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2019 IEEE 15th International Conference on Control and Automation (ICCA)最新文献

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Extraction Method of Alarm Transaction Based on Morphology Similarity Clustering 基于形态学相似聚类的报警事务提取方法
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899629
Shaoguang Liu, Jun Xie, Zhicheng Zhao, Yang Li, Xin Yang
{"title":"Extraction Method of Alarm Transaction Based on Morphology Similarity Clustering","authors":"Shaoguang Liu, Jun Xie, Zhicheng Zhao, Yang Li, Xin Yang","doi":"10.1109/ICCA.2019.8899629","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899629","url":null,"abstract":"In analysis of power communication alarm correlation, the original relational alarm data needs to be converted into alarm transactional data for mining association rule. Considering the low efficiency of traditional sliding time window that extracts alarm transactions, this paper proposes a method of extracting alarm transactions based on morphological similarity clustering. Considering spatial correlation of power communication alarms, the alarm sequence is divided into numerous sequence groups, which then are clustered into many clusters by morphological similarity measure. In each cluster, different time window width and sliding step are set to extract the alarm transactions. Experiments show that the time window method based on morphological similarity clustering has higher efficiency of extracting alarm transactions and is beneficial to acquisition of root fault.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124822001","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
Path Planning for Unmanned Vehicles Based on Value Function Approximation Algorithm 基于值函数逼近算法的无人驾驶车辆路径规划
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899906
Jin-wen Hu, Man Wang, Congzhe Zhang, Chunhui Zhao, Q. Pan, Xuemei Cheng, Feng Yang, Xiaoxu Wang
{"title":"Path Planning for Unmanned Vehicles Based on Value Function Approximation Algorithm","authors":"Jin-wen Hu, Man Wang, Congzhe Zhang, Chunhui Zhao, Q. Pan, Xuemei Cheng, Feng Yang, Xiaoxu Wang","doi":"10.1109/ICCA.2019.8899906","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899906","url":null,"abstract":"This paper deals with the path planning problem for unmanned vehicles based on reinforcement learning. Considering the unmanned vehicles’ dynamic model, the neural network is used to approximate the value function. Besides, in order to make it more suitable for practical applications and speed up the learning process, the recursive least squares algorithm is used to eliminate the inverse operation. Then some experiments are implemented to verify the effectiveness of the proposed improved value function approximation algorithm. It is proved to have improved the generalization performance of reinforcement learning in continuous space.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125804433","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
CAD Enabled Trajectory optimization and Accurate Motion Control for Repetitive Tasks. 重复任务的CAD支持轨迹优化和精确运动控制。
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899728
Nick Van Oosterwyck, Foeke Vanbecelaere, Michiel Haemers, D. Ceulemans, K. Stockman, S. Derammelaere
{"title":"CAD Enabled Trajectory optimization and Accurate Motion Control for Repetitive Tasks.","authors":"Nick Van Oosterwyck, Foeke Vanbecelaere, Michiel Haemers, D. Ceulemans, K. Stockman, S. Derammelaere","doi":"10.1109/ICCA.2019.8899728","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899728","url":null,"abstract":"As machine users generally only define the start and end point of the movement, a large trajectory optimization potential rises for single axis mechanisms performing repetitive tasks. However, a descriptive mathematical model of the mechanism needs to be defined in order to apply existing optimization techniques. This is usually done with complex methods like virtual work or Lagrange equations. In this paper, a generic technique is presented to optimize the design of point-to-point trajectories by extracting position dependent properties with CAD motion simulations. The optimization problem is solved by a genetic algorithm. Nevertheless, the potential savings will only be achieved if the machine is capable of accurately following the optimized trajectory. Therefore, a feedforward motion controller is derived from the generic model allowing to use the controller for various settings and position profiles. Moreover, the theoretical savings are compared with experimental data from a physical set-up. The results quantitatively show that the savings potential is effectively achieved thanks to advanced torque feedforward with a reduction of the maximum torque by 12.6% compared with a standard 1/3-profile.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125815320","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
Synchronization Tracking of a Class of Uncertain Nonidentical Networked Euler-Lagrange Systems on Directed Graphs 有向图上一类不确定非同网络欧拉-拉格朗日系统的同步跟踪
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899903
Ran Huang, Zhengcai Cao, Biao Hu, Z. Ding
{"title":"Synchronization Tracking of a Class of Uncertain Nonidentical Networked Euler-Lagrange Systems on Directed Graphs","authors":"Ran Huang, Zhengcai Cao, Biao Hu, Z. Ding","doi":"10.1109/ICCA.2019.8899903","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899903","url":null,"abstract":"In this paper, the adaptive distributed synchronization tracking control is studied for uncertain nonidentical networked Euler-Lagrange systems. The communication status is described by a directed graph, and only the informed subsystems can access the time-varying reference trajectory. A fully distributed adaptive control law is developed by estimating the reference trajectory for uninformed subsystems, and the asymptotic synchronization tracking is ensured without prior information about the global directed topology. Simulation results on nonlinear manipulators with two revolute joints are provided to show the effectiveness of the proposed control algorithm.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"157 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126027327","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 Study on Optimal Speed Trajectory during Engine Start for Minimum Torsional Vibration* 发动机启动时扭振最小的最优速度轨迹研究*
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899997
Lei Du, Liangfei Xu, Fuyuan Yang
{"title":"A Study on Optimal Speed Trajectory during Engine Start for Minimum Torsional Vibration*","authors":"Lei Du, Liangfei Xu, Fuyuan Yang","doi":"10.1109/ICCA.2019.8899997","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899997","url":null,"abstract":"This paper studies optimal speed trajectory during engine start in order to achieve minimum vibration. First of all, the target diesel powertrain is introduced and its dynamic model is established. The vibration index which represents the severity of vibration is brought out. Secondly, the optimal control problem is formulated in Pontryagin’s minimum principle form, and numerical solution is obtained. In the third part, different cost function of the optimal problem is discussed, results in different optimal speed trajectory. Finally, this paper presents an optimal speed trajectory, and corresponding input cranking torque, which could be used as feed forward in real-time engine start control.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"219 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123703792","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
Control of Impaired Aircraft with Unanticipated Elevator Jam to a Stable Level Flight 有意外电梯堵塞的受损飞机的稳定水平飞行控制
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899603
B. Chang, Sevket F. Catpinar, N. Jayasuriya, H. Kwatny
{"title":"Control of Impaired Aircraft with Unanticipated Elevator Jam to a Stable Level Flight","authors":"B. Chang, Sevket F. Catpinar, N. Jayasuriya, H. Kwatny","doi":"10.1109/ICCA.2019.8899603","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899603","url":null,"abstract":"Elevator jam is a challenging control problem since the feasible safe trim and dynamics of the impaired aircraft are heavily dependent on the elevator jam position, which is unknown until the event has occurred. Once it occurs, the window of time to react usually is small and the crisis may deepen quickly as time goes by. A simple effective approach is proposed to mitigate the crisis immediately after the jam to control the impaired aircraft to a safe stable level flight without wasting time–at the most critical crisis moment–on identifying the safe trim, the plant model, or even the elevator jam position, which actually are unnecessary.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126967600","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
Cooperative Control of UAV Cluster Formation Based on Distributed Consensus 基于分布式共识的无人机集群编队协同控制
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899916
Jiandong Zhang, Wanyang Wang, Zhen Zhang, Kehou Luo, Jieling Liu
{"title":"Cooperative Control of UAV Cluster Formation Based on Distributed Consensus","authors":"Jiandong Zhang, Wanyang Wang, Zhen Zhang, Kehou Luo, Jieling Liu","doi":"10.1109/ICCA.2019.8899916","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899916","url":null,"abstract":"Aiming at the main problems of assembly, formation maintenance and formation transformation in UAV cluster formation control, the distributed consistency method is used to design and simulate the control algorithm. Firstly, under the determined communication topology, the assembly control, formation route and speed tracking control of UAV formation based on distributed consensus control algorithm are implemented. Then the convergence conditions of distributed consensus control algorithm under the condition of communication topology transformation is analyzed, and a cluster formation transformation based on consensus control algorithm is designed and implemented. The simulation results show that the distributed consensus-based control algorithm can complete the operation of the UAV cluster formation, maintenance, and formation transformation.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"225 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115475494","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: 9
Decentralized Formation Control of a Swarm of Quadrotor Helicopters 四旋翼直升机群的分散编队控制
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899628
Mehmet Altan Toksöz, Sinan Oguz, V. Gazi
{"title":"Decentralized Formation Control of a Swarm of Quadrotor Helicopters","authors":"Mehmet Altan Toksöz, Sinan Oguz, V. Gazi","doi":"10.1109/ICCA.2019.8899628","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899628","url":null,"abstract":"We propose a decentralized hybrid swarm control mechanism for quadrotor helicopters. The mechanism includes formation, rotation, tracking, and inter-agent collision avoidance capabilities. We provide stability analysis of the proposed rule assuming that each quadrotor has a single-integrator dynamics on the formation and tracking level. Then we integrate the formation level control inputs to obtain the desired position of the quadrotors and design the low level individual quadrotor controllers to track these positions. Since the output of each decentralized swarm controller is a desired location for a member, the quadrotors are required to have position controllers in addition to attitude controllers. Both simulation and real world experiments show that a group of quadrotor agents successfully achieves desired formation, rotation, and tracking predefined way-points without any collisions.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115589612","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: 16
Local Stereo Matching Algorithm Based on CIELAB Color Space and Census Non-parametric Transformation 基于CIELAB色彩空间和Census非参数变换的局部立体匹配算法
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899939
Juan Du, Huan Zhao, Sheng Xu
{"title":"Local Stereo Matching Algorithm Based on CIELAB Color Space and Census Non-parametric Transformation","authors":"Juan Du, Huan Zhao, Sheng Xu","doi":"10.1109/ICCA.2019.8899939","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899939","url":null,"abstract":"In order to meet the demand of stereo matching in low-texture areas and improve the matching accuracy, a stereo matching algorithm based on CIElab color space and Census non-parametric transformation is proposed in this paper. The algorithm is able to improve the traditional adaptive algorithm by selecting the absolute gray level difference in CIELab color space instead of in RGB space. Census non-parametric transformation introduced the similarity measurement method by replacing the gray value of the central pixel point with the pixel relationship between the central pixel and its neighborhood. Finally, we performed disparity post-processing for left-right consistency detection, sub-pixel enhancement and median filter. Experimental results show that the proposed algorithm can effectively improve the matching accuracy, enhance the robustness of stereo matching, and improve the blocking effect of traditional algorithms in low-texture areas.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122625174","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
Feedback Stabilization of Multiple Controller Systems via Bumpless Transfer Inputs and Periodic Switching* 基于无颠簸传输输入和周期切换的多控制器系统反馈镇定*
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899908
Miaomiao Wang, Zhendong Sun
{"title":"Feedback Stabilization of Multiple Controller Systems via Bumpless Transfer Inputs and Periodic Switching*","authors":"Miaomiao Wang, Zhendong Sun","doi":"10.1109/ICCA.2019.8899908","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899908","url":null,"abstract":"For a linear system with multiple controllers, the problem of stabilization is addressed by means of bumpless transfer input and periodic switching. The main idea is to design open-loop input signals that compensate the discontinuities caused by controller switching. With periodic switching laws, the system state is proved to be bounded and convergent. A computational procedure is proposed for calculating the compensator. A numerical example is shown to verify the effectiveness of the proposal scheme.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"46 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114048792","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
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