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Decentralized Controller Design by Continuous Pole Placement for Commensurate-Time-Delay Systems 通约时滞系统的连续极点分散控制器设计
IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.02409
H. Erol, A. Iftar
{"title":"Decentralized Controller Design by Continuous Pole Placement for Commensurate-Time-Delay Systems","authors":"H. Erol, A. Iftar","doi":"10.3182/20140824-6-ZA-1003.02409","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02409","url":null,"abstract":"Abstract Decentralized controller design problem for linear time-invariant retarded commensurate-time-delay systems is considered. The continuous pole placement algorithm, which has recently been introduced for static state vector feedback controller design for retarded time-delay systems, is first extended to design dynamic output feedback controllers. This algorithm is then used in the proposed decentralized controller design algorithm. An example is also presented to demonstrate the proposed approach.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"71 1","pages":"9419-9424"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80142291","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: 11
Featureless Visual Tracking Based on Non-vector Space Control Theory 基于非矢量空间控制理论的无特征视觉跟踪
IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.01147
Hailin Huang, Jianguo Zhao, N. Xi
{"title":"Featureless Visual Tracking Based on Non-vector Space Control Theory","authors":"Hailin Huang, Jianguo Zhao, N. Xi","doi":"10.3182/20140824-6-ZA-1003.01147","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.01147","url":null,"abstract":"Abstract This paper proposes a featureless visual target tracking approach based on non-vector space control theory. By considering the image as a set with pixels as its elements, the visual tracking problem could be treated as the mutation control between an initial image set and a prescribed target image set, then the motion of the robot can be reflected in the dynamic of the image set. Based on mutation analysis over sets, a shape functional describing the difference between two dynamic sets is defined, the directional derivative of this shape functional is derived and a Lyapunov function is constructed to design a controller to make an initial image set to track a moving goal image set, thereby steering the robot to follow the motion of the target. A 2-dimensional translation motion case is employed as an example to illustrate the feasibility of the proposed approach.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"134 1","pages":"7318-7323"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80173838","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
Dynamic Sensor Allocation Framework for Fault Tolerant Flight Control 容错飞行控制动态传感器分配框架
IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.01597
T. Péni, B. Vanek, Z. Szabó, J. Bokor
{"title":"Dynamic Sensor Allocation Framework for Fault Tolerant Flight Control","authors":"T. Péni, B. Vanek, Z. Szabó, J. Bokor","doi":"10.3182/20140824-6-ZA-1003.01597","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.01597","url":null,"abstract":"Abstract This paper proposes a novel method for sensor allocation based fault tolerant control. Fault tolerance is achieved with optimal combination of healthy sensor sources while the baseline controller remains unchanged. The measurements are subjected to various sensor dynamics, hence the resulting sensor allocation framework is also dynamic. The proposed approach can fit into a hierarchical fault tolerant control framework, where certain sensor faults are handled by the lower level allocation while more severe faults are handled by controller reconfiguration. The decision of which reconfiguration level has to be initiated in response to a fault is determined by a supervisor unit. The method is demonstrated on the simulation model of the Nasa AirStar test vehicle.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"56 1","pages":"3477-3482"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80214966","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
Three-Dimensional Consensus Path-Following for Second-Order Multi-Agent Networks 二阶多智能体网络的三维共识路径跟踪
IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.00699
Zongyu Zuo, Bing Zhu, Ming Xu
{"title":"Three-Dimensional Consensus Path-Following for Second-Order Multi-Agent Networks","authors":"Zongyu Zuo, Bing Zhu, Ming Xu","doi":"10.3182/20140824-6-ZA-1003.00699","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.00699","url":null,"abstract":"Abstract In this paper, we address a new consensus problem of coordinately steering a group of multi-agents under directed information flow along a three-dimensional reference path without temporal constraint. The spatial reference path is newly defined by algebraic implicit expressions and the path-following kinematic-error dynamics are then formulated for each agent using two path-following errors and a speed tracking error. Distinct from the stabilizing feedback control design of the path-following problem for a single agent, the proposed new feedback control algorithm augmented with consensus disagreement terms could achieve both the reference goal seeking and consensus during transition. To show effectiveness of the proposed concept, simulation results are included in the end.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"132 1","pages":"10060-10065"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80257121","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
Biexcitability and Bursting Mechanisms in Neural and Genetic Circuits 神经和遗传回路的双兴奋性和爆发机制
IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.02630
P. Gifani, J. Gonçalves
{"title":"Biexcitability and Bursting Mechanisms in Neural and Genetic Circuits","authors":"P. Gifani, J. Gonçalves","doi":"10.3182/20140824-6-ZA-1003.02630","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02630","url":null,"abstract":"Abstract This paper compares mechanisms for generating repetitive spikes (bursts) in neural and transcriptional circuits. Neurons generate bursts followed by refractory periods controlled by ion channels in the membrane. In contrast, in gene transcription the bursts occur during a short time period followed by silent periods regulated by sis-regulatory elements. The role of excitability in producing different patterns of bursts is discussed by comparing the topology of a neural model with natural and synthetic transcriptional genetic circuits. In particular, a special bi-excitable architecture which embeds two excitable states are compared in these systems.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"328 1","pages":"4394-4399"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80417853","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
Extracting Mobile Machine Routes from GPS Traces 从GPS轨迹中提取移动机器路线
IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.02430
M. Laurikkala, M. Vilkko
{"title":"Extracting Mobile Machine Routes from GPS Traces","authors":"M. Laurikkala, M. Vilkko","doi":"10.3182/20140824-6-ZA-1003.02430","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.02430","url":null,"abstract":"Abstract GPS data are available from a large amount of sources. Individuals and vehicles carry their receivers and are often willing to share their locations. These GPS traces are inexpensive compared to dedicated collection techniques. Therefore, using GPS traces in map extraction has attracted a number of researchers in the past decade. In the case of mobile machines, dedicated collection of GPS data is usually even impossible, so one has to confine to the data collected by the machine itself. This paper introduces an algorithm for extracting a map-like graph from mobile machine GPS traces with large uncertainties. The result is a topological map with intersections and route segments. It can be used for operator support instead of displaying the raw GPS traces, or information interchange between operators. In the future, even automatic route optimization is possible with the help of a graph like this.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"71 1","pages":"6350-6354"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79055964","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
Intelligent Mesh for Self Reconfigurability of an Exoskeleton Arm 外骨骼臂自重构智能网格
IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.01180
Cagri Altintasi, A. Erkmen
{"title":"Intelligent Mesh for Self Reconfigurability of an Exoskeleton Arm","authors":"Cagri Altintasi, A. Erkmen","doi":"10.3182/20140824-6-ZA-1003.01180","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.01180","url":null,"abstract":"Abstract This paper presents a new technique for a reconfigurable exoskeleton which consists of a connected network of small sized holonic robots enwrapping the human body limbs and more specifically, in this paper, the human arm. The connection control of the reconfigurable exoskeleton decides upon the necessity of a “disconnect”,” reconnect” for chosen holons so as to balance any new load at the human joints. The intelligent controller carries out its decisions on the evaluation of stress at connections between holons of a previous configuration comparing them for a new actual need. This decision is based on a graph theoretic method, where stress calculations are carried out using finite element method. The paper demonstrates the performance of our approach on a simulation of hyper redundant network of holons wrapping a human arm.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"212 1","pages":"3533-3538"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79449438","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
Adaptive Control for Ionic Polymer-Metal Composite Actuator Based on Continuous-Time Approach 基于连续时间方法的离子聚合物-金属复合驱动器自适应控制
IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.01496
Xinkai Chen
{"title":"Adaptive Control for Ionic Polymer-Metal Composite Actuator Based on Continuous-Time Approach","authors":"Xinkai Chen","doi":"10.3182/20140824-6-ZA-1003.01496","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.01496","url":null,"abstract":"Abstract This paper discusses the model reference adaptive control problem for ionic polymer-metal composite (IPMC) actuators. Firstly, a mathematical model of the IPMC actuator is constructed as a stable second order dynamical system preceded by a hysteresis representation. Then, an adaptive controller is synthesized for the IPMC actuator. The proposed control law ensures the global stability of the controlled IPMC system, and the position error of IPMC actuator can be controlled by choosing the design parameters. Experimental results confirm the effectiveness of the proposed method.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"17 1","pages":"5073-5078"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81732373","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
Modelling and Control of Ball and Beam System using Coefficient Diagram Method (CDM) based PID controller 基于系数图法(CDM)的球梁系统PID控制器建模与控制
IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140313-3-IN-3024.00079
B. Meenakshipriya , K. Kalpana
{"title":"Modelling and Control of Ball and Beam System using Coefficient Diagram Method (CDM) based PID controller","authors":"B. Meenakshipriya ,&nbsp;K. Kalpana","doi":"10.3182/20140313-3-IN-3024.00079","DOIUrl":"10.3182/20140313-3-IN-3024.00079","url":null,"abstract":"<div><p>This paper introduces a design methodology of a PID controller for an unstable ball and beam system based on Coefficient Diagram Method (CDM). Ball and beam system is a non-linear, unstable, double integrating system which is widely used as a bench mark control setup for evaluating various control strategies. Many PID controller design is developed for stable system however it is very less common for double integrating unstable system. Co-efficient Diagram Method (CDM) is one of the recently developed controller design methodology based on algebraic approach. With CDM, it is easy to realize a controller under the conditions of stability, robustness and time domain performance. In this paper, CDM based PID (CDM-PID) controller parameters are computed based on the dynamics of ball and beam system which is developed using Euler – Lagrangian Approach. To evaluate the performance of proposed CDM-PID controller, set-point tracking and disturbance rejection analysis of ball and beam system are carried out through simulation runs in MATLAB-SIMULINK platform. The results are compared with the conventional Ziegler Nicholas – PID (ZN-PID) controller in terms of Error indices (Integral Squared Error (ISE) and Integral Absolute Error (IAE)) and Quality indices (Rise time (t<sub>r</sub>), Settling time (t<sub>s</sub>) and Maximum peak overshoot (%M<sub>p</sub>)). The results reveal that the CDM-PID controller maintains good stability of the ball's position with reduced percentage of error than ZN-PID controller.</p></div>","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"47 1","pages":"Pages 620-626"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.3182/20140313-3-IN-3024.00079","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84417655","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 14
Controlling A Motion Platform Beyond Its Anti-Resonance 超越反共振控制运动平台
IFAC Proceedings Volumes Pub Date : 2014-01-01 DOI: 10.3182/20140824-6-ZA-1003.00910
E. Ari, E. Kocaoglan
{"title":"Controlling A Motion Platform Beyond Its Anti-Resonance","authors":"E. Ari, E. Kocaoglan","doi":"10.3182/20140824-6-ZA-1003.00910","DOIUrl":"https://doi.org/10.3182/20140824-6-ZA-1003.00910","url":null,"abstract":"Abstract In controlling motion platforms, the servo motor and the feedback sensor are in general, not co-located. Hence, there usually happens to be a mechanical anti-resonance in controlling the system in velocity mode. This anti-resonance hinders the controller design as the open-loop gain of the system is severely reduced. In this study, a novel approach based on self-recurrent wavelet neural networks (SRWNNs) has been proposed in order to re-shape the anti-resonance behavior of the open-loop plant in a robust manner. The approach has been verified both using simulations and experiments.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"2 1","pages":"1742-1747"},"PeriodicalIF":0.0,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84448960","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
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