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Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)最新文献

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The analysis of homing of aerial guided bomb on the ground target by means of special method of control 航空制导炸弹采用特殊控制方法对地面目标寻的分析
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843665
K. Stefański, M. Grzyb, Lukasz Nocon
{"title":"The analysis of homing of aerial guided bomb on the ground target by means of special method of control","authors":"K. Stefański, M. Grzyb, Lukasz Nocon","doi":"10.1109/CARPATHIANCC.2014.6843665","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843665","url":null,"abstract":"This paper presents an essay of possibility analysis of an application of the special method of aerial guided bomb control during its homing on ground target. The discussed method was previously applied to axis motion control of gyroscope with three degrees of freedom. The method consist in using of the phase trajectories of control deviations. The switching of control forces in appropriate points in the phase plane causes the reduction of the deviations to zero and realization of appropriate bomb flight path. In the paper the switching algorithm, kinematic and dynamic equations of bomb flight and a number of numerical examples are presented. The results are presented in a graphical form.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115480044","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: 5
A laboratory stand for testing the ABS unit model 用于测试ABS单元模型的实验室台架
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843680
Patrik Urban, L. Landryová
{"title":"A laboratory stand for testing the ABS unit model","authors":"Patrik Urban, L. Landryová","doi":"10.1109/CARPATHIANCC.2014.6843680","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843680","url":null,"abstract":"This contribution is focused on designing a laboratory stand for the testing purpose of the ABS unit. The ABS unit was designed based on a model, which represents roadway by a wheel braked with a mechanical disc brake in the minimal skid. An algorithm was designed and tested during breaking with mechanical brake identifying skid and creating intervention on the brake. A visualization application for measured values was created.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116269005","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: 1
A self stabilizing platform 自稳定平台
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843648
V. Popelka
{"title":"A self stabilizing platform","authors":"V. Popelka","doi":"10.1109/CARPATHIANCC.2014.6843648","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843648","url":null,"abstract":"There exist mechanical devices for which it is important to retain a constant position, or a constant direction regardless of their space fitting. Classic applications of such systems include a camera stabilization in moving systems, a platform stabilization for mobile guidance systems, or other special cases. For this and other cases, it is appropriate to use the now widespread and relatively accurate MEMS gyroscopes and accelerometers. Their consumption and size are negligible and can be used right from the smallest models or toys. This paper reports on a particular solution build on the sensor MPU6050 and its parameters that can scan 6DOF (3 × 3 accelerometer + gyroscope). In real conditions this task is not trivial, since the signals of these sensors are quite noisy and influenced by other variables such as reaction speed, inertia, and accuracy of data interpretation, sensor drift and others. Self-stabilizing platforms can be of great use especially in the automotive, aviation, marine, robotics, aerospace as well as in everyday life.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123819543","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: 11
Generating trajectory for 5 DoF serial link CNC machine with kinematic constraints 基于运动约束的五自由度串联连杆数控机床轨迹生成
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843693
A. Wolniakowski, P. Kozioł, K. Miatliuk
{"title":"Generating trajectory for 5 DoF serial link CNC machine with kinematic constraints","authors":"A. Wolniakowski, P. Kozioł, K. Miatliuk","doi":"10.1109/CARPATHIANCC.2014.6843693","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843693","url":null,"abstract":"The paper describes research concerned with generating and planning trajectory for the 5 DoF automated serial link CNC machine designed for industrial manipulation tasks with axially symmetrical workpiece. To generate the trajectory, the path based on several measurement points was interpolated by use of the 2D spline interpolation algorithm, the output of which is projected on the workpiece surface. Two restrictions are applied: the manipulator angle relative to the surface of the workpiece has to be and the trajectory has to be performed with constant velocity. The accuracy of the proposed method was investigated by simulation using the RobWork software package that gives the possibility of simulating the process of the trajectory following on given path.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128330358","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: 3
Determination of optimal feedback gain matrix for a class of nonlinear systems 一类非线性系统最优反馈增益矩阵的确定
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843567
N. Bilgin, M. U. Salamci
{"title":"Determination of optimal feedback gain matrix for a class of nonlinear systems","authors":"N. Bilgin, M. U. Salamci","doi":"10.1109/CARPATHIANCC.2014.6843567","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843567","url":null,"abstract":"The paper studies optimal control of a class of nonlinear systems with quadratic/non-quadratic cost functions and suggests a new methodology to determine the control gain matrix for the nonlinear system. The nonlinear system model is approximated as a sequence of linear time varying approximations in which the classical controller design methods can be utilized. Then, optimal control is designed for the approximated linear time varying system where the optimal control is determined to minimize a given cost function. The results of convergence of the successive linear time varying approximations to the nonlinear system are used and an optimal feedback gain matrix for the nonlinear system is obtained. The convergence of optimal control gain matrix designed for the successive linear time varying systems to a nonlinear gain matrix is proved. Once the gain matrix is determined from the successive approximations, then it is used as an optimal feedback gain matrix for the nonlinear system in a range of implementation domain. The method suggested in this study eliminates the disadvantages of the successive linear time varying approximation approach where the optimal control is obtained from a series of approximations for all implementation cases. The suggested methodology is compared with similar types of approximation based approaches studied in the literature.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127101727","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: 3
Discrete gain-scheduled controller design: Variable weighting approach 离散增益调度控制器设计:变权方法
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843594
Adrian Ilka, V. Veselý
{"title":"Discrete gain-scheduled controller design: Variable weighting approach","authors":"Adrian Ilka, V. Veselý","doi":"10.1109/CARPATHIANCC.2014.6843594","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843594","url":null,"abstract":"Our paper deals with discrete gain-scheduled controller design which ensures closed-loop stability and guaranteed cost for all scheduled parameter changes. The novel procedure is based on Lyapunov theory of stability and BMI. To access the performance quality a quadratic cost function is used, where weighting matrices are time varying matrices which depends on scheduled parameter too. The class of control structure includes decentralized fixed order output feedback like PSD controller. Numerical examples illustrate the effectiveness of the proposed approach.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117064148","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: 3
Fault detection based on linear quadratic control performance in nonlinear systems 非线性系统中基于线性二次控制性能的故障检测
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843659
V. Serbák, P. Liscinsky
{"title":"Fault detection based on linear quadratic control performance in nonlinear systems","authors":"V. Serbák, P. Liscinsky","doi":"10.1109/CARPATHIANCC.2014.6843659","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843659","url":null,"abstract":"This paper proposes a design approach of a simple algorithm detection system based on evaluating of LQ control performance index values, that is applicable on nonlinear dynamical systems described by Takagi-Sugeno model. The same approach has been used for linear dynamical system, however the question was, whether this method could be modified and applied in nonlinear system. Arbitrary state space control is recalculated to obtain parameters of equivalent LQ control, that are used in fault detection. A simulation example is used to describe the process of design of the fault detection system applied on a nonlinear dynamical system described by Takagi-Sugeno model.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124080527","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: 1
A steering method for the kinematic car using C*CS paths 基于C*CS路径的运动小车转向方法
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843602
D. Kiss, G. Tevesz
{"title":"A steering method for the kinematic car using C*CS paths","authors":"D. Kiss, G. Tevesz","doi":"10.1109/CARPATHIANCC.2014.6843602","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843602","url":null,"abstract":"A steering method for local path generation of car-like robots is presented in this paper. It is shown that in the absence of obstacles there are infinitely many solutions between two arbitrary configurations in the form of C*CS paths. This property facilitates the application of this class of paths in global planning algorithms where collisions with obstacles have to be avoided. In addition, we show that the steering method based on C*CS paths satisfies the topological property, hence a complete path planning algorithm can be constructed based on it.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"15 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124467710","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: 7
Emotiv EPOC neuroheadset in brain - computer interface Emotiv EPOC神经头戴式脑机接口
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843587
Karolina Holewa, A. Nawrocka
{"title":"Emotiv EPOC neuroheadset in brain - computer interface","authors":"Karolina Holewa, A. Nawrocka","doi":"10.1109/CARPATHIANCC.2014.6843587","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843587","url":null,"abstract":"In the paper there describes brain - computer interface, controlled by Steady - State Visual Evoked Potentials (SSVEP). This potentials are natural responses to visual stimulus ranging from 3.5 Hz to 75 Hz. In this work to elicit the SSVEP was used LED display consisting of four fields different flickering frequencies (28, 30, 32 and 34 Hz). Commercially available Emotiv EPOC neuroheadset was used to measure the electrical activity of the brain. The BCI system was used to control Lego Mindstorms. All components of the presented system were implemented in LabVIEW environment.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125512248","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: 30
Comparison of two approaches to a positional servo control 位置伺服控制两种方法的比较
Proceedings of the 2014 15th International Carpathian Control Conference (ICCC) Pub Date : 2014-05-28 DOI: 10.1109/CARPATHIANCC.2014.6843565
I. Bélai, M. Huba
{"title":"Comparison of two approaches to a positional servo control","authors":"I. Bélai, M. Huba","doi":"10.1109/CARPATHIANCC.2014.6843565","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2014.6843565","url":null,"abstract":"The paper deals with comparison of a filtered disturbance observer based PID control (DO FPID) with different realizations of a two-degree-of-freedom (2DOF) PID control. It shows that whereas in terms of IAE (Integral of absolute error) of the setpoint and disturbance step responses, both solutions may yield an equivalent closed loop dynamics, the DO FPID control guarantees a much better quantization noise attenuation [1]-[3]. It is shown that this property may be used in such a way that whereas the torque ripple of both alternatives evaluated by a modified total variance measure takes equivalent values, IAE values of the loop with the DO-FPID will significantly decrease.","PeriodicalId":105920,"journal":{"name":"Proceedings of the 2014 15th International Carpathian Control Conference (ICCC)","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127025907","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: 17
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