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22nd Mediterranean Conference on Control and Automation最新文献

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Adaptive Sliding Mode Control for a class of nonlinear MIMO systems: Application to a Turbocharged Diesel Engine 一类非线性MIMO系统的自适应滑模控制:在涡轮增压柴油机上的应用
22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961540
S. Larguech, Sinda Aloui, O. Pagès, A. Hajjaji, A. Chaari
{"title":"Adaptive Sliding Mode Control for a class of nonlinear MIMO systems: Application to a Turbocharged Diesel Engine","authors":"S. Larguech, Sinda Aloui, O. Pagès, A. Hajjaji, A. Chaari","doi":"10.1109/MED.2014.6961540","DOIUrl":"https://doi.org/10.1109/MED.2014.6961540","url":null,"abstract":"An Adaptive Sliding Mode Control (ASMC) for a class of nonlinear Multi Input Multi Output (MIMO) systems is presented in this paper. In order to reduce the chattering phenomenon without deteriorating the tracking performance, the discontinuous term of the classical sliding mode law is substituted with an adaptive Proportional Derivative (PD) term. The effect of the approximation error which arises from the PD term is reduced by adding a robust term in the proposed control law. All parameters, adaptive laws and robust control term, are derived based on the Lyapunov stability analysis. The overall adaptive sliding mode scheme guarantees the asymptotic convergence to zero of tracking errors and the boundedness of all signals in the closed-loop system. The proposed approach is applied to a Turbocharged Diesel Engine. Simulation results are presented to show the efficiency of the proposed method.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"83 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":"129217913","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: 10
Reliable control of a twin rotor MIMO system using actuator health monitoring 采用致动器健康监测的双转子MIMO系统的可靠控制
22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961419
Jean C. Salazar, F. Nejjari, R. Sarrate
{"title":"Reliable control of a twin rotor MIMO system using actuator health monitoring","authors":"Jean C. Salazar, F. Nejjari, R. Sarrate","doi":"10.1109/MED.2014.6961419","DOIUrl":"https://doi.org/10.1109/MED.2014.6961419","url":null,"abstract":"This paper presents a Model Predictive Control (MPC) approach that permits distributing the control effort among actuators using health actuator information and exploiting some relations between control effort and actuator degradation. Tuning the control input weighting factors in the MPC cost function or imposing degradation constraints enable ensuring that the degradation will remain below a safety threshold until a maintenance intervention can be carried out. To assess the performance of the proposed approach a two degree of freedom helicopter simulator is used.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"52 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":"128541390","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: 8
A closed-loop position control scheme for SMA-actuated joints sma驱动关节的闭环位置控制方案
22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961592
Theodoros Evdaimon, M. Sfakiotakis, D. Tsakiris
{"title":"A closed-loop position control scheme for SMA-actuated joints","authors":"Theodoros Evdaimon, M. Sfakiotakis, D. Tsakiris","doi":"10.1109/MED.2014.6961592","DOIUrl":"https://doi.org/10.1109/MED.2014.6961592","url":null,"abstract":"We present the design and implementation of a closed-loop control scheme for revolute joints actuated by SMA spring actuators in an antagonistic configuration. The proposed scheme employs a feedforward term, obtained as the inverse of the modified Prandtl-Ishlinskii (MPI) model of the system's response, in conjunction with angular position feedback from a joint potentiometer, to compensate for the hysteresis and asymmetries, and achieve fast and effective tracking of a reference angular position. Experimental results indicate the efficacy of the proposed scheme, and a series of prototypes demonstrate its applicability in the development of small-scale SMA-actuated robots.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"1 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":"129105488","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
Comparative study of ultrahigh-speed induction generators with self-excitation 超高速自激感应发电机的比较研究
22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961488
R. K. Járdán, Z. Varga, I. Nagy
{"title":"Comparative study of ultrahigh-speed induction generators with self-excitation","authors":"R. K. Járdán, Z. Varga, I. Nagy","doi":"10.1109/MED.2014.6961488","DOIUrl":"https://doi.org/10.1109/MED.2014.6961488","url":null,"abstract":"In the paper a comparative analysis is carried out on seven different self-excitation methods that have been developed in the past decades taking into account the technical and economical features of the methods compared. A novel solution based on resonant circuit application is described in more detail, and the theoretical considerations have been confirmed by computer simulations and laboratory test results.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"24 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":"116968014","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
Decentralized local adaptive robust state observers of large scale interconnected systems with uncertainties 大型不确定互联系统的分散局部自适应鲁棒状态观测器
22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961524
Hansheng Wu
{"title":"Decentralized local adaptive robust state observers of large scale interconnected systems with uncertainties","authors":"Hansheng Wu","doi":"10.1109/MED.2014.6961524","DOIUrl":"https://doi.org/10.1109/MED.2014.6961524","url":null,"abstract":"The problem of decentralized adaptive robust state observer design is considered for a class of uncertain large scale dynamical systems with nonlinear interconnection terms. In the paper, it is assumed that the upper bounds of the uncertainties and nonlinear interconnections are unknown. For such a class of uncertain large scale interconnected dynamical systems, a new method is presented whereby a class of completely decentralized local adaptive robust state observers with a rather simple structure is proposed. It is also shown that for each subsystem, by employing the proposed decentralized adaptive robust state observer, the observation error between the local observer state estimate and the true state of the corresponding subsystem can be guaranteed to be uniformly exponentially convergent towards a ball which can be as small as desired, in the presence of uncertainties. Finally, some simulations of a numerical example are provided to demonstrate the validity of the theoretical results.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"25 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":"115709840","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
Output-feedback fault tolerant control for linear time delay systems: Descriptor approach 线性时滞系统的输出反馈容错控制:广义方法
22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961412
N. Abdelkrim, M. Bouattour, A. Hajjaji, M. Chaabane
{"title":"Output-feedback fault tolerant control for linear time delay systems: Descriptor approach","authors":"N. Abdelkrim, M. Bouattour, A. Hajjaji, M. Chaabane","doi":"10.1109/MED.2014.6961412","DOIUrl":"https://doi.org/10.1109/MED.2014.6961412","url":null,"abstract":"In this paper we propose a new approach of fault estimation and Fault Tolerant Control (FTC) applied to Linear Time Delay (LTD) systems. To estimate the sensor faults we use the descriptor approach. This method consists in augmenting the state system by considering the faults as an auxiliary state. The used observer can estimate simultaneously both the state of LTD system and sensor faults. The observer gains are then determined according to Linear Matrix Inequalities (LMI) technique. For the step of FTC we construct an output-feedback gain to stabilize the LTD system not only in free-fault case, but also in the fault occurrence. A numerical example is proposed to demonstrate the efficiency of the given design for different form of sensor fault.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"71 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":"127370509","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
Robust LPV current control of Switched Reluctance Motors 开关磁阻电机的鲁棒LPV电流控制
22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961374
N. Ouddah, M. Boukhnifer, A. Chaibet, E. Monmasson
{"title":"Robust LPV current control of Switched Reluctance Motors","authors":"N. Ouddah, M. Boukhnifer, A. Chaibet, E. Monmasson","doi":"10.1109/MED.2014.6961374","DOIUrl":"https://doi.org/10.1109/MED.2014.6961374","url":null,"abstract":"In this paper, a gain scheduling control design for the Switched Reluctance Motor phases current is presented. In the presence of the strong nonlinear characteristics of the motor phase inductance (dependence on the current and mechanical position) and parameters variation, the use of a fixed gain current controllers make difficult to ensure high performance with good stability robustness over the entire operating range of the Switched Reluctance Motor. To achieve a better control performance, nonlinearities and parameters variation must be taken into account in the controller design process. We address these issues by designing Linear Parameter Varying (LPV) current controller using synthesis and polytopic representation. This LPV controller assures the stability robustness with a good performance along all possible trajectories of the varying parameter. Simulations, carried out using Matlab/Simulink software, confirm the effectiveness of the proposed controller.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"298 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":"127561940","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
Compositional boundedness of solutions for symmetric nonautonomous control systems 对称非自治控制系统解的组合有界性
22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961471
B. Goodwine
{"title":"Compositional boundedness of solutions for symmetric nonautonomous control systems","authors":"B. Goodwine","doi":"10.1109/MED.2014.6961471","DOIUrl":"https://doi.org/10.1109/MED.2014.6961471","url":null,"abstract":"This paper presents boundedness results for symmetric nonautonomous control systems. The results are Lyapunov-based and exploit the symmetric structure present in many compositional or distributed control system. The work extends some of our prior work which defines an equivalence class of symmetric control systems by determining conditions for boundedness of solutions for such systems. The extension is along two lines. First, the prior work was focused on stability for autonomous symmetric systems, and this work extends it to the nonautonomous case. Second, the prior work required exact symmetry in the system whereas the results in this paper allow for symmetry-breaking in the nonautonomous terms, which significantly broadens the class of systems to which these results will apply. These results will be useful for robotics and control engineers dealing with large-scale and distributed systems which are composed of many similar components because it will enable closed-form analysis on a very small system, and then guarantee system properties for much larger equivalent systems. Other potential application areas would be, for example, the design of control algorithms for fleets of autonomous robotic vehicles acting in a coordinated manner.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"50 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":"126611476","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
Investigation of control algorithm for airship before indoor experiment 飞艇室内实验前控制算法研究
22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961538
P. Herman, W. Adamski
{"title":"Investigation of control algorithm for airship before indoor experiment","authors":"P. Herman, W. Adamski","doi":"10.1109/MED.2014.6961538","DOIUrl":"https://doi.org/10.1109/MED.2014.6961538","url":null,"abstract":"An application of the set-point controller expressed in generalized velocity components for an airship is presented in this paper. The nonlinear controller was proposed originally for fully actuated underwater vehicles. However, in this work it is shown that the same controller can be used for an airship, thanks the velocity transformation, and it is able to detect risk resulting from lost or reduction gain coefficients. Consequently, the shown approach appears an useful tool for investigation of the control algorithm in case of some flight disturbances of motion. It is worth of notice that the analysis gives further insight into the airship dynamics. The performance of the applied controller is tested by simulation on a 6-DOF model of the airship.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"1 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":"126948456","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
Receding horizon multi-vehicle routing for emergency scenarios 紧急情况下的后退地平线多车辆路线
22nd Mediterranean Conference on Control and Automation Pub Date : 2014-06-16 DOI: 10.1109/MED.2014.6961400
Giorgia Chini, Cecilia Poli, G. Oddi, A. Pietrabissa, M. Grigioni
{"title":"Receding horizon multi-vehicle routing for emergency scenarios","authors":"Giorgia Chini, Cecilia Poli, G. Oddi, A. Pietrabissa, M. Grigioni","doi":"10.1109/MED.2014.6961400","DOIUrl":"https://doi.org/10.1109/MED.2014.6961400","url":null,"abstract":"This paper deals with dynamic Multi-Vehicle Routing Problem in both deterministic and stochastic scenarios; the objective is to find the best paths for a fleet of vehicles, with the aim of visiting a set of targets. Based on the Cooperative Receding Horizon approach proposed in [4] for the Euclidean case, this paper i) develop a routing algorithm for graph-represented mission spaces, ii) presents a switching algorithm, which is able to dynamically change the vehicle behaviour according to the time-variable configuration of both vehicles and targets, as well as to handle the discovery of unknown targets. Simulations show the algorithm effectiveness.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"49 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":"125865992","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: 6
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