Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606356
M. M. Karimi, A. Fatehi, R. Ebrahimpour, Ali Shamsaddinlou
This paper concerns application of data-derived approaches for analyzing and monitoring chemical process instruments, extracting product information, and designing estimation models for primary process variables, or difficult to measure in real-time variables. Modeling of process with an optimized classical neural network, the multi-layer perceptron (MLP) is discussed. Tennessee Eastman Process, a well-known plant wide process benchmark, is applied to validate the proposed approach. Investigations and several algorithms as step response test, Lipschitz number method and forward selection are used. The main advancement introduced here is that a hierarchical level responsible strategy is applied for selection of input variables and respective efficient time delays to attain the highest possible prediction accuracy of the neural network model for industrial process identification.
{"title":"Optimized real-time soft analyzer for chemical process using artificial intelligence","authors":"M. M. Karimi, A. Fatehi, R. Ebrahimpour, Ali Shamsaddinlou","doi":"10.1109/ASCC.2013.6606356","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606356","url":null,"abstract":"This paper concerns application of data-derived approaches for analyzing and monitoring chemical process instruments, extracting product information, and designing estimation models for primary process variables, or difficult to measure in real-time variables. Modeling of process with an optimized classical neural network, the multi-layer perceptron (MLP) is discussed. Tennessee Eastman Process, a well-known plant wide process benchmark, is applied to validate the proposed approach. Investigations and several algorithms as step response test, Lipschitz number method and forward selection are used. The main advancement introduced here is that a hierarchical level responsible strategy is applied for selection of input variables and respective efficient time delays to attain the highest possible prediction accuracy of the neural network model for industrial process identification.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88838860","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606269
Jarosław Gośliński, Wojciech Giernacki, Stanislaw Gardecki
The article describes the Unscented Kalman Filter, used in an orientation module of the quadrotor. Control of the quadrocopter is an important issue. Since it belongs to the group of the UAVs (Unmanned Aerial Vehicle), quadrotor must pass safety requirements in order to be used in urban spaces. Here, authors are solving one of the most important problems: estimation of the state vector of the quadrotor. Multirotors like quadrotor can work in semi autonomous or full autonomous mode. Regardless of the used mode, at least one control loop must be always on: an orientation loop. Normally a regulator responsible for an orientation stabilization is based on measurements from IMU (Inertial Measurement Unit). Here, an extended version of the state estimator, based on IMU readings and prediction from the model is introduced. Authors have implemented the Unscented Kalman Filter (firstly described in [1]) and proved that, this estimator is suitable in case of UAV.
{"title":"Unscented Kalman Filter for an orientation module of a quadrotor mathematical model","authors":"Jarosław Gośliński, Wojciech Giernacki, Stanislaw Gardecki","doi":"10.1109/ASCC.2013.6606269","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606269","url":null,"abstract":"The article describes the Unscented Kalman Filter, used in an orientation module of the quadrotor. Control of the quadrocopter is an important issue. Since it belongs to the group of the UAVs (Unmanned Aerial Vehicle), quadrotor must pass safety requirements in order to be used in urban spaces. Here, authors are solving one of the most important problems: estimation of the state vector of the quadrotor. Multirotors like quadrotor can work in semi autonomous or full autonomous mode. Regardless of the used mode, at least one control loop must be always on: an orientation loop. Normally a regulator responsible for an orientation stabilization is based on measurements from IMU (Inertial Measurement Unit). Here, an extended version of the state estimator, based on IMU readings and prediction from the model is introduced. Authors have implemented the Unscented Kalman Filter (firstly described in [1]) and proved that, this estimator is suitable in case of UAV.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77319460","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606144
Zhenlong Xiao, X. Jing, Li Cheng
In this paper, the concepts of Parametric Bound of Convergence (PBoC) and Parametric Convergence Margin (PCM) are proposed, The estimation of PBoC and PCM are presented explicitly in terms of the characteristic parameters, which do not require any recursive computation. An example is given to illustrate and validate the presented results.
{"title":"Computation of Parametric Convergence Bound and Parametric Convergence Margin for Volterra series expansion","authors":"Zhenlong Xiao, X. Jing, Li Cheng","doi":"10.1109/ASCC.2013.6606144","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606144","url":null,"abstract":"In this paper, the concepts of Parametric Bound of Convergence (PBoC) and Parametric Convergence Margin (PCM) are proposed, The estimation of PBoC and PCM are presented explicitly in terms of the characteristic parameters, which do not require any recursive computation. An example is given to illustrate and validate the presented results.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91443512","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606130
Seyyed Vahid Ghoushkhanehee, A. Alfi
Performance and stability degradation in teleoperation systems experiencing time delay in both forward and backward channels is of crucial importance. What is addressed in this paper is to propose a new control strategy using a modified Model Predictive Control (MPC) and a modified smith predictor. The MPC is in charge of the forward communication time delay by providing future control sequences. Also, the smith predictor compensates for the backward time delay. First, as a slave controller a simple discrete PD controller is designed for the slave system. Then, the system is reduced to a more general form to derive the future control sequences or namely to derive the master controller. Throughout the paper a low-pass unitary gain filter is used to improve the robustness of the teleoperation system under study. The design of a pre-filter highly reduces the overshoots imposed on the system.
{"title":"Model Predictive Control of transparent bilateral teleoperation systems under uncertain communication time-delay","authors":"Seyyed Vahid Ghoushkhanehee, A. Alfi","doi":"10.1109/ASCC.2013.6606130","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606130","url":null,"abstract":"Performance and stability degradation in teleoperation systems experiencing time delay in both forward and backward channels is of crucial importance. What is addressed in this paper is to propose a new control strategy using a modified Model Predictive Control (MPC) and a modified smith predictor. The MPC is in charge of the forward communication time delay by providing future control sequences. Also, the smith predictor compensates for the backward time delay. First, as a slave controller a simple discrete PD controller is designed for the slave system. Then, the system is reduced to a more general form to derive the future control sequences or namely to derive the master controller. Throughout the paper a low-pass unitary gain filter is used to improve the robustness of the teleoperation system under study. The design of a pre-filter highly reduces the overshoots imposed on the system.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91477122","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606298
A. Safaee, H. Taghirad
One of the most complex issues which are proposed in designing a controller for autopilots is robustness. This requirement is due to the dynamic model changes and also, the resistance to environmental disturbances. A main factor that changes the dynamic model of the helicopter autopilot is any change in body mass center, such as any additional load. Furthermore, wind is one of the main causes of environmental disturbances. In this paper model identification of four systems in helicopter by using real data is presented. For all systems robust H2/H∞ and mixed sensitivity controller are designed. The simulation results show the robustness of designed controllers in the existence of uncertainty. The designed controller was implemented on the real case study. Results demonstrate the robustness of the system.
{"title":"System identification and robust controller design for the autopilot of an unmanned helicopter","authors":"A. Safaee, H. Taghirad","doi":"10.1109/ASCC.2013.6606298","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606298","url":null,"abstract":"One of the most complex issues which are proposed in designing a controller for autopilots is robustness. This requirement is due to the dynamic model changes and also, the resistance to environmental disturbances. A main factor that changes the dynamic model of the helicopter autopilot is any change in body mass center, such as any additional load. Furthermore, wind is one of the main causes of environmental disturbances. In this paper model identification of four systems in helicopter by using real data is presented. For all systems robust H2/H∞ and mixed sensitivity controller are designed. The simulation results show the robustness of designed controllers in the existence of uncertainty. The designed controller was implemented on the real case study. Results demonstrate the robustness of the system.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87547444","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6605991
Dong Xiao, S. Shi, Zhizhong Mao, Jichun Wang
Piercer is an important equipment in seamless steel tubes production. The guide disc model is proposed by the analysis to hydraulic system which drives guide disc which is important for its control. Load-torque which is the important parameter in model is predicted by soft measure method. A PCA-ELM soft sensor model is proposed to estimate the guide disc speed in rolling piercing process successfully. The accuracy system is proved by simulation.
{"title":"Modeling of guide disk speed of rotary piercer based on PCA-ELM","authors":"Dong Xiao, S. Shi, Zhizhong Mao, Jichun Wang","doi":"10.1109/ASCC.2013.6605991","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6605991","url":null,"abstract":"Piercer is an important equipment in seamless steel tubes production. The guide disc model is proposed by the analysis to hydraulic system which drives guide disc which is important for its control. Load-torque which is the important parameter in model is predicted by soft measure method. A PCA-ELM soft sensor model is proposed to estimate the guide disc speed in rolling piercing process successfully. The accuracy system is proved by simulation.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85694747","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606024
Jung Hoon Kim, T. Hagiwara, K. Hirata
This paper studies the spectral properties of mon-odromy operators, which play an important role in stability analysis of linear time-invariant time-delay feedback systems. The paper is motivated by the fact that this operator can actually be defined naturally on four spaces, where the difference stems from different choices for the function space on which the infinite-dimensional state of such a time-delay system is assumed to take its value. It is first shown that the spectrum of the monodromy operator is independent of the spaces on which it is defined. It is further shown that the operator spectrum is continuous at monodromy operators, which is a crucial fundamental fact in justifying the spectrum computation of the monodromy operator through its approximation by any sort of tractable operators.
{"title":"A study on the spectrum of monodromy operator for a time-delay system","authors":"Jung Hoon Kim, T. Hagiwara, K. Hirata","doi":"10.1109/ASCC.2013.6606024","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606024","url":null,"abstract":"This paper studies the spectral properties of mon-odromy operators, which play an important role in stability analysis of linear time-invariant time-delay feedback systems. The paper is motivated by the fact that this operator can actually be defined naturally on four spaces, where the difference stems from different choices for the function space on which the infinite-dimensional state of such a time-delay system is assumed to take its value. It is first shown that the spectrum of the monodromy operator is independent of the spaces on which it is defined. It is further shown that the operator spectrum is continuous at monodromy operators, which is a crucial fundamental fact in justifying the spectrum computation of the monodromy operator through its approximation by any sort of tractable operators.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86009195","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606308
A. Jubien, M. Gautier, A. Janot
The Usual Closed Loop Output Error (CLOE) method for dynamic parameters identification of robots has several drawbacks: slow convergence, sensitivity to initial conditions and the calculation of significant parameters is not easy-to-run. Recently a new CLOE method called as DIDIM for Direct and Inverse Identification Model needing only actual forces/torques data was validated on rigid robots. This method avoids the drawbacks of the usual CLOE method. With the DIDIM method, the optimal parameters minimize the 2-norm of the error between the actual forces/torques and the simulated ones. It is based on a closed-loop simulation of the robot using the direct dynamic model, the same structure of control-law and the same reference trajectory for both the actual robot and the simulated one. The DIDIM method simplifies dramatically the non-linear Least Squares problem by using the Inverse Dynamic Model in order to obtain an analytical expression of the simulated forces/torques which are linear in the parameters. This explains why the DIDIM method has a fast convergence. In this paper, the DIDIM method is compared with the usual CLOE method which uses the actual positions as output. Experiments are performed on a 6 degrees of freedom robot Stäubli TX40.
{"title":"Effectiveness of the DIDIM method with respect to the usual CLOE method. Application to the dynamic parameters identification of an industrial robot","authors":"A. Jubien, M. Gautier, A. Janot","doi":"10.1109/ASCC.2013.6606308","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606308","url":null,"abstract":"The Usual Closed Loop Output Error (CLOE) method for dynamic parameters identification of robots has several drawbacks: slow convergence, sensitivity to initial conditions and the calculation of significant parameters is not easy-to-run. Recently a new CLOE method called as DIDIM for Direct and Inverse Identification Model needing only actual forces/torques data was validated on rigid robots. This method avoids the drawbacks of the usual CLOE method. With the DIDIM method, the optimal parameters minimize the 2-norm of the error between the actual forces/torques and the simulated ones. It is based on a closed-loop simulation of the robot using the direct dynamic model, the same structure of control-law and the same reference trajectory for both the actual robot and the simulated one. The DIDIM method simplifies dramatically the non-linear Least Squares problem by using the Inverse Dynamic Model in order to obtain an analytical expression of the simulated forces/torques which are linear in the parameters. This explains why the DIDIM method has a fast convergence. In this paper, the DIDIM method is compared with the usual CLOE method which uses the actual positions as output. Experiments are performed on a 6 degrees of freedom robot Stäubli TX40.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88778122","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606138
Qiugang Lu, W. Pawlus, H. Karimi, K. Robbersmyr
Vehicle crash are considered to be events with high complexity from the mathematical points of view. The high experiment cost and huge time-consumption make the establishment of a mathematical model of vehicle crash which can simplify the analysis process in great demand. In this work, we present the application of LPV-ARMAX model to simulate the car-to-pole collision with different initial impact velocities. The parameters of the LPV-ARMAX are assumed to be functions of the initial impact velocities. Instead of establishing a set of LTI models for vehicle crashes with various impact velocities, the LPV-ARMAX model is comparatively simple and applicable to predict the responses of new collision situations different from those used for identification. The comparison between the predicted response and the real test data is conducted, which shows the high fidelity of the LPV-ARMAX model.
{"title":"Data-based modeling of vehicle collision by LPV-ARMAX model approach","authors":"Qiugang Lu, W. Pawlus, H. Karimi, K. Robbersmyr","doi":"10.1109/ASCC.2013.6606138","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606138","url":null,"abstract":"Vehicle crash are considered to be events with high complexity from the mathematical points of view. The high experiment cost and huge time-consumption make the establishment of a mathematical model of vehicle crash which can simplify the analysis process in great demand. In this work, we present the application of LPV-ARMAX model to simulate the car-to-pole collision with different initial impact velocities. The parameters of the LPV-ARMAX are assumed to be functions of the initial impact velocities. Instead of establishing a set of LTI models for vehicle crashes with various impact velocities, the LPV-ARMAX model is comparatively simple and applicable to predict the responses of new collision situations different from those used for identification. The comparison between the predicted response and the real test data is conducted, which shows the high fidelity of the LPV-ARMAX model.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90669998","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 : 2013-06-23DOI: 10.1109/ASCC.2013.6606214
A. Ahmadi, M. Aldeen
In this paper, a new approach based on the concept of combined controllability and observability is proposed to quantify the interaction among the inputs and outputs of both stable and unstable linear multivariable systems. The proposed approach computes the contribution of the system eigenvalues in the outputs and formulates a Relative Contribution Array (RCA) to quantify the input-output interactions and select the most appropriate set of input-output pairs. The proposed approach has many advantages over existing well known approaches, which are illustrated through a widely reported numerical example of a chemical process where conventional RGA is shown to lead to improper pairings while the proposed approach leads to far more accurate assessment of interaction.
{"title":"New input-output pairing based on eigenvalue contribution measures","authors":"A. Ahmadi, M. Aldeen","doi":"10.1109/ASCC.2013.6606214","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606214","url":null,"abstract":"In this paper, a new approach based on the concept of combined controllability and observability is proposed to quantify the interaction among the inputs and outputs of both stable and unstable linear multivariable systems. The proposed approach computes the contribution of the system eigenvalues in the outputs and formulates a Relative Contribution Array (RCA) to quantify the input-output interactions and select the most appropriate set of input-output pairs. The proposed approach has many advantages over existing well known approaches, which are illustrated through a widely reported numerical example of a chemical process where conventional RGA is shown to lead to improper pairings while the proposed approach leads to far more accurate assessment of interaction.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89223283","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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