR.2011.6031332","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031332","url":null,"abstract":"In the paper a novel method of analog modeling of fractional order integrators is presented. In particular, two special cases are discussed, i.e. integrators of order α = 0.25, and α = 0.5. The method proposed is based on the domino ladder approximation of irrational transfer function. It allows to obtain an analog model using only electric elements like resistors and capacitors of standard produced values.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114738257","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031323
T. Kaczorek
Conditions for the existence of positive stable realizations with system Metzler matrices for linear continuous-time systems are established. A procedure for finding a positive stable realization with system Metzler matrix based on similarity transformation of proper transfer matrices is proposed and demonstrated on numerical examples. It is shown that if the poles of stable transfer matrix are real then the classical Gilbert method can be used to find the positive stable realization.
{"title":"Deterimination of positive stable realizations with system Metzler matrices","authors":"T. Kaczorek","doi":"10.1109/MMAR.2011.6031323","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031323","url":null,"abstract":"Conditions for the existence of positive stable realizations with system Metzler matrices for linear continuous-time systems are established. A procedure for finding a positive stable realization with system Metzler matrix based on similarity transformation of proper transfer matrices is proposed and demonstrated on numerical examples. It is shown that if the poles of stable transfer matrix are real then the classical Gilbert method can be used to find the positive stable realization.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126244642","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031342
Sawsan Abdel-Latif El-Teleity, Zaky B. Nossair, H. Mansour, Adly TagElDein
Navigation of autonomous mobile robots in unpredictable and dynamic environments is restricted by uncertainty, complexity, and unreliability issues of robots and their environments. In this context a navigation system for an autonomous mobile robot using intelligent fuzzy logic technique will be presented. Fuzzy logic control is able to emulate human experience about how best to control a system without needing accurate model equations, and can handle any perturbation in the system. A hierarchical behavior based control strategy has been devised in which four different reactive behaviors are combined by means of a fuzzy supervisor. For testing and validation, many simulations have been proposed which focus on: moving towards static or movable goal; escaping from local minima whenever it's detected; and traversing a cluttered environment with unknown static and dynamic obstacles.
{"title":"Fuzzy logic control of an autonomous mobile robot","authors":"Sawsan Abdel-Latif El-Teleity, Zaky B. Nossair, H. Mansour, Adly TagElDein","doi":"10.1109/MMAR.2011.6031342","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031342","url":null,"abstract":"Navigation of autonomous mobile robots in unpredictable and dynamic environments is restricted by uncertainty, complexity, and unreliability issues of robots and their environments. In this context a navigation system for an autonomous mobile robot using intelligent fuzzy logic technique will be presented. Fuzzy logic control is able to emulate human experience about how best to control a system without needing accurate model equations, and can handle any perturbation in the system. A hierarchical behavior based control strategy has been devised in which four different reactive behaviors are combined by means of a fuzzy supervisor. For testing and validation, many simulations have been proposed which focus on: moving towards static or movable goal; escaping from local minima whenever it's detected; and traversing a cluttered environment with unknown static and dynamic obstacles.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127881238","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031360
S. Ulrich, J. Sasiadek
An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. The control strategy is based on a direct adaptive control scheme in which the controller gains are adapted in real-time according to fuzzy logic systems such that the tracking errors between a reference model and the actual robot system outputs are brought to zero.
{"title":"Direct adaptive fuzzy control for a two-link space robot","authors":"S. Ulrich, J. Sasiadek","doi":"10.1109/MMAR.2011.6031360","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031360","url":null,"abstract":"An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. The control strategy is based on a direct adaptive control scheme in which the controller gains are adapted in real-time according to fuzzy logic systems such that the tracking errors between a reference model and the actual robot system outputs are brought to zero.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129981212","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031382
A. W. Lukomski, T. Barcinski
Paper presents global feedback linearisation problem for a 3-link underactuated pendulum. Singularities of decoupling matrix are analysed and removed by additional physical parameters requirements. Preliminaries for the class of nonlinear singularity-free feedback linearisation controlled systems are estimated.
{"title":"Singularities in feedback linearisation of an underactuated 3-link pendulum","authors":"A. W. Lukomski, T. Barcinski","doi":"10.1109/MMAR.2011.6031382","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031382","url":null,"abstract":"Paper presents global feedback linearisation problem for a 3-link underactuated pendulum. Singularities of decoupling matrix are analysed and removed by additional physical parameters requirements. Preliminaries for the class of nonlinear singularity-free feedback linearisation controlled systems are estimated.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131225963","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 : 2011-09-29DOI: 10.1109/MMAR.2011.6031359
J. Hlava, L. Hubka, L. Tuma
This paper is focused on modeling and predictive control of a power plant reheater. The motivation for this research is the necessity to achieve tighter power plant control in the wide range load following operation. The reheater under consideration consists of a series of three heat exchangers and two of them can be fully or partially bypassed. Accurate first principles model of the reheater is developed in the first part of the paper. Good approximation of the distributed parameter behavior is obtained by dividing the dynamics of the individual heat exchangers into several control volumes. Resulting high order model is considerably nonlinear. Moreover, switching of its dynamic behavior occurs because of the bypassing of the individual reheat stages. Thus, this reheater represents a non-trivial control challenge. Model predictive controller is designed in the second part. It is based on a piecewise affine model. Piecewise affine model is used both to approximate reheater nonlinearity and to describe the switches of reheater dynamics. The performance of the predictive controller is compared with the classical control system. Considerable performance improvement can be observed.
{"title":"Modeling and predictive control of a nonlinear power plant reheater with switched dynamics","authors":"J. Hlava, L. Hubka, L. Tuma","doi":"10.1109/MMAR.2011.6031359","DOIUrl":"https://doi.org/10.1109/MMAR.2011.6031359","url":null,"abstract":"This paper is focused on modeling and predictive control of a power plant reheater. The motivation for this research is the necessity to achieve tighter power plant control in the wide range load following operation. The reheater under consideration consists of a series of three heat exchangers and two of them can be fully or partially bypassed. Accurate first principles model of the reheater is developed in the first part of the paper. Good approximation of the distributed parameter behavior is obtained by dividing the dynamics of the individual heat exchangers into several control volumes. Resulting high order model is considerably nonlinear. Moreover, switching of its dynamic behavior occurs because of the bypassing of the individual reheat stages. Thus, this reheater represents a non-trivial control challenge. Model predictive controller is designed in the second part. It is based on a piecewise affine model. Piecewise affine model is used both to approximate reheater nonlinearity and to describe the switches of reheater dynamics. The performance of the predictive controller is compared with the classical control system. Considerable performance improvement can be observed.","PeriodicalId":440376,"journal":{"name":"2011 16th International Conference on Methods & Models in Automation & Robotics","volume":"53 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132286947","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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