Pub Date : 2015-12-28DOI: 10.1109/ICCAS.2015.7364911
Bin Yu, Youmin Zhang, Y. Qu
The increasing development of unmanned aerial vehicles (UAVs) and the requirements of high autonomy and safety levels require that the controller of UAVs should possess fault-tolerant/reconfigurable function to accommodate unpredicted situations such as actuator faults, sensor faults, or aircraft damage. This paper addresses the partial loss of control effectiveness (LOE) of actuators in a quadrotor UAV using model predictive control (MPC) with terminal constraints, which allows to track a reference command even if in the presence of actuator faults. The proposed fault-tolerant control system (FTCS) adopts MPC technique to design fault-tolerant controller and state-augmented Kalman filter (SAKF) to achieve fault detection and diagnosis (FDD) function. Simulation results based on a quadrotor UAV demonstrate that the proposed fault-tolerant controller has a good performance in accommodating actuator faults.
{"title":"MPC-based FTC with FDD against actuator faults of UAVs","authors":"Bin Yu, Youmin Zhang, Y. Qu","doi":"10.1109/ICCAS.2015.7364911","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364911","url":null,"abstract":"The increasing development of unmanned aerial vehicles (UAVs) and the requirements of high autonomy and safety levels require that the controller of UAVs should possess fault-tolerant/reconfigurable function to accommodate unpredicted situations such as actuator faults, sensor faults, or aircraft damage. This paper addresses the partial loss of control effectiveness (LOE) of actuators in a quadrotor UAV using model predictive control (MPC) with terminal constraints, which allows to track a reference command even if in the presence of actuator faults. The proposed fault-tolerant control system (FTCS) adopts MPC technique to design fault-tolerant controller and state-augmented Kalman filter (SAKF) to achieve fault detection and diagnosis (FDD) function. Simulation results based on a quadrotor UAV demonstrate that the proposed fault-tolerant controller has a good performance in accommodating actuator faults.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"14 4 1","pages":"225-230"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89152438","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364585
Junmin Park, D. Jung, W. Kwon, Soohee Han, S. Won
This paper proposes a periodic adaptive state dependent disturbance observer (PASDDOB) for motor control with the unknown input time delay, known output time delay and unknown phase delay from Q-filter to compensate the state dependent disturbance (SDD) that changes slowly by time. The PASDDOB has a structure that combines the state dependent disturbance observer (SDDOB) with the periodic adaptive learning compensation (PALC). The SDDOB compensates the known output delay and the unknown phase delay from Q-filter. The PALC compensates the unknown input time delay and the time-varying SDD. Therefore, the PASDDOB can compensate the SDD. The effectiveness of the proposed state dependent disturbance compensation method is demonstrated using MATLAB simulation results.
{"title":"State dependent disturbance compensation method for motor control system with unknown input time delay","authors":"Junmin Park, D. Jung, W. Kwon, Soohee Han, S. Won","doi":"10.1109/ICCAS.2015.7364585","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364585","url":null,"abstract":"This paper proposes a periodic adaptive state dependent disturbance observer (PASDDOB) for motor control with the unknown input time delay, known output time delay and unknown phase delay from Q-filter to compensate the state dependent disturbance (SDD) that changes slowly by time. The PASDDOB has a structure that combines the state dependent disturbance observer (SDDOB) with the periodic adaptive learning compensation (PALC). The SDDOB compensates the known output delay and the unknown phase delay from Q-filter. The PALC compensates the unknown input time delay and the time-varying SDD. Therefore, the PASDDOB can compensate the SDD. The effectiveness of the proposed state dependent disturbance compensation method is demonstrated using MATLAB simulation results.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"111 1","pages":"1474-1479"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79220364","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364961
Hyun-Seung Kim, Ju-Hyeon Hong, Woosung Park, C. Ryoo
In this paper, a satellite celestial navigation which estimates the satellite position on the orbit is proposed. It consists attitude sensor with star-tracker and earth sensor. The proposed algorithm is based on the theory that the position on the surface is determined in the case of having a different observation angle for each star at zenith. The performance of the proposed algorithm is examined via simulation considering error parameters of attitude sensor. The proposed satellite celestial navigation algorithm can estimate the satellite position on the orbit in real time, since it obtains the observation angle and altitude directly by using the attitude sensor.
{"title":"Satellite celestial navigation using star-tracker and earth sensor","authors":"Hyun-Seung Kim, Ju-Hyeon Hong, Woosung Park, C. Ryoo","doi":"10.1109/ICCAS.2015.7364961","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364961","url":null,"abstract":"In this paper, a satellite celestial navigation which estimates the satellite position on the orbit is proposed. It consists attitude sensor with star-tracker and earth sensor. The proposed algorithm is based on the theory that the position on the surface is determined in the case of having a different observation angle for each star at zenith. The performance of the proposed algorithm is examined via simulation considering error parameters of attitude sensor. The proposed satellite celestial navigation algorithm can estimate the satellite position on the orbit in real time, since it obtains the observation angle and altitude directly by using the attitude sensor.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"20 1","pages":"461-465"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79365109","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364945
J. Pak, C. Ahn, M. Lim
This paper proposes a new nonlinear filtering algorithm called the self-recovering extended Kalman filter (SREKF). In the SREKF algorithm, the EKF's failure or abnormal operation is automatically diagnosed. When the failure is diagnosed, an assisting filter, a nonlinear finite impulse response (FIR) filter, is operated. Using the output of the nonlinear FIR filter, the EKF is reset and rebooted. In this way, the SREKF can self-recover from failures. The SREKF is applied to a frequency tracking problem for demonstration of its effectiveness.
{"title":"Self-recovering extended Kalman filter for frequency tracking","authors":"J. Pak, C. Ahn, M. Lim","doi":"10.1109/ICCAS.2015.7364945","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364945","url":null,"abstract":"This paper proposes a new nonlinear filtering algorithm called the self-recovering extended Kalman filter (SREKF). In the SREKF algorithm, the EKF's failure or abnormal operation is automatically diagnosed. When the failure is diagnosed, an assisting filter, a nonlinear finite impulse response (FIR) filter, is operated. Using the output of the nonlinear FIR filter, the EKF is reset and rebooted. In this way, the SREKF can self-recover from failures. The SREKF is applied to a frequency tracking problem for demonstration of its effectiveness.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"166 1","pages":"389-392"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88631821","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364771
Li Sun, Donghai Li, Kwang Y. Lee
The performance recovery ability of disturbance observer based control (DOBC) is revealed based on equivalent transfer function transformation. It is found that, with the help of DOB, the open-loop characteristics of perturbed condition can be reshaped as similar to the nominal one. A nonlinear fluidized bed combustor is used to validate the ability. To implement the DOBC in practice, the bumpless switch is necessary for safety. A practical bumpless switch strategy is first proposed based on MATLAB/SIMULINK. Finally, a bumpless DOB enhanced PI controller is configured in Ovation DCS.
{"title":"On performance recovery and bumpless switch of disturbance observer based control","authors":"Li Sun, Donghai Li, Kwang Y. Lee","doi":"10.1109/ICCAS.2015.7364771","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364771","url":null,"abstract":"The performance recovery ability of disturbance observer based control (DOBC) is revealed based on equivalent transfer function transformation. It is found that, with the help of DOB, the open-loop characteristics of perturbed condition can be reshaped as similar to the nominal one. A nonlinear fluidized bed combustor is used to validate the ability. To implement the DOBC in practice, the bumpless switch is necessary for safety. A practical bumpless switch strategy is first proposed based on MATLAB/SIMULINK. Finally, a bumpless DOB enhanced PI controller is configured in Ovation DCS.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"40 1","pages":"1042-1045"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87272591","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364778
Xinghua Liu, Guoqi Ma, H. Xi, Weidong Wang
The finite-time synchronization of master-slave system with Markovian jump parameters is investigated in this paper. An equivalent control based terminal sliding mode control is proposed to guarantee the finite-time convergence of error dynamics. By using stochastic theory and Lyapunov method, some conditions are proposed to facilitate the sliding surface design. Furthermore, a desired controller is synthesized to ensure that the trajectory of the closed-loop error system can be driven onto the prescribed sliding mode surface. Finally, numerical simulations are presented to illustrate the effectiveness of terminal sliding mode control scheme.
{"title":"Terminal sliding mode control of master-slave system with Markovian jump parameters","authors":"Xinghua Liu, Guoqi Ma, H. Xi, Weidong Wang","doi":"10.1109/ICCAS.2015.7364778","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364778","url":null,"abstract":"The finite-time synchronization of master-slave system with Markovian jump parameters is investigated in this paper. An equivalent control based terminal sliding mode control is proposed to guarantee the finite-time convergence of error dynamics. By using stochastic theory and Lyapunov method, some conditions are proposed to facilitate the sliding surface design. Furthermore, a desired controller is synthesized to ensure that the trajectory of the closed-loop error system can be driven onto the prescribed sliding mode surface. Finally, numerical simulations are presented to illustrate the effectiveness of terminal sliding mode control scheme.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"106 1","pages":"1078-1083"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91024896","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364653
M. Jawad Khan, K. Hong, Noman Naseer, M. R. Bhutta
In this paper, we have investigated the feasibility of detecting drowsiness using hemodynamic brain signals for a passive brain-computer interface (BCI). Functional near-infrared spectroscopy (fNIRS) is used to measure the right dorsolateral-prefrontal brain region in order to investigate the hemodynamic changes corresponding to drowsy and alert states. The data is recorded using five drowsy subjects during a simulated car driving task. The recoded data are converted into oxy- and deoxy-hemoglobin (HBO and HbR) using the modified Beer-Lambert law (MBLL) for feature extraction and classification. Signal mean and signal slope are extracted using the spatio-temporal time windows as features. Linear discriminant analysis (LDA) and support vector machines (SVM) are used for the training and testing of the brain data. The classification accuracy obtained using offline analyses is 74% and 77% respectively. The results show that drowsy and alert states are distinguishable from the right dorsolateral prefrontal brain region. Also, fNIRS modality can be used for drowsiness detection for a passive BCI.
{"title":"Drowsiness detection in dorsolateral-prefrontal cortex using fNIRS for a passive-BCI","authors":"M. Jawad Khan, K. Hong, Noman Naseer, M. R. Bhutta","doi":"10.1109/ICCAS.2015.7364653","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364653","url":null,"abstract":"In this paper, we have investigated the feasibility of detecting drowsiness using hemodynamic brain signals for a passive brain-computer interface (BCI). Functional near-infrared spectroscopy (fNIRS) is used to measure the right dorsolateral-prefrontal brain region in order to investigate the hemodynamic changes corresponding to drowsy and alert states. The data is recorded using five drowsy subjects during a simulated car driving task. The recoded data are converted into oxy- and deoxy-hemoglobin (HBO and HbR) using the modified Beer-Lambert law (MBLL) for feature extraction and classification. Signal mean and signal slope are extracted using the spatio-temporal time windows as features. Linear discriminant analysis (LDA) and support vector machines (SVM) are used for the training and testing of the brain data. The classification accuracy obtained using offline analyses is 74% and 77% respectively. The results show that drowsy and alert states are distinguishable from the right dorsolateral prefrontal brain region. Also, fNIRS modality can be used for drowsiness detection for a passive BCI.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"154 1","pages":"1811-1816"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76790283","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364584
Flavien Thiery, N. Hara, K. Konishi
In floating offshore wind turbines, the platform motions induced by wind and wave conditions should be reduced to mitigate fatigue load on wind turbine components and decrease cost efficiency. This paper considers an individual blade pitch angle control of floating offshore wind turbines using model predictive control (MPC) with failure compensation to improve controller performance in case of failure on a blade pitch actuator. The proposed MPC controller is demonstrated in numerical simulation using FAST, a high-fidelity aero-elastic simulator.
{"title":"Model predictive control for floating offshore wind turbines with failure compensation using individual blade pitch control","authors":"Flavien Thiery, N. Hara, K. Konishi","doi":"10.1109/ICCAS.2015.7364584","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364584","url":null,"abstract":"In floating offshore wind turbines, the platform motions induced by wind and wave conditions should be reduced to mitigate fatigue load on wind turbine components and decrease cost efficiency. This paper considers an individual blade pitch angle control of floating offshore wind turbines using model predictive control (MPC) with failure compensation to improve controller performance in case of failure on a blade pitch actuator. The proposed MPC controller is demonstrated in numerical simulation using FAST, a high-fidelity aero-elastic simulator.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"22 1","pages":"1469-1473"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78083593","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364819
Richard Y. Park, J. Pak, C. Ahn, M. Lim
Video cameras mounted on fixed or moving platforms have been currently utilized for checking construction sites. In case of cameras mounted on flying drones, jitters in captured images are often caused by wind and vibration. To overcome this problem, image stabilization methods based on Kalman filter (KF) have been proposed. However, the KF may exhibit poor performance due to mistuning on the model parameters. This paper proposes a new image stabilization method based on finite impulse response (FIR) filter, which is more robust against mistuning on the model parameters than the KF. The effectiveness and performance of the proposed method is demonstrated by the image stabilization experiments, in which images are captured by the camera mounted on the flying drone.
{"title":"Image stabilization using FIR filters","authors":"Richard Y. Park, J. Pak, C. Ahn, M. Lim","doi":"10.1109/ICCAS.2015.7364819","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364819","url":null,"abstract":"Video cameras mounted on fixed or moving platforms have been currently utilized for checking construction sites. In case of cameras mounted on flying drones, jitters in captured images are often caused by wind and vibration. To overcome this problem, image stabilization methods based on Kalman filter (KF) have been proposed. However, the KF may exhibit poor performance due to mistuning on the model parameters. This paper proposes a new image stabilization method based on finite impulse response (FIR) filter, which is more robust against mistuning on the model parameters than the KF. The effectiveness and performance of the proposed method is demonstrated by the image stabilization experiments, in which images are captured by the camera mounted on the flying drone.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"4 1","pages":"1234-1237"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75352418","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 : 2015-12-28DOI: 10.1109/ICCAS.2015.7364959
Kuk-Kwon Park, Sang-Sup Park, C. Ryoo
This paper suggests the impact angle control guidance law defined in three dimensional space. The formal impact angle control guidance laws were described as biased PN guidance law which consisted of PN and biased term. Now the proposed impact angle control guidance law is composed of the PN term extended from two-dimensional planes to three-dimensional spaces and the biased term using rotation angle and Euler axis of quaternion to express the desired impact angles control. We investigate the three-dimensional impact angle control guidance law via numerical simulations using dynamics model.
{"title":"Three-dimensional impact angle control guidance law using quaternion","authors":"Kuk-Kwon Park, Sang-Sup Park, C. Ryoo","doi":"10.1109/ICCAS.2015.7364959","DOIUrl":"https://doi.org/10.1109/ICCAS.2015.7364959","url":null,"abstract":"This paper suggests the impact angle control guidance law defined in three dimensional space. The formal impact angle control guidance laws were described as biased PN guidance law which consisted of PN and biased term. Now the proposed impact angle control guidance law is composed of the PN term extended from two-dimensional planes to three-dimensional spaces and the biased term using rotation angle and Euler axis of quaternion to express the desired impact angles control. We investigate the three-dimensional impact angle control guidance law via numerical simulations using dynamics model.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"9 1","pages":"452-456"},"PeriodicalIF":0.0,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74264836","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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