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2018 7th International Conference on Systems and Control (ICSC)最新文献

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Cooperative System with UAV and UGV for Disaster Area Exploration 无人机与UGV协同灾区探测系统
2018 7th International Conference on Systems and Control (ICSC) Pub Date : 2018-10-01 DOI: 10.1109/ICOSC.2018.8587635
Takaya Hakukawa, K. Uchiyama, Kai Masuda
{"title":"Cooperative System with UAV and UGV for Disaster Area Exploration","authors":"Takaya Hakukawa, K. Uchiyama, Kai Masuda","doi":"10.1109/ICOSC.2018.8587635","DOIUrl":"https://doi.org/10.1109/ICOSC.2018.8587635","url":null,"abstract":"Unmanned Aerial Vehicle (UAV) and Unmanned Ground Vehicle (UGV) are expected to be widely active in exploring disaster area. However, each unmanned vehicle has problems such as short flight time or poor efficiency of the exploration. As a solution of these problems, a cooperative system between these vehicles is useful by compensating disadvantages each other. In this paper, we propose the cooperation system using quadrotor UAVs and a UGV. In the system, the potential function method that can flexibly cope with a change of environment without computational complexity is used to avoid obstacles and reach the desired position. UAVs transmit data of obstacles to a UGV so as to explore a disaster area efficiently. Super-twisting sliding mode observer (STSMO) is treated for estimating velocities of the vehicles to avoid deterioration of control performance. The validity of the proposed control system is verified through numerical simulations.","PeriodicalId":153985,"journal":{"name":"2018 7th International Conference on Systems and Control (ICSC)","volume":"321 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122705369","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
Explicit Model Predictive Control for a Cart Inverted Pendulum System 推车倒立摆系统的显式模型预测控制
2018 7th International Conference on Systems and Control (ICSC) Pub Date : 2018-10-01 DOI: 10.1109/ICOSC.2018.8587820
Mahmoud M. Elnaggar, Ahmed Lasheen
{"title":"Explicit Model Predictive Control for a Cart Inverted Pendulum System","authors":"Mahmoud M. Elnaggar, Ahmed Lasheen","doi":"10.1109/ICOSC.2018.8587820","DOIUrl":"https://doi.org/10.1109/ICOSC.2018.8587820","url":null,"abstract":"This paper discusses the implementation of the explicit model predictive control for the inverted pendulum system. The proposed controller has three merits. First, it is able to produce the optimal control action with constraints satisfaction. Second, it reduces the online computational time by obtaining the offline solution of the optimization problem. Third, it ensures the overall system stability. The simulation results show that the proposed controller achieves an excellent performance.","PeriodicalId":153985,"journal":{"name":"2018 7th International Conference on Systems and Control (ICSC)","volume":"63 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116525786","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
Stabilization and fault detection for Takagi-Sugeno system Application to a bioreactor Takagi-Sugeno系统的稳定与故障检测在生物反应器中的应用
2018 7th International Conference on Systems and Control (ICSC) Pub Date : 2018-10-01 DOI: 10.1109/ICOSC.2018.8587830
Mohammed Bouakou, R. Channa
{"title":"Stabilization and fault detection for Takagi-Sugeno system Application to a bioreactor","authors":"Mohammed Bouakou, R. Channa","doi":"10.1109/ICOSC.2018.8587830","DOIUrl":"https://doi.org/10.1109/ICOSC.2018.8587830","url":null,"abstract":"In this paper, a general approach to design stabilization and fault detection with residual generators for nonlinear systems described by a Takagi-Sugeno model is presented. The first step consists on the presentation of the process and introduction of T-S representation for nonlinear systems. In the second part of this work, we present the problem of the design fault detection. The principle of the proposed strategy is to transform the problem of simultaneously minimizing the perturbation effect and maximizing the fault effect, on the residual vector, in a simple problem of L2-norm minimization.","PeriodicalId":153985,"journal":{"name":"2018 7th International Conference on Systems and Control (ICSC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127817335","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
Enhanced Kalman Filter Through Modified Empirical Mode Decomposition For Wind Profile Exogenous Disturbance Extraction & Isolation in Wind Turbines 基于改进经验模态分解的增强卡尔曼滤波风力机风廓线外源干扰提取与隔离
2018 7th International Conference on Systems and Control (ICSC) Pub Date : 2018-10-01 DOI: 10.1109/ICOSC.2018.8587825
J. P. Salameh, S. Cauet, E. Etien, A. Sakout, L. Rambault
{"title":"Enhanced Kalman Filter Through Modified Empirical Mode Decomposition For Wind Profile Exogenous Disturbance Extraction & Isolation in Wind Turbines","authors":"J. P. Salameh, S. Cauet, E. Etien, A. Sakout, L. Rambault","doi":"10.1109/ICOSC.2018.8587825","DOIUrl":"https://doi.org/10.1109/ICOSC.2018.8587825","url":null,"abstract":"Wind profile variations and disturbances are the main cause for stress and fatigue for wind turbines. These disturbances propagate along the drive train, through the gearbox and into the generator resulting in current and voltage output fluctuations. The wind profile is a non-stationary random process, thus the resulting vibrations and disturbances throughout the system are non-stationary. Classical traditional frequency-domain analysis techniques fall short when dealing with this type of signals. Modern analysis and control requirements in wind turbines justify the need for advanced techniques to cope with the non-stationary nature of measured signals. Compensating these disturbances to protect different wind turbine components, while detecting harmonics caused by these disturbances, render the turbine system operation smoother while increasing reliability, efficiency and robustness. This paper applies a Kalman filter based method for signal reconstruction through harmonic estimation for the turbine side angular velocity. In addition, a new modified Empirical Mode Decomposition (EMD) approach is introduced capable of separating the continuous component of a non-stationary signal from its added high and low frequency waves. The modified EMD intends to reduce time consumption for signal processing and isolate harmonics from the carrier wave in the angular velocity signal for analysis. Then the EMD and the Kalman filter are combined in order to improve individual harmonic component estimation while allowing the use of conventional signal processing techniques. The method can be used either to reject wind profile disturbances, or detect added fault signatures by a single component.","PeriodicalId":153985,"journal":{"name":"2018 7th International Conference on Systems and Control (ICSC)","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133253046","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
Independent velocity control of the longitudinal motion of quadrotors* 四旋翼纵向运动的独立速度控制*
2018 7th International Conference on Systems and Control (ICSC) Pub Date : 2018-10-01 DOI: 10.1109/ICOSC.2018.8587802
N. Kouvakas, F. Koumboulis
{"title":"Independent velocity control of the longitudinal motion of quadrotors*","authors":"N. Kouvakas, F. Koumboulis","doi":"10.1109/ICOSC.2018.8587802","DOIUrl":"https://doi.org/10.1109/ICOSC.2018.8587802","url":null,"abstract":"The problem of independent control of the horizontal and the vertical velocity in the longitudinal motion of a quadrotor in cruising mode is studied. A two-layer controller design scheme is proposed. Using the inner controller, the design requirement of triangular decoupling is satisfied and the general expressions of the controller matrices and the triangular closed loop transfer matrix are analytically determined. For the external loop, a MIMO PID controller is designed to achieve diagonal decoupling with simultaneous stability. The results are successfully applied and tested through a nonlinear computational experiment for a climbing maneuver.","PeriodicalId":153985,"journal":{"name":"2018 7th International Conference on Systems and Control (ICSC)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134114193","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
Regional Pole Assignment for Constrained Input Uncertain Systems 约束输入不确定系统的区域极点配置
2018 7th International Conference on Systems and Control (ICSC) Pub Date : 2018-10-01 DOI: 10.1109/ICOSC.2018.8587782
Hamza Khallouk, F. Mesquine
{"title":"Regional Pole Assignment for Constrained Input Uncertain Systems","authors":"Hamza Khallouk, F. Mesquine","doi":"10.1109/ICOSC.2018.8587782","DOIUrl":"https://doi.org/10.1109/ICOSC.2018.8587782","url":null,"abstract":"This paper addresses the pole assignment problem in ${mathcal{D}_R}{text{ - regions}}$ for input constrained uncertain systems. A robust state feedback controller is built such that: 1) the closed loop poles lie within a specified stability region; 2) the symmetric input constraints are respected. Conditions for both stability analysis and controller synthesis are given in terms of linear matrix inequality (LMIs). Simulation results are worked out to demonstrate the effectiveness of the proposed technique.","PeriodicalId":153985,"journal":{"name":"2018 7th International Conference on Systems and Control (ICSC)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114194691","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
Simulation and Real Time Implementation of Direct Power Control Applied to Parallel Active Filtering Based on Fuzzy Logic Controller 基于模糊控制器的并联有源滤波直接功率控制的仿真与实时实现
2018 7th International Conference on Systems and Control (ICSC) Pub Date : 2018-10-01 DOI: 10.1109/ICOSC.2018.8587842
S. Ouchen, H. Steinhart, J. Gaubert, F. Blaabjerg, A. Betka
{"title":"Simulation and Real Time Implementation of Direct Power Control Applied to Parallel Active Filtering Based on Fuzzy Logic Controller","authors":"S. Ouchen, H. Steinhart, J. Gaubert, F. Blaabjerg, A. Betka","doi":"10.1109/ICOSC.2018.8587842","DOIUrl":"https://doi.org/10.1109/ICOSC.2018.8587842","url":null,"abstract":"The present paper proposes a simulation and a real time implementation of a new fuzzy-direct power control (F-DPC) strategy for power quality improvement in shunt active power filter systems. The main objective of the proposed study is to reduce the total harmonic current distortion (THDi) and the instantaneous power ripple. This is done by the replacement of the hysteresis regulators by fuzzy logic rules. The basic idea of these rules is based on the knowledge of the variation in the active and reactive power. In respect to the input fuzzy variables and in a precise instant, the best switching state of the converter is chosen. The strength of this control strategy compared to the conventional DPC is that it is not required to introduce hysteresis controllers and strong control of active and reactive power is achieved. The proposed F-DPC control is simulated using Matlab/Simulink and experimentally validated on a small-scale system, controlled via a dSPACE 1104 single card. The obtained results indicate a closeness between simulation and experimental tests, which proved and verified the effectiveness of the proposed F-DPC control strategy.","PeriodicalId":153985,"journal":{"name":"2018 7th International Conference on Systems and Control (ICSC)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117124121","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
Fault Estimation and Tolerant Control for Vehicle Lateral Dynamics 车辆横向动力学故障估计与容错控制
2018 7th International Conference on Systems and Control (ICSC) Pub Date : 2018-10-01 DOI: 10.1109/ICOSC.2018.8587619
Naoufal El Youssfi, M. Oudghiri
{"title":"Fault Estimation and Tolerant Control for Vehicle Lateral Dynamics","authors":"Naoufal El Youssfi, M. Oudghiri","doi":"10.1109/ICOSC.2018.8587619","DOIUrl":"https://doi.org/10.1109/ICOSC.2018.8587619","url":null,"abstract":"This paper presents a Fault Tolerant Control (FTC) strategy for vehicle lateral dynamics with roll effect described by Takagi-Sugeno (T-S) fuzzy model to approximate the vehicle lateral dynamics with consideration of the roll motion. The integrated approach here concerns the actuator and sensor faults. This study requires the knowledge of the system parameters and the occurring faults. For that, a Proportional-Integral Observer (PIO) is adapted to estimate system states and faults. The proposed control makes it possible to preserve the stability of the vehicle even in the presence of these faults. The observer and controller designs are based on the Lyapunov approach formulated in Linear Matrix Inequalities (LMI). The simulation results clearly show a robustness of the proposed observer and a rigorous stability of the proposed controller strategy to maintain a vehicle’s stability.","PeriodicalId":153985,"journal":{"name":"2018 7th International Conference on Systems and Control (ICSC)","volume":"190 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122716858","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
Semi-Active Control of Stay Cable Vibrations Using Magnetorheological Damper 利用磁流变阻尼器半主动控制斜拉索振动
2018 7th International Conference on Systems and Control (ICSC) Pub Date : 2018-10-01 DOI: 10.1109/ICOSC.2018.8587841
Rohit Tukaram Gurav, S. Ali
{"title":"Semi-Active Control of Stay Cable Vibrations Using Magnetorheological Damper","authors":"Rohit Tukaram Gurav, S. Ali","doi":"10.1109/ICOSC.2018.8587841","DOIUrl":"https://doi.org/10.1109/ICOSC.2018.8587841","url":null,"abstract":"A nonlinear dynamic model of a small-sag stay cable with an axial support motion is considered. A magnetorheological (MR) damper is employed for semi-active control of cable vibrations. Voltage supplied to the MR damper has been monitored through a two-stage state feedback control design approach. The first stage contains a primary controller, which determines the force required to obtain a desired closed-loop response of the system. In the second stage, an optimal dynamic inversion approach has been used to obtain the amount of voltage to be supplied to the MR damper such that it provides the required control force prescribed by the primary controller. Keywords: nonlinear vibrations, semi-active control, stay-cable vibrations","PeriodicalId":153985,"journal":{"name":"2018 7th International Conference on Systems and Control (ICSC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122849461","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
Two-Degree-of-Freedom PID Tuning Based on an Uncertainty and Disturbance Estimator * 基于不确定性和干扰估计器的二自由度PID整定*
2018 7th International Conference on Systems and Control (ICSC) Pub Date : 2018-10-01 DOI: 10.1109/ICOSC.2018.8587633
V. Balaguer, R. Sanz, P. Garcia, P. Albertos
{"title":"Two-Degree-of-Freedom PID Tuning Based on an Uncertainty and Disturbance Estimator *","authors":"V. Balaguer, R. Sanz, P. Garcia, P. Albertos","doi":"10.1109/ICOSC.2018.8587633","DOIUrl":"https://doi.org/10.1109/ICOSC.2018.8587633","url":null,"abstract":"In this paper, a simple tuning method for two-degree-of-freedom (2DOF) PIDs is presented. The proposed methodology is based on an uncertainty and disturbance estimator. This model-based technique allows decoupling of the tracking and disturbance rejection performances. It is shown how, for second-order systems and with appropriate adjustments, an equivalent 2DOF PID controller can be obtained. The 2DOF PID parameters are then easily tuned to meet the desired tracking performance by specifying a reference model. Furthermore, one single parameter can be adjusted online to obtain a trade-off between disturbance rejection and robustness in each particular application. The proposed method is tested in a wide range of plants, including unstable first-order systems with time delay. Two comparisons with well-known tuning methods are performed.","PeriodicalId":153985,"journal":{"name":"2018 7th International Conference on Systems and Control (ICSC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125958514","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
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