22nd Mediterranean Conference on Control and Automation最新文献_第6页

Diagnosability in stochastic Petri Net based DES models 基于随机Petri网的DES模型的可诊断性

22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961411

P. Biswal, S. Biswas

{"title":"Diagnosability in stochastic Petri Net based DES models","authors":"P. Biswal, S. Biswas","doi":"10.1109/MED.2014.6961411","DOIUrl":"https://doi.org/10.1109/MED.2014.6961411","url":null,"abstract":"Failure Detection and Diagnosis (FDD) has become an important part for most modern day complex systems. Discrete Event System (DES) paradigm has been applied for FDD of a wide range of applications because of modeling simplicity and computational efficiency due to abstraction. Several variants of DES frameworks namely, FSMs, process algebra, Petri Nets (PN) etc. have been used for FDD based on the type of system being considered. In most of the works on FDD of DES models, the conclusion was binary i.e., diagnosable or non-diagnosable. Thorsley et al. investigated diagnosability of stochastic DES, where failure is determined when it is found that probability of the system traversing though failure states is higher than a threshold (which may be dynamic). Thorsley's work was based on FSM based DES models, which are suitable for centralized systems. In this paper we will concentrate on PN based DES framework which is mainly applicable for decentralized systems. FDD algorithms for PN based DES work successfully for systems where binary decisions regarding diagnosability suffice. However, there exist many decentralized systems where incorporation of stochastic information in the models and diagnosability decisions by comparison with a threshold are more practical. In this paper we propose a new FDD mechanism for Stochastic PN based DES models. The scheme is illustrated on a simple chemical reaction chamber.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"38 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124993620","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

Direct adaptive regulation in the vicinity of low damped complex zeros — Application to active vibration control 低阻尼复零点附近的直接自适应调节——在振动主动控制中的应用

22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961380

Abraham Castellanos Silva, I. Landau, Petros A. Ioannou

{"title":"Direct adaptive regulation in the vicinity of low damped complex zeros — Application to active vibration control","authors":"Abraham Castellanos Silva, I. Landau, Petros A. Ioannou","doi":"10.1109/MED.2014.6961380","DOIUrl":"https://doi.org/10.1109/MED.2014.6961380","url":null,"abstract":"The adaptive feedback approach is now widely used for the rejection of multiple narrow band disturbances with unknown and time varying frequencies in Active Vibration Control (AVC) and Active Noise Control (ANC). The approach is based directly or indirectly on the use of the Internal Model Principle and the Youla-Kučera parametrization combined with an adaptive law. All the algorithms associated with the approach make the assumption that the plant zeros are different from the poles of the disturbance model in order to achieve disturbance compensation. However in practice the problem is more intricate since it is not clear what happens if the plant have very low damped complex zeros (often encountered in mechanical structures) and the frequency of the disturbance is close to the anti-resonance frequency (the resonance frequency of the plant zeros). A recent international investigation on adaptive regulation in the presence of unknown time varying disturbances [16] has considered such a situation for a benchmark example. Several solutions have been proposed and the most successful has been based on the appropriate choice of the desired closed loop poles to be achieved by the Youla-Kučera central controller [5] using a Q FIR filter with the minimum number of parameters. Recently in [12] it was suggested that over parametrization of the Q (FIR) filter can enhance the robustness of the linear and adaptive scheme in the vicinity of plant complex zeros. The present paper compares these two approaches using the same benchmark example as in [16]. The results from simulations and real time experiments used to evaluate the two approaches are presented.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131435633","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

Direct torque control of nine switches inverter — Dual induction motors 直接转矩控制的九个开关逆变器-双感应电机

22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961473

M. Abbache, B. tabbache, A. Kheloui

引用次数: 5

Output controller for quadcopters based on mathematical model decomposition 基于数学模型分解的四轴飞行器输出控制器

22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961552

A. Pyrkin, A. Bobtsov, S. Kolyubin, O. Borisov, V. Gromov

引用次数: 20

Gaussian process based dual adaptive control of nonlinear stochastic systems 基于高斯过程的非线性随机系统对偶自适应控制

22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961517

Ladislav Král, Jakub Prüher, M. Simandl

引用次数: 2

A supervised learning method for tempo estimation of musical audio 一种用于音乐音频节奏估计的监督学习方法

22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961438

Fu-Hai Frank Wu, J. Jang

引用次数: 12

Model predictive control design approach for autonomous bicycle kinematics stabilization 自主自行车运动稳定模型预测控制设计方法

22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961401

Omar Ai-Buraiki, M. B. Thabit

引用次数: 9

Recursive adaptive control for an underwater vehicle carrying a manipulator 承载机械臂的水下航行器递归自适应控制

22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961479

G. Antonelli, E. Cataldi

引用次数: 18

Identification and modelling of the friction-induced hysteresis in pneumatic actuators for biomimetic robots 仿生机器人气动执行器摩擦滞后辨识与建模

22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961533

Domenico Colacino, A. Merola, C. Cosentino, F. Amato

{"title":"Identification and modelling of the friction-induced hysteresis in pneumatic actuators for biomimetic robots","authors":"Domenico Colacino, A. Merola, C. Cosentino, F. Amato","doi":"10.1109/MED.2014.6961533","DOIUrl":"https://doi.org/10.1109/MED.2014.6961533","url":null,"abstract":"Pneumatic Artificial Muscle (PAM) is becoming one of the most used actuator technology for the development of biorobotic applications, such as robotic orthoses and wearable exoskeletons, which require the accurate control of the impedance during human-robot interactions. Although the adaptable compliance of PAMs is desirable, the nonlinear and hysteretic relation between contraction length and pulling force, as well as the air pressure within the chamber of the PAM, make difficult the identification and the control of the dynamics of such actuators. After the description of the experimental setup designed for the dynamic identification of PAMs, this paper presents a novel and accurate model of the hysteresis of the mechanical response of PAMs. Some experimental tests have been performed on a real pneumatic muscle in order to reproduce the different features of the hysteretic behavior which are taken into account in the definition of the model. The proposed model, which has been validated through some experiments, provides some advantages in terms of ease of parameter identification and implementation into a control system, thanks to the use of a limited number of parameters.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115455518","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: 14

Optimal mixed H2/H∞ controller design for vibration suppression in a class of image transfer belt 一类图像传输带振动抑制的最优混合H2/H∞控制器设计

22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961569

Jie Yu, H. Yamaura

引用次数: 0