2022 Eighth Indian Control Conference (ICC)最新文献_第4页

Adaptive Neuro Fuzzy Inference Based Control of a Flexible Bevel-Tip Needle for Minimal Invasive Surgical Procedures 基于自适应神经模糊推理的柔性斜尖针微创手术控制

2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093409

K. Halder, M. F. Orlando, R. S. Anand

引用次数: 0

Fractional-order Composite Adaptive Attitude Control of Satellite using Double Gimbal Variable Speed Control Moment Gyroscope 基于双框架变速力矩陀螺仪的卫星分数阶复合自适应姿态控制

2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093262

G. Das

{"title":"Fractional-order Composite Adaptive Attitude Control of Satellite using Double Gimbal Variable Speed Control Moment Gyroscope","authors":"G. Das","doi":"10.1109/ICC56513.2022.10093262","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093262","url":null,"abstract":"Satellites need constant attitude control for maintaining precise pointing while going through several external disturbance torques. In satellites, uncertainty in the inertia matrix is common due to fuel depletion and mass displacement. The estimation of these uncertain parameters while assuring the satellite attitude control is addressed in this work using a fractional-order composite adaptive control algorithm which has the attributes of the composite adaptive controller and is more robust because of its extra degree of freedom in terms of non-integer differentiation and (or) integration. A composite adaptive controller estimates the uncertain inertia parameters by utilizing both tracking and prediction errors resulting in faster convergence and reduced tracking error. A Double Gimbal Variable Speed Control Moment Gyroscope (DGVSCMG), which can produce torques in all three axes with its single unit, is used as the momentum exchange device on board. The system with the controller is stable and exponentially convergent. The efficacy of the designed controller is shown by comparing it with a direct adaptive controller and an integer order composite adaptive controller. Finally, the simulation results validate the claims made.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126535189","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}

引用次数: 0

ROS-Based Multi-Agent Systems COntrol Simulation Testbed (MASCOT) 基于ros的多智能体系统控制仿真试验台

2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093632

Arvind Pandit, Akash Njattuvetty, Ameer K. Mulla

{"title":"ROS-Based Multi-Agent Systems COntrol Simulation Testbed (MASCOT)","authors":"Arvind Pandit, Akash Njattuvetty, Ameer K. Mulla","doi":"10.1109/ICC56513.2022.10093632","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093632","url":null,"abstract":"This paper presents a simulation testbed developed for testing and demonstration of decentralized control algorithms designed for multi-agent systems. Aimed at bridging a gap between theory and practical deployment of such algorithms, this testbed provides a simulator with multi-agent systems having quadcopter agents. It is used to test the control algorithms designed assuming simple agent dynamics like a single or double integrator. This is based on the fact that under certain assumptions quadcopter dynamics can be modeled as a double integrator system. A gazebo simulator with a physics engine as ODE (Open Dynamics Engine) is used for simulating the dynamics of the quadcopter. Robot Operating System is used to develop communication networks and motion control algorithms for the different agents in the simulation testbed. The performance of the test bed is analyzed by implementing linear control laws such as position control, leaderless consensus, leader-follower consensus, and non-linear control law for min-max time consensus. This work is published as an open-source ROS package under MIT license at https: //github. com/Avi241/mascot. A docker image is also developed for easy setup of the system.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"203 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128270617","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}

引用次数: 0

Spacecraft Attitude Control using NSTSM and RW Desaturation via Magnetorquer 基于NSTSM和磁致力矩去饱和的航天器姿态控制

2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093376

Vikram Saini, D. Giri

引用次数: 0

Design of Experiments with Imputable Feature Data 可输入特征数据的实验设计

2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093593

R. K. Velicheti, Amber Srivastava, S. Salapaka

{"title":"Design of Experiments with Imputable Feature Data","authors":"R. K. Velicheti, Amber Srivastava, S. Salapaka","doi":"10.1109/ICC56513.2022.10093593","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093593","url":null,"abstract":"Selection of experiments to estimate an underlying model is an innate task across various fields. Since experiments have costs associated with them, selecting statistically significant experiments becomes necessary. Classic linear experimental design deals with experiment selection so as to minimize (functions of) variance in estimation of regression parameter. Typically, standard algorithms for solving this problem assume that data associated with each experiment is fully known. This is not often true since missing data is a common problem. Hence experiment selection under such scenarios is a widespread but challenging task. Standard design of experiments is an NP hard problem, and the additional objective of imputing for missing data amplifies the computational complexity. In this paper, we propose a maximum-entropy-principle based framework that simultaneously addresses the problem of design of experiments as well as the imputation of missing data. Our algorithm exploits homotopy from a suitably chosen convex function to the non-convex cost function; hence avoiding poor local minima. Further, our proposed framework is flexible to incorporate application specific constraints. Simulations on various datasets show improvement in the cost value by over 60% in comparison to benchmark algorithms applied sequentially to the imputation and experiment selection problems.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129325648","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}

引用次数: 0

Online Estimation of Decay Ratio using Short Time Fourier Transform Ridge for Flow Instability Detection in Natural Circulation Boiling Water Reactors 基于短时傅里叶变换脊线的衰减比在线估计用于自然循环沸水反应堆流动不稳定性检测

2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093591

C. Subudhi, S. Shimjith

引用次数: 0

Neuro-Adaptive Control of a Master-Slave Robotic System 主从机器人系统的神经自适应控制

2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093256

Sarvesh Saini, K. Halder, M. F. Orlando, P. Pathak

{"title":"Neuro-Adaptive Control of a Master-Slave Robotic System","authors":"Sarvesh Saini, K. Halder, M. F. Orlando, P. Pathak","doi":"10.1109/ICC56513.2022.10093256","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093256","url":null,"abstract":"In this article, a neuro-adaptive based trajectory control for redundant surgical manipulator is designed for the application of natural orifice transluminal endoscopic surgery (NOTES). This system can provide solution to precise positioning of the surgical robot tip that can be deployed for the internal organ inspection, radiosurgery of the gastrointestinal tumor, improvement in the precise placement of radiation source during brachytherapy, etc. This work deals with online in-air 3D trajectory tracking control of 5-degrees of freedom (DOF) redundant surgical manipulator. The neuro-adaptive control has been employed for trajectory tracking in which unknown parameters for the manipulator are estimated using the neuro-adaptive technique. This technique helps in reduction the computational time by reducing the computational complexity involved while estimating the unknown parameters with conventional manipulator dynamic based adaptive control. The comparison results reflects that the proposed technique performs better than the manipulator dynamics based adaptive control in terms of accuracy and reduces the computational complexity during trajectory tracking.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116984338","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}

引用次数: 0

Delay Dependent Stability of High Order Neutral Systems with Multiple Delays 多时滞高阶中立型系统的时滞相关稳定性

2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093321

Pooja Sharma, Satyanarayana Neeli

引用次数: 0

Traversable Frontiers Based Autonomous Exploration Strategy for Deploying MAVs in Subterranean Environments 基于可穿越边界的自主探测策略在地下环境中部署mav

2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093322

Akash Patel, C. Kanellakis, G. Nikolakopoulos

{"title":"Traversable Frontiers Based Autonomous Exploration Strategy for Deploying MAVs in Subterranean Environments","authors":"Akash Patel, C. Kanellakis, G. Nikolakopoulos","doi":"10.1109/ICC56513.2022.10093322","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093322","url":null,"abstract":"Ahstract- Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present an exploration-planning strategy for deploying autonomous MAVs in completely unknown areas. In exploration, the robot computes the next-best safe look-ahead poses such that by navigating to the future pose, the robot will acquire more information about the environment. The proposed strategy uses a novel frontier selection method that also contributes to the safe navigation of autonomous robots in obstructed areas such as Subterranean caves and mines. In order to compute safe look-ahead poses for the robot, the framework associates costs on a traversable frontier selection with minimal violation heading change from a most unknown direction. The proposed exploration framework is also adaptive to computational resources available on board the robot which means the trade-off between the speed of exploration and the quality of the map can be made. Such capability allows the proposed framework to be deployed in subterranean exploration, mapping as well as in fast search and rescue scenarios irrespective of the type of robot used. The performance of the proposed framework is evaluated in detailed simulation studies with comparisons made against state-of-the-art high-level exploration-planning framework as it will be presented in this article.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132651397","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}

引用次数: 0

Strategic Multi-class Classification for Non-uniform Preferences and its Relation to Incentive Compatibility 非均匀偏好的策略多类分类及其与激励相容性的关系

2022 Eighth Indian Control Conference (ICC) Pub Date : 2022-12-14 DOI: 10.1109/ICC56513.2022.10093630

Manish K. Singh, Ankur A. Kulkarni

{"title":"Strategic Multi-class Classification for Non-uniform Preferences and its Relation to Incentive Compatibility","authors":"Manish K. Singh, Ankur A. Kulkarni","doi":"10.1109/ICC56513.2022.10093630","DOIUrl":"https://doi.org/10.1109/ICC56513.2022.10093630","url":null,"abstract":"Motivated by the problem of university admissions, we study the problem of correctly classifying the label of a feature vector when a sender can manipulate this vector to get a desired label. There are two players: sender and receiver and both know the target function over the feature vectors. The sender privately observes a feature vector and manipulates it according to its payoff criteria and sends it to the receiver. The receiver would like to perform multi-class classification to maximize the number of points for which it can recover the original label of the feature vector known to the sender. We pose this problem as a Stackelberg game with the receiver as the leader. Through this we characterise the optimal classifier in terms of the independence number of a certain graph which depends on the utility and cost of the sender and the target function. As a corollary, we characterise the optimal strategy of the receiver for the problem of strategic communication with cost. Finally we show that if the target function is incentive compatible condition, then the receiver can correctly classify all feature vectors.","PeriodicalId":101654,"journal":{"name":"2022 Eighth Indian Control Conference (ICC)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122294211","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}

引用次数: 0