Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6988025
Rozilawati Mohd Nor, Chong Shin-Horng
In this paper, the Continuous Motion (CM) NCTF controller is proposed for a point-to-point (PTP) positioning system of a one mass rotary system. For this system, the CM-NCTF controller is designed based on the conventional structure of NCTF controller and improved. The CM-NCTF controller consists of Nominal Characteristic Trajectory (NCT) and Proportional Integral (PI) compensator. It is designed without knowing exact system modeling and parameter evaluation. The NCT is constructed from open loop responses while the PI compensator is designed based on the constructed-NCT itself. The effectiveness of the CM NCTF controller is evaluated and compared with the PID controller for positioning and tracking motion performances experimentally. The robustness of the CM NCTF controller is validated by varying the mass load. Overall, the CM-NCTF controller demonstrates promising positioning and tracking performances, and low sensitivity towards the change of mass load in comparison with the PID controller.
{"title":"Robustness evaluation for point-to-point positioning control of a one mass rotary system","authors":"Rozilawati Mohd Nor, Chong Shin-Horng","doi":"10.1109/ICCAS.2014.6988025","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6988025","url":null,"abstract":"In this paper, the Continuous Motion (CM) NCTF controller is proposed for a point-to-point (PTP) positioning system of a one mass rotary system. For this system, the CM-NCTF controller is designed based on the conventional structure of NCTF controller and improved. The CM-NCTF controller consists of Nominal Characteristic Trajectory (NCT) and Proportional Integral (PI) compensator. It is designed without knowing exact system modeling and parameter evaluation. The NCT is constructed from open loop responses while the PI compensator is designed based on the constructed-NCT itself. The effectiveness of the CM NCTF controller is evaluated and compared with the PID controller for positioning and tracking motion performances experimentally. The robustness of the CM NCTF controller is validated by varying the mass load. Overall, the CM-NCTF controller demonstrates promising positioning and tracking performances, and low sensitivity towards the change of mass load in comparison with the PID controller.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"49 1","pages":"375-380"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85812059","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6988041
Y. Fuwa, T. Takimoto
The conventional screw propeller is widely used for ships and water vehicles. However, the screw propeller has safety problems that get entangled in the fish net or the algae. In addition, the propulsion by the screw consumes a lot of energy. The goal of our research is the development of an alternative propulsion method for the unmanned surface vehicle to the screw propeller. In this paper, we focus on the gliding locomotion which is defined as the forward motion by the difference of the friction between the normal direction and the tangential direction. In particular, we have considered a mechanism of the surface vehicle propulsion with the gliding locomotion using only single servo motor. Moreover, we have developed a model vehicle with the proposed propulsion which can drive forward and gyrate. Then, we have shown experimental result and consider the performance.
{"title":"Development of surface vehicle with single motor by gliding locomotion","authors":"Y. Fuwa, T. Takimoto","doi":"10.1109/ICCAS.2014.6988041","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6988041","url":null,"abstract":"The conventional screw propeller is widely used for ships and water vehicles. However, the screw propeller has safety problems that get entangled in the fish net or the algae. In addition, the propulsion by the screw consumes a lot of energy. The goal of our research is the development of an alternative propulsion method for the unmanned surface vehicle to the screw propeller. In this paper, we focus on the gliding locomotion which is defined as the forward motion by the difference of the friction between the normal direction and the tangential direction. In particular, we have considered a mechanism of the surface vehicle propulsion with the gliding locomotion using only single servo motor. Moreover, we have developed a model vehicle with the proposed propulsion which can drive forward and gyrate. Then, we have shown experimental result and consider the performance.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"9 1","pages":"499-502"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87172103","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987754
Huasheng Tan, Mingang Hua
The problem of robust L2-L∞ filter design of uncertain neutral stochastic systems with Markovian jumping parameters and time delay is discussed in this paper. The parameter uncertainties are assumed to be norm-bounded. Based on the Lyapunov-krasovskii theory and generalized Finsler lemma, a delay-dependent stability condition is obtained. The obtained result ensures the robust stochastic stability and a prescribed L2-L∞ performance level of the filtering error systems. Sufficient conditions for the existence of the designed L2-L∞ are formulated in terms of linear matrix inequalities(LMIs). Two numerical examples are provided to illustrate the effectiveness of the proposed method.
{"title":"Robust L2-L∞ filtering for uncertain neutral stochastic system with markovian jumping parameters and time delay","authors":"Huasheng Tan, Mingang Hua","doi":"10.1109/ICCAS.2014.6987754","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987754","url":null,"abstract":"The problem of robust L<sub>2</sub>-L<sub>∞</sub> filter design of uncertain neutral stochastic systems with Markovian jumping parameters and time delay is discussed in this paper. The parameter uncertainties are assumed to be norm-bounded. Based on the Lyapunov-krasovskii theory and generalized Finsler lemma, a delay-dependent stability condition is obtained. The obtained result ensures the robust stochastic stability and a prescribed L<sub>2</sub>-L<sub>∞</sub> performance level of the filtering error systems. Sufficient conditions for the existence of the designed L<sub>2</sub>-L<sub>∞</sub> are formulated in terms of linear matrix inequalities(LMIs). Two numerical examples are provided to illustrate the effectiveness of the proposed method.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"453 1","pages":"1284-1289"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88611426","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987955
V. Tipsuwanporn, A. Numsomran, S. Samaimak, S. Harnnarong
In this paper, we developed the library for the microcontroller platform Arduino to apply in Modbus SCADA systems. This library allows Arduino board to communicate with RS-485 and use Modbus protocol which transmits data via a redundant bus. Experiments are conducted to compare the stability of data communication between a regular bus and a redundant bus which is the developed library. The results show the developed library Arduino board is able to communicate with redundant buses and more resistant to faults than conventional buses.
{"title":"Development of redundant bus library for arduino to apply in SCADA system","authors":"V. Tipsuwanporn, A. Numsomran, S. Samaimak, S. Harnnarong","doi":"10.1109/ICCAS.2014.6987955","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987955","url":null,"abstract":"In this paper, we developed the library for the microcontroller platform Arduino to apply in Modbus SCADA systems. This library allows Arduino board to communicate with RS-485 and use Modbus protocol which transmits data via a redundant bus. Experiments are conducted to compare the stability of data communication between a regular bus and a redundant bus which is the developed library. The results show the developed library Arduino board is able to communicate with redundant buses and more resistant to faults than conventional buses.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"54 1","pages":"42-46"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75430779","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987935
Marina Morimitsu, Teruo Yamaguchi, H. Harada
Spatio-temporal derivative method is one of the most effective methods of determining the velocity of moving objects. This method shows excellent response, but it has a problem that estimated velocity is not accurate where Hessian of the target pattern is small or there is noise on the image. It has been reported that one can obtain more stable velocity vectors by synthesizing the velocity vectors obtained for each channel that is consist of different characteristic filters. However, guidelines for the choice of optimal filter group has not been established yet. Therefore, in this study, we researched to suppress unstable velocity vectors at motion edge by using compact filter group. In particular, we made some filter group which consists of different characteristic (passband) filters, and applying it to various image sequences. Then, we searched for the filter group that can provide stable velocity vectors at motion edge on the image. We compared the results in case where filter coefficient is original and normalized. It was found that stable velocity vector can be obtained by applying normalized coefficient filters.
{"title":"Designing of the input filter group of the multichannel optical flow estimate method","authors":"Marina Morimitsu, Teruo Yamaguchi, H. Harada","doi":"10.1109/ICCAS.2014.6987935","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987935","url":null,"abstract":"Spatio-temporal derivative method is one of the most effective methods of determining the velocity of moving objects. This method shows excellent response, but it has a problem that estimated velocity is not accurate where Hessian of the target pattern is small or there is noise on the image. It has been reported that one can obtain more stable velocity vectors by synthesizing the velocity vectors obtained for each channel that is consist of different characteristic filters. However, guidelines for the choice of optimal filter group has not been established yet. Therefore, in this study, we researched to suppress unstable velocity vectors at motion edge by using compact filter group. In particular, we made some filter group which consists of different characteristic (passband) filters, and applying it to various image sequences. Then, we searched for the filter group that can provide stable velocity vectors at motion edge on the image. We compared the results in case where filter coefficient is original and normalized. It was found that stable velocity vector can be obtained by applying normalized coefficient filters.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"27 1","pages":"1070-1075"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75434277","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987547
Xin-zhuang Dong, M. Xiao, Yushun Wang, Wenxue He
This paper studies the problem of designing an observer-based admissible controller for singular delta operator systems. Sufficient conditions are provided for the existence of an asymptotical and physically realizable observer. Then an observer-based admissible controller is obtained in terms of strict linear matrix inequalities. The corresponding gain matrices appeared in our proposed approach can be constructed through the feasible solutions of a set of linear matrix inequalities. Some numerical examples are presented to demonstrate the theoretical outcomes of the paper.
{"title":"Observer-based admissible control for singular delta operator systems","authors":"Xin-zhuang Dong, M. Xiao, Yushun Wang, Wenxue He","doi":"10.1109/ICCAS.2014.6987547","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987547","url":null,"abstract":"This paper studies the problem of designing an observer-based admissible controller for singular delta operator systems. Sufficient conditions are provided for the existence of an asymptotical and physically realizable observer. Then an observer-based admissible controller is obtained in terms of strict linear matrix inequalities. The corresponding gain matrices appeared in our proposed approach can be constructed through the feasible solutions of a set of linear matrix inequalities. Some numerical examples are presented to demonstrate the theoretical outcomes of the paper.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"78 1","pages":"1117-1122"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76038064","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987969
Daiki Urayoshi, Y. Matsuda, T. Sugi, S. Goto, T. Morisaki, Y. Ikegami
In ocean thermal energy conversion (OTEC) plant, electricity is generated by heat energy from temperature difference between warm seawater at surface and cold seawater in depth. OTEC plants have an evaporator as one of the most important devices. Indeed, the evaporator evaporates the working fluid to rotate the turbine connected to the generator. In this research, a model of heat source system in an OTEC pilot plant for stable operation of the plant is constructed. In the OTEC pilot plant, the evaporation of the working fluid is realized by warm water from a boiler. Therefore, it is important to keep the temperature of warm water constant. Since the temperature of warm water can be changed by manipulating the valve opening, first order models to describe the relationship between the temperature and the valve opening are constructed based on experimental data. The effectiveness of the constructed models was verified through simulation.
{"title":"Model construction of heat source in an OTEC pilot plant for stabilization control based on experimental data","authors":"Daiki Urayoshi, Y. Matsuda, T. Sugi, S. Goto, T. Morisaki, Y. Ikegami","doi":"10.1109/ICCAS.2014.6987969","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987969","url":null,"abstract":"In ocean thermal energy conversion (OTEC) plant, electricity is generated by heat energy from temperature difference between warm seawater at surface and cold seawater in depth. OTEC plants have an evaporator as one of the most important devices. Indeed, the evaporator evaporates the working fluid to rotate the turbine connected to the generator. In this research, a model of heat source system in an OTEC pilot plant for stable operation of the plant is constructed. In the OTEC pilot plant, the evaporation of the working fluid is realized by warm water from a boiler. Therefore, it is important to keep the temperature of warm water constant. Since the temperature of warm water can be changed by manipulating the valve opening, first order models to describe the relationship between the temperature and the valve opening are constructed based on experimental data. The effectiveness of the constructed models was verified through simulation.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"18 1","pages":"116-120"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90856240","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987953
G. Duan
This paper considers the control of a system which is the cascaded result of a second-order nonlinear plant and a first-order actuator system. It is shown that such a system can be converted equivalently into a fully-actuated third-order quasi-linear system, and as soon as this is done, a simple complete general parametrization of the position-velocity-acceleration feedback controller can be immediately given, which provides, no matter the open loop system is linear or not, a constant linear closed-loop system with designed eigenstructure. Furthermore, the approach also provides all the degrees of design freedom represented by a stable matrix F; and another parameter matrix Z; which is in fact dense in the parameter space. They can be further optimized to achieve additional requirements on the closed-loop system.
{"title":"Direct parametric approach for cascaded systems with application in robot control","authors":"G. Duan","doi":"10.1109/ICCAS.2014.6987953","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987953","url":null,"abstract":"This paper considers the control of a system which is the cascaded result of a second-order nonlinear plant and a first-order actuator system. It is shown that such a system can be converted equivalently into a fully-actuated third-order quasi-linear system, and as soon as this is done, a simple complete general parametrization of the position-velocity-acceleration feedback controller can be immediately given, which provides, no matter the open loop system is linear or not, a constant linear closed-loop system with designed eigenstructure. Furthermore, the approach also provides all the degrees of design freedom represented by a stable matrix F; and another parameter matrix Z; which is in fact dense in the parameter space. They can be further optimized to achieve additional requirements on the closed-loop system.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"35 1","pages":"29-35"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78593401","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987739
Keigo Watanabe, Yuya Yamada, I. Nagai
In this research, a position measurement system in an indoor 3D space is developed by using a stereo camera. Especially, in order to enable measurement in a dark place, the position measurement system is built by attaching an infrared LED marker to an object and using two cameras equipped with an infrared transmitting filter. The validity of such a system is clarified through a real system experiment by including it in the control system of an indoor aerial robot, and using it as a measurement system for position control in 3D space.
{"title":"The development of a 3D position measurement system for indoor aerial robots","authors":"Keigo Watanabe, Yuya Yamada, I. Nagai","doi":"10.1109/ICCAS.2014.6987739","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987739","url":null,"abstract":"In this research, a position measurement system in an indoor 3D space is developed by using a stereo camera. Especially, in order to enable measurement in a dark place, the position measurement system is built by attaching an infrared LED marker to an object and using two cameras equipped with an infrared transmitting filter. The validity of such a system is clarified through a real system experiment by including it in the control system of an indoor aerial robot, and using it as a measurement system for position control in 3D space.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"29 1","pages":"1185-1190"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78636574","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987734
Haijun Fang, S. Dianat, L. K. Mestha, A. Radomski
In this paper, we will present an approach developing a linear model of a radio frequency (RF) power generator by using pseudo random binary signals (PRBS). We will compare two linear models obtained respectively by the PRBS approach and a traditional modeling approach. The result shows that both approaches achieve a very similar model of the RF power generator. Moreover, it can be shown that the PRBS approach is easily implemented in FPGA (Field-Programmable Gate Array) and can be adapted for the on-line system identification.
{"title":"Developing a linear model of RF power generators with pseudo random binary signals (PRBS)","authors":"Haijun Fang, S. Dianat, L. K. Mestha, A. Radomski","doi":"10.1109/ICCAS.2014.6987734","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987734","url":null,"abstract":"In this paper, we will present an approach developing a linear model of a radio frequency (RF) power generator by using pseudo random binary signals (PRBS). We will compare two linear models obtained respectively by the PRBS approach and a traditional modeling approach. The result shows that both approaches achieve a very similar model of the RF power generator. Moreover, it can be shown that the PRBS approach is easily implemented in FPGA (Field-Programmable Gate Array) and can be adapted for the on-line system identification.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"4 1","pages":"1158-1162"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88488014","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：