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2018 SICE International Symposium on Control Systems (SICE ISCS)最新文献

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Boundary control of a thin rectangular plate with clamped-clamped-clamped-free boundary conditions 具有夹紧-夹紧-无夹紧边界条件的矩形薄板的边界控制
2018 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2018-03-09 DOI: 10.23919/SICEISCS.2018.8330153
Toshimi Shimizu
{"title":"Boundary control of a thin rectangular plate with clamped-clamped-clamped-free boundary conditions","authors":"Toshimi Shimizu","doi":"10.23919/SICEISCS.2018.8330153","DOIUrl":"https://doi.org/10.23919/SICEISCS.2018.8330153","url":null,"abstract":"This paper investigates a boundary control aiming at vibration suppression for a Kirchhoff plate with clamped-clamped-clamped-free boundary conditions. We use the deflection, deflection rate, slope, and slope rate at the free edge as feedback signals and show that the closed-loop system is marginally stable by using the Lyapunov's direct method. Numerical simulations are carried out to demonstrate the performance of vibration suppression of the proposed controller. The simulation results illustrate that the boundary controller with relatively small feedback gains can suppress the vibration including high order vibration modes. In contrast, the boundary controller with extremely high gains changes the mode shapes of the closed-loop system and deteriorate the controller performance.","PeriodicalId":122301,"journal":{"name":"2018 SICE International Symposium on Control Systems (SICE ISCS)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131458281","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
Environmental adaptation for wheel-legged robot using external force given to legs 基于外力的轮腿机器人环境适应性研究
2018 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2018-03-09 DOI: 10.23919/SICEISCS.2018.8330161
Yuki Nishimura, S. Mikami
{"title":"Environmental adaptation for wheel-legged robot using external force given to legs","authors":"Yuki Nishimura, S. Mikami","doi":"10.23919/SICEISCS.2018.8330161","DOIUrl":"https://doi.org/10.23919/SICEISCS.2018.8330161","url":null,"abstract":"In recent years, autonomous mobile robots working in unknown environments are required to select apposite actions depending on their environments by themselves. In this research, we develop a system for a wheel-legged robot which grasps the situation of surrounding environment from the transition of its internal sensor state and selects the action to escape from the situation where it cannot move by itself. In our previous research, the effectiveness of the proposed system was demonstrated by the experiments with a simulator using physics engine. However, it was not shown whether the proposed system is also effective in actual environments. In this paper, we show the effectiveness of the proposed system by the experiments with a real robot and online learning in actual environments. The results of the series of experiments show that the system converges into appropriate actions in sufficiently short learning period, which means that the proposed system is effective in the actual environment.","PeriodicalId":122301,"journal":{"name":"2018 SICE International Symposium on Control Systems (SICE ISCS)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123611302","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: 2
Two variations of passivity-short-based semi-autonomous robotic swarms 两种基于短被动的半自主机器人群
2018 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2018-03-09 DOI: 10.23919/SICEISCS.2018.8330150
M. W. S. Atman, Julian Hay, J. Yamauchi, T. Hatanaka, M. Fujita
{"title":"Two variations of passivity-short-based semi-autonomous robotic swarms","authors":"M. W. S. Atman, Julian Hay, J. Yamauchi, T. Hatanaka, M. Fujita","doi":"10.23919/SICEISCS.2018.8330150","DOIUrl":"https://doi.org/10.23919/SICEISCS.2018.8330150","url":null,"abstract":"Presence of a human operator in cooperation with a robotic swarm could enhance the mission performance and accommodate the sudden changes in environments or the goals. This paper investigates two similar architectures for a semi-autonomous robotic swarm under a passivity-short assumption of the human operator. The two architectures differ only in the visual feedback given to the human operator. In addition, we present the proofs that both architectures ensure the objective which is position/velocity synchronization of the robotic swarm to references determined by the human. Further analysis in differences between both architectures is then presented, by considering the same velocity command from the human operator and inspecting the visual feedbacks of each architecture. In addition, the effects on the transparency of all robots' actual trajectories to the visual feedback are also discussed. Finally, investigation involving several test-subjects is conducted by using human-in-the-loop simulation to investigate human responses on both architectures.","PeriodicalId":122301,"journal":{"name":"2018 SICE International Symposium on Control Systems (SICE ISCS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130583012","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
Robust terrain-aided localization of spacecraft using low-fidelity asteroid shape model 基于低保真小行星形状模型的航天器鲁棒地形辅助定位
2018 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2018-03-09 DOI: 10.23919/SICEISCS.2018.8330165
Hirokazu Ishida, Y. Tsuda
{"title":"Robust terrain-aided localization of spacecraft using low-fidelity asteroid shape model","authors":"Hirokazu Ishida, Y. Tsuda","doi":"10.23919/SICEISCS.2018.8330165","DOIUrl":"https://doi.org/10.23919/SICEISCS.2018.8330165","url":null,"abstract":"We proposed a localization method for spacecraft navigation in the proximity of asteroids. This method uses particle filtering with LIDAR measurement and the terrain data of an asteroid. This type of localization is called terrain-aided localization (TAL), and has been studied intensively in the fields of aeronautics and underwater robotics. However, there exist characteristic difficulties caused by the terrain uncertainty in the application of the TAL to asteroid proximity operations. To overcome these difficulties, we developed a robust terrain-aided localization method, which is effective for general TAL problems unlimited to spacecraft applications. The strength of this method lies in the capability to probabilistically address the collision of a LIDAR ray with an asteroid. The core idea of this method is to perform Monte Carlo sampling at the point at which a LIDAR ray collides with different independently simulated terrains in every trial via stochastic process. This sampling is enabled by utilizing the signed distance function. To confirm the effectiveness of the proposed method, we conducted numerical simulations. The results show the effectiveness of the proposed method.","PeriodicalId":122301,"journal":{"name":"2018 SICE International Symposium on Control Systems (SICE ISCS)","volume":"182 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132553484","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
An application of simulated Kalman filter optimization algorithm for parameter tuning in proportional-integral-derivative controllers for automatic voltage regulator system 模拟卡尔曼滤波优化算法在自动调压系统比例-积分-导数控制器参数整定中的应用
2018 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2018-03-09 DOI: 10.23919/SICEISCS.2018.8330164
B. Muhammad, Dwi Pebrianti, Normaniha Abdul Ghani, Nor Hidayati Abdul Aziz, N. Aziz, M. S. Mohamad, M. I. Shapiai, Z. Ibrahim
{"title":"An application of simulated Kalman filter optimization algorithm for parameter tuning in proportional-integral-derivative controllers for automatic voltage regulator system","authors":"B. Muhammad, Dwi Pebrianti, Normaniha Abdul Ghani, Nor Hidayati Abdul Aziz, N. Aziz, M. S. Mohamad, M. I. Shapiai, Z. Ibrahim","doi":"10.23919/SICEISCS.2018.8330164","DOIUrl":"https://doi.org/10.23919/SICEISCS.2018.8330164","url":null,"abstract":"This paper reports the first attempt to tune gain values in proportional-integral-derivative (PID) controllers using an optimizer called simulated Kalman filter (SKF) algorithm. Compared to another well-established optimizer, such as particle swarm optimization (PSO), the SKF algorithm is a relatively new optimizer and most importantly, the SKF algorithm has not been applied to parameter tuning of PID controller. A finding based on automatic voltage regulator system suggests that the SKF algorithm has promising potentials to be a good tuning method in PID controller.","PeriodicalId":122301,"journal":{"name":"2018 SICE International Symposium on Control Systems (SICE ISCS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131343656","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
A predictive control strategy for energy management in buildings with radiant floors and thermal storage 具有辐射地板和蓄热的建筑能源管理的预测控制策略
2018 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2018-03-09 DOI: 10.23919/SICEISCS.2018.8330158
S. Rastegarpour, Mahshid Ghaemi, L. Ferrarmi
{"title":"A predictive control strategy for energy management in buildings with radiant floors and thermal storage","authors":"S. Rastegarpour, Mahshid Ghaemi, L. Ferrarmi","doi":"10.23919/SICEISCS.2018.8330158","DOIUrl":"https://doi.org/10.23919/SICEISCS.2018.8330158","url":null,"abstract":"Due to the growing energy demand in residential building, the need to reduce carbon footprint, and the smart grid paradigm, thermal energy control and overall power consumption reduction have become a hot research topic. The development of an energy management system able to modify consumer's energy consumption patterns while preserving comfort is a substantial solution. Hence, for load shaping in demand side management, particularly useful is the usage of a thermal energy storage (TES). It gives the possibility to shape the demand profile in an economic way based on dynamic electricity tariffs, by storing energy in thermal terms during off-peak hours. This paper focuses on the development of a novel control model for the integration of TES, HVAC system, building and local renewable energy sources to be used with optimization techniques. The presented control framework is based on Model Predictive Control (MPC) to better anticipate the effects of disturbances (e.g. weather conditions and user requirements on the load side, electricity price, etc.). A distributed structure has also been considered, to follow the modular structure of the system under control with the aim of optimizing the energy consumption costs and improving the indoor comfort level. Furthermore, the novel configuration of TES coupled with a heat pump and a radiant floor building giving rise to a more complex model with respect to the literature ones.","PeriodicalId":122301,"journal":{"name":"2018 SICE International Symposium on Control Systems (SICE ISCS)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121333110","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: 13
Energy management of battery electric vehicles hybridized with supercapacitor using stochastic dynamic programming 基于随机动态规划的超级电容器混合动力电动汽车能量管理
2018 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2018-03-01 DOI: 10.23919/SICEISCS.2018.8330176
Hoda Marefat, Mehdi Jalalmaab, N. Azad
{"title":"Energy management of battery electric vehicles hybridized with supercapacitor using stochastic dynamic programming","authors":"Hoda Marefat, Mehdi Jalalmaab, N. Azad","doi":"10.23919/SICEISCS.2018.8330176","DOIUrl":"https://doi.org/10.23919/SICEISCS.2018.8330176","url":null,"abstract":"In this study, a stochastic Energy Management System (EMS) for Battery Electric Vehicles (BEVs) hybridized with the supercapacitor is proposed. At each moment, the EMS should determine an optimal power distribution between the supercapacitor and the battery. Because of the uncertain nature of the power demand, an effective EMS should be able to handle uncertainties. As a result, a Stochastic Dynamic Programming (SDP) approach has been proposed and demonstrated to be successful. In this investigation, the power demand has been predicted based on a Markov chain assumption using some real drive cycles data points. The used drive cycles are categorized in two groups, which are training drive cycles and test ones. The Transition Probability Matrix (TPM) is built by the training cycles; meanwhile simulation results are based on the test drive cycles. In comparison to the results of other methods, the SDP results show more improvements. In addition, in terms of computational costs, it has a significant advantage over the other rival approaches.","PeriodicalId":122301,"journal":{"name":"2018 SICE International Symposium on Control Systems (SICE ISCS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130463746","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
Analytical modeling and preliminary fractional order velocity control of a small scale submersible 小型潜水器的解析建模及初步分数阶速度控制
2018 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2018-03-01 DOI: 10.23919/SICEISCS.2018.8330170
I. Birs, C. Muresan, O. Prodan, S. Folea, C. Ionescu
{"title":"Analytical modeling and preliminary fractional order velocity control of a small scale submersible","authors":"I. Birs, C. Muresan, O. Prodan, S. Folea, C. Ionescu","doi":"10.23919/SICEISCS.2018.8330170","DOIUrl":"https://doi.org/10.23919/SICEISCS.2018.8330170","url":null,"abstract":"This paper presents the modeling and control of a small scale submersible equipped with one propeller. The modeling process takes into consideration physical elements such as fluid statics, viscous damping and propulsive thrust. A first order transfer function with time delay is developed to make the connection between the voltage applied to the motor actuating the propeller and the velocity of the submersible. The velocity control is realized with a Fractional Order Proportional Integral (FOPI) controller that ensures zero steady state error. The controller is designed based on frequency domain specifications such as gain crossover frequency, phase margin and robustness to gain variations. The obtained fractional controller is validated through simulation in terms of steady state error and disturbance rejection performance.","PeriodicalId":122301,"journal":{"name":"2018 SICE International Symposium on Control Systems (SICE ISCS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115298785","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
Robustness evaluation of the improved NCTF controller for a pneumatic artificial muscle driven stage 气动人工肌肉驱动平台改进NCTF控制器的鲁棒性评价
2018 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2018-03-01 DOI: 10.23919/SICEISCS.2018.8330160
T. Tang, S. Chong
{"title":"Robustness evaluation of the improved NCTF controller for a pneumatic artificial muscle driven stage","authors":"T. Tang, S. Chong","doi":"10.23919/SICEISCS.2018.8330160","DOIUrl":"https://doi.org/10.23919/SICEISCS.2018.8330160","url":null,"abstract":"This paper presents robustness evaluation of the improved nominal characteristic trajectory following (NCTF) controller in the presence of mass variation for a pneumatic artificial muscle (PAM) driven stage. The improved NCTF controller consists of a nominal characteristic trajectory (NCT), a PI compensator, an acceleration feedback compensator, and a reference rate feedforward. The improvements have been realized on the conventional NCTF controller by adding the acceleration feedback compensator to increase the damping characteristic of the PAM mechanism, and the reference rate feedforward is to improve the following characteristic. The controller parameters can be determined easily without the need of an exact model parameters. The design procedure remains simple and straightforward. The robustness of the improved NCTF controller is evaluated and compared experimentally with a classical PI controller in continuous motion. The default weight of a mover is 2 kg, and an additional mass with 4 kg of weight is added on it. The comparative experimental results demonstrate that the improved NCTF controller has better tracking performance and higher robustness to mass variation, as compared to the PI controller.","PeriodicalId":122301,"journal":{"name":"2018 SICE International Symposium on Control Systems (SICE ISCS)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127683927","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
A simulation framework for decentralized formation control of non-holonomic differential drive robots 非完整差动机器人分散编队控制仿真框架
2018 SICE International Symposium on Control Systems (SICE ISCS) Pub Date : 2018-03-01 DOI: 10.23919/SICEISCS.2018.8330181
F. Tanveer, M. Kadri
{"title":"A simulation framework for decentralized formation control of non-holonomic differential drive robots","authors":"F. Tanveer, M. Kadri","doi":"10.23919/SICEISCS.2018.8330181","DOIUrl":"https://doi.org/10.23919/SICEISCS.2018.8330181","url":null,"abstract":"Decentralized cooperative control schemes are a prime research focus due to their resemblance to biological systems and many advantages over centralized schemes. This paper presents a simulation framework for a decentralized cooperative control scheme for differential drive mobile robots, with focus on formation control and obstacle avoidance. The framework employs a hierarchical three layered model. The highest layer responsible for defining intermediate waypoints followed by a navigation layer and a trajectory tracking layer. The navigation layer employs virtual and behavioral structures along with artificial potential field functions using non-linear systems theory to generate robot trajectories. Due to non-holonomic nature of the differential drive robots a robust sliding mode controller is employed for trajectory tracking. Simulation results for individual layer and for the integrated platform are presented, for formation control with obstacle avoidance in a practical scenario with reasonable assumptions. Simulation results validate the working of the proposed scheme.","PeriodicalId":122301,"journal":{"name":"2018 SICE International Symposium on Control Systems (SICE ISCS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132813613","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: 4
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