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

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Nonlinear Internal Model Based Two-Step Controller Design for PMSM Position Servo System 基于非线性内模的永磁同步电机位置伺服系统两步控制器设计
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899494
Tao Wang, Zhaowu Ping, Yunzhi Huang, Junguo Lu
{"title":"Nonlinear Internal Model Based Two-Step Controller Design for PMSM Position Servo System","authors":"Tao Wang, Zhaowu Ping, Yunzhi Huang, Junguo Lu","doi":"10.1109/ICCA.2019.8899494","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899494","url":null,"abstract":"Much recently, a local position tracking and nonlinear disturbance rejection problem of permanent magnet synchronous motor was studied by nonlinear internal model design. This paper generalizes such control problem to the position tracking and nonlinear disturbance rejection problem with wide position range. A two-step controller design strategy is proposed, which is composed of classical triple-loop control and nonlinear internal model control. Note that the proposed two-step controller design strategy can not only achieve exact position tracking with wide position range, but also reject small nonlinear disturbances in the load torque, which can be generated by a so-called nonlinear exosystem. Moreover, it allows certain robustness to the motor parameters. Simulation results are given to verify the effectiveness of our design.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"54 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":"126508457","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
The Control Method of Force Loading of Robot on Load Transfer Mechanism of Space Station 空间站载荷传递机构上机器人受力的控制方法
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899496
Zhigang Xu, Xinlin Bai, Junyi Wang, Mingyang Liu, Xiao Zhang
{"title":"The Control Method of Force Loading of Robot on Load Transfer Mechanism of Space Station","authors":"Zhigang Xu, Xinlin Bai, Junyi Wang, Mingyang Liu, Xiao Zhang","doi":"10.1109/ICCA.2019.8899496","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899496","url":null,"abstract":"when the robot loads force on space station transfer mechanism, there exist some issues such as unstable robot force control system, insufficient load accuracy, and long settling time. To solve these problems, a strategy for adjusting the admittance controller parameters adaptively is proposed. Firstly, the relationship between force and position is established according to the admittance control theory. And a force tracking/force loading controller based on the rectangular coordinate system is initially designed. Then, the parameters of the load transfer mechanism model are identified based on the loading experiment data by the least square method, and the relationship between force and position of robot in specific workspace is established. Finally, the parameters of the admittance controller are adaptively adjusted to make the robot dynamics model approximately match with the dynamic model of the load transfer mechanism. The real-time spatial loading force imposed by the robot on the end of the load transfer mechanism after spreading is realized. The experiment shows that the tracking error of the robot relative to the load transfer mechanism is less than 0.1 mm, and the loading force error is less than 1%, and the robot meets the requirement and provides a real equivalent space load for the space station transfer mechanism.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"22 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":"131364531","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
Layer-Wise Fault Diagnosis Based on Key Performance Indicator for Cylinder-Piston Assembly of Diesel Engine* 基于关键性能指标的柴油机缸活塞总成分层故障诊断*
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899593
Yuhan Zhang, Ying Yang, He Li, Huayun Han, Zhichen He
{"title":"Layer-Wise Fault Diagnosis Based on Key Performance Indicator for Cylinder-Piston Assembly of Diesel Engine*","authors":"Yuhan Zhang, Ying Yang, He Li, Huayun Han, Zhichen He","doi":"10.1109/ICCA.2019.8899593","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899593","url":null,"abstract":"This paper proposes a novel layer-wise fault diagnosis method based on key performance indicator for cylinderpiston assembly of diesel engine. For the purpose of layer-wise fault diagnosis, the wear degree of cylinder-piston assembly is first described with the aid of a series of key performance indicators. Then, fault diagnosis incorporating fault detection and isolation between the assembly layer, the subassembly layer and the underlying monitoring layer is conducted by means of the partial least squares. Finally, an application on cylinderpiston assembly of a two-stroke five-cylinder low-speed marine diesel engine is given in order to demonstrate the effectiveness of the proposed scheme.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"17 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":"132303270","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
Intelligent Driver Decision Support System in Vehicle Cabin: Reference Model for Dangerous Events Recognition and Learning 汽车驾驶室智能驾驶员决策支持系统:危险事件识别与学习的参考模型
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899484
A. Kashevnik, I. Lashkov
{"title":"Intelligent Driver Decision Support System in Vehicle Cabin: Reference Model for Dangerous Events Recognition and Learning","authors":"A. Kashevnik, I. Lashkov","doi":"10.1109/ICCA.2019.8899484","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899484","url":null,"abstract":"A reference model for the driver decision support system that is based on the sensor information provided by the smartphone sensors is proposed in the paper. The system is aimed at dangerous event recognition: drowsiness, distraction, drink driving, determine the heat rate and based on this information generate context-aware recommendations for the driver. The reference model allows to store statistics from the sensor data in the cloud service and process it in offline mode for the further analysis.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"33 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":"132349299","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
Output Synchronization of Multi-Agent Systems with Time-Delay and Unknown Leader Dynamics 具有时滞和未知前导动态的多智能体系统输出同步
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899583
Yamin Yan, Zhiyong Chen
{"title":"Output Synchronization of Multi-Agent Systems with Time-Delay and Unknown Leader Dynamics","authors":"Yamin Yan, Zhiyong Chen","doi":"10.1109/ICCA.2019.8899583","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899583","url":null,"abstract":"This paper studies the output synchronization problem for linear heterogeneous discrete-time multi-agent systems in a leader-following architecture. The major technical challenges lie in the mix of input time-delays and unknown leader dynamics. To handle unknown leader dynamics, an observer is required for each follower to estimate both a leader’s state and its system dynamics. It results in an adaptive distributed observer-based approach subject to input-delays.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"8 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":"130476858","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
Numerical Computation of Regenerator with Heat Recovery System in Liquid Desiccant Dehumidification System 液体干燥剂除湿系统蓄热系统的数值计算
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899596
Suping Shen, Wenjian Cai, Z. Man
{"title":"Numerical Computation of Regenerator with Heat Recovery System in Liquid Desiccant Dehumidification System","authors":"Suping Shen, Wenjian Cai, Z. Man","doi":"10.1109/ICCA.2019.8899596","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899596","url":null,"abstract":"This paper investigates the availability of the numerical model for predicting the performance of regenerator in Liquid Desiccant Dehumidification System (LDDS) with waste heat recovery under different flow rate and inlet temperature of liquid desiccant. Heat pipe heat exchanger (HPHE) is employed as waste heat recovery device in this study. The numerical computation are carried out by combining the hybrid heat transfer, mass transfer and heat recovery models of regenerator with heat recovery. The experimental validation proves the accuracy of the numerical computation and the largest relative error is only 10.46%.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"7 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":"134177233","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
Stochastic Two-Player Zero-Sum Learning Differential Games 随机二人零和学习微分对策
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899568
Mushuang Liu, Yan Wan, F. Lewis, V. Lopez
{"title":"Stochastic Two-Player Zero-Sum Learning Differential Games","authors":"Mushuang Liu, Yan Wan, F. Lewis, V. Lopez","doi":"10.1109/ICCA.2019.8899568","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899568","url":null,"abstract":"The two-player zero-sum differential game has been extensively studied, partially because its solution implies the $H_{infty}$ optimality. Existing studies on zero-sum differential games either assume deterministic dynamics or the dynamics corrupted by additive noise. In realistic environments, high-dimensional environmental uncertainties often modulate system dynamics in a more complicated fashion. In this paper, we study the stochastic two-player zero-sum differential game governed by more general uncertain linear dynamics. We show that the optimal control policies for this game can be found by solving the Hamilton-Jacobi-Bellman (HJB) equation. We prove that with the derived optimal control policies, the system is asymptotically stable in the mean, and reaches the Nash equilibrium. To solve the stochastic two-player zero-sum game online, we design a new policy iteration (PI) algorithm that integrates the integral reinforcement learning (IRL) and an efficient uncertainty evaluation method—multivariate probabilistic collocation method (MPCM). This algorithm provides a fast online solution for the stochastic two-player zero-sum differential game subject to multiple uncertainties in the system dynamics.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"14 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":"126590174","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
Decentralized Predictive Formation Control for Mobile Robots without Communication 无通信移动机器人的分散预测编队控制
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899610
C. Caruntu, C. Copot, C. Lazar, R. Keyser
{"title":"Decentralized Predictive Formation Control for Mobile Robots without Communication","authors":"C. Caruntu, C. Copot, C. Lazar, R. Keyser","doi":"10.1109/ICCA.2019.8899610","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899610","url":null,"abstract":"Mobile robot formation control is one of the most important problems in multi-robot systems. A very challenging sub-problem is mobile robot platooning, which means that the mobile robots should follow each other and should maintain a safe distance between them. In order to avoid collisions in the platoon, the controllers have to be designed to ensure string stability, i.e., the spacing errors should not get amplified as they propagate upstream from robot to robot. This paper investigates two different decentralized model predictive control strategies for platoon guidance using only longitudinal changes for the mobile robots. Moreover, the simple solution for mobile robot platooning assumes that there is no communication between them and each mobile robot measures only the distance between itself and the one in front of it. Furthermore, several comparisons are made with classical proportional string stable controllers and a performance analysis is provided.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"39 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":"133273062","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
Inspection Trajectory Planning for 3D Structures under a Mixed-Integer Framework 混合整数框架下三维结构检测轨迹规划
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899514
F. Stoican, I. Prodan, E. Grøtli, Ngoc Thinh Nguyen
{"title":"Inspection Trajectory Planning for 3D Structures under a Mixed-Integer Framework","authors":"F. Stoican, I. Prodan, E. Grøtli, Ngoc Thinh Nguyen","doi":"10.1109/ICCA.2019.8899514","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899514","url":null,"abstract":"This paper extends our previous work on constrained trajectory generation for UAVs (Unmanned Aerial Vehicles) with the task of fully covering an a priori known 3D structure. The novelty resides in the geometrical approach we adopt to describe sufficient coverage constraints in a mixed-integer formulation. The combined use of hyperplane arrangement, cell merging procedures and mixed-integer formulations provides feasible “viewpoint” regions through which the trajectory has to pass. The selected viewpoints with their corresponding feasible cells allow the vehicle to fully cover the 3D structure. The tools used and the results obtained are exemplified over a particular quadcopter system.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"16 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":"131402259","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
Deadbeat Repetitive Control for a grid-connected inverter with LCL Filter 带LCL滤波器并网逆变器的无差拍重复控制
2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899637
Ye Tao, Cuilan Tan, Qihong Chen, Liyan Zhang, Keliang Zhou, Li Liu
{"title":"Deadbeat Repetitive Control for a grid-connected inverter with LCL Filter","authors":"Ye Tao, Cuilan Tan, Qihong Chen, Liyan Zhang, Keliang Zhou, Li Liu","doi":"10.1109/ICCA.2019.8899637","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899637","url":null,"abstract":"In order to improve the quality of the power injected into the grid, a deadbeat (DB) control strategy based on weighted average current with plug-in repetitive control (RC) scheme is proposed for a grid-connected inverter with LCL filter. Firstly, we calculate weighted average current of input and output current of the LCL filter, and use this variable to simplify the control strategy. Therefore, the equivalent model of the LCL filter is reduced from the third-order to the first-order. Secondly, DB controller is designed in discrete-time based on this simplified model. In order to suppress the harmonics of fed-in grid current, the RC is proposed to plug-in with the DB controller in parallel by providing the required harmonic elimination of the periodic signals. In the proposed combined control, the deadbeat control can track a given signal with fast dynamic response, and the RC can make the steady state error converge to zero gradually. The simulation and experimental results have demonstrated the effectiveness and advantages of the proposed method.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"149 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":"114841915","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
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