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2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)最新文献

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State of the Art in Strategies Allowing the Integration of a Shared EVs Service and the Active Participation of EVs With the Power Network 共享电动汽车服务与电动汽车积极参与电网整合策略的最新进展
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921301
Semaria Ruiz Alvarez, J. Oviedo
{"title":"State of the Art in Strategies Allowing the Integration of a Shared EVs Service and the Active Participation of EVs With the Power Network","authors":"Semaria Ruiz Alvarez, J. Oviedo","doi":"10.1109/CCAC.2019.8921301","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921301","url":null,"abstract":"Nowadays, the use of Electric vehicles (EVs) in public transportation systems, as the car-sharing schemes, is growing tendency around the world due to it helps to mitigate the environmental impacts generated by the massive use of self-owned vehicles based on fossil fuels. However, the implementation of the electric car-sharing schemes still have some changes that need to be addressed, such as limitations in regulations and the low-profit margins that can be achieved by the fleet operator. This paper focuses on review the strategies set on current literature that will allow addressing the last change. Particularly, those strategies that will allow the participation of the shared EVs in the energy and ancillary services electricity markets. Hence, this paper provides a general view of the issues that need to be addressed, currently, to make suitable the participation of shared EVs or public transport EVs in the energy and ancillary services electricity markets.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132645425","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
Fast Model Predictive Control on a Smartphone-based Flight Controller 基于智能手机的飞行控制器快速模型预测控制
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920998
Luis García, Alejandro Astudillo, Esteban Rosero
{"title":"Fast Model Predictive Control on a Smartphone-based Flight Controller","authors":"Luis García, Alejandro Astudillo, Esteban Rosero","doi":"10.1109/CCAC.2019.8920998","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8920998","url":null,"abstract":"Several attempts have been made to execute control of a system using only a smartphone’s processor running computationally inexpensive algorithms such as PID, LQR or H∞ controllers. This paper presents design and implementation of model predictive controllers on a smartphone using the numerical optimization framework CasADi. To evaluate this framework’s performance (and compare its results with those from a Java library JOptimizer’s deployment) the implemented model predictive control algorithm was subjected to simulations of running a quadrotor control system on a smartphone. It attained a tracking error of 0.0693 m. These evaluation results open the possibility of implementing more computationally expensive algorithms on a smartphone’s processor including online or real-time usage.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131150766","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
A Mini-sized Agent Testbed for Applications in Mobile Robotics 移动机器人应用的微型智能体试验台
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921109
Gustavo Jácome, Marisol Sierra, P. Cruz
{"title":"A Mini-sized Agent Testbed for Applications in Mobile Robotics","authors":"Gustavo Jácome, Marisol Sierra, P. Cruz","doi":"10.1109/CCAC.2019.8921109","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921109","url":null,"abstract":"In the last years, the growing interest in consensus and coordinated control of multi-agent mobile systems has originated the development of a variety of testbeds. These experimental platforms constitute an essential component in the research and education process in the robotics field. This paper describes the design and implementation of a testbed based on the position control and trajectory tracking of mini-sized ground robots. The testbed architecture consists of a monitoring system composed by a web cam and a control algorithm running in a main computer that communicates with the robots wirelessly. A unique feature of the testbed is the use of ArUco markers on top of the mobile platforms for motion tracking purposes using OpenCV and Visual Basic. Additionally, the testbed has a user graphic interface that allows to manage and visualize results of the robot behavior for the tracking of different pre-defined trajectories.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129205799","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
Distributed MPC and Potential Game Controller for Consensus in Multiple Differential-Drive Robots 多差动驱动机器人共识的分布式MPC和潜在博弈控制器
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920881
Gilberto Díaz-García, Luis Burbano, N. Quijano, L. F. Giraldo
{"title":"Distributed MPC and Potential Game Controller for Consensus in Multiple Differential-Drive Robots","authors":"Gilberto Díaz-García, Luis Burbano, N. Quijano, L. F. Giraldo","doi":"10.1109/CCAC.2019.8920881","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8920881","url":null,"abstract":"Consensus algorithms are widely used in control theory to design distributed control techniques in networked dynamical systems. One of the most conventional techniques is model predictive control (MPC) because it can handle restrictions over the states and system inputs. However, the computational resources required by the algorithm could make the controller unimplementable for some systems. In this work, we compare the MPC with a non-traditional controller based on potential games using agents with single integrator dynamics and nonlinear ground vehicles. We have found that the potential game-based controller can achieve a similar performance spending less computation time.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124654653","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
EPSAC and NEPSAC algorithms applied to a non-linear liquid level system EPSAC和NEPSAC算法在非线性液位系统中的应用
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920896
Diego F. Sendoya-Losada, José O. Arroyave-Quezada, Alvaro J. Velasquez-Pobre
{"title":"EPSAC and NEPSAC algorithms applied to a non-linear liquid level system","authors":"Diego F. Sendoya-Losada, José O. Arroyave-Quezada, Alvaro J. Velasquez-Pobre","doi":"10.1109/CCAC.2019.8920896","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8920896","url":null,"abstract":"In this work two model based predictive controllers have been designed in order to regulate a non-linear liquid level system. First, a controller according to the Extended Prediction Self-Adaptive Control (EPSAC) was designed. This algorithm requires a linear model, so the model was linearized around a certain equilibrium point. This gives bad results when the setpoint lies far from the equilibrium output level. Secondly, a Non-linear Extended Prediction Self-Adaptive Control (NEPSAC) was designed. A big advantage is that no linearization is required. Consequently, a correct model is available at each point. This explains why NEPSAC gives the best results: a low settling time, no overshoot and equally good results for all setpoints. Finally, the performance of the controllers is evaluated, in order to carry out a tracking to a reference level and an effective rejection of the disturbances.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125589731","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
An ARX-Petri Nets algorithm for Active Identification of an AC/DC Microgrid Simulation 交/直流微电网仿真有源辨识的ARX-Petri网算法
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921191
L. Matos, Luis B. Gutiérrez, Sánchez Jorge W. G., A. A. Téllez
{"title":"An ARX-Petri Nets algorithm for Active Identification of an AC/DC Microgrid Simulation","authors":"L. Matos, Luis B. Gutiérrez, Sánchez Jorge W. G., A. A. Téllez","doi":"10.1109/CCAC.2019.8921191","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921191","url":null,"abstract":"In this article, a new algorithm is developed for the identification of an AC/DC Microgrid (MG) using methods of “Auto-Regressive with eXogenous inputs (ARX)” and Petri Nets (PN). An algorithm is shown in order to obtain a model of Distributed Generation (DG) systems for a MG. This algorithm aims to obtain a bank of models in which each model is obtained through the identification of a different point of operation. This method facilitates the identification of dynamic non-linear systems associated with MG systems. During the development of this research, a bank of models for converter systems are obtained in state space which reflect the nonlinear dynamic properties of the systems and converters that compose an AC/DC MG.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125110319","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: 7
Cables Configuration Analysis for a planar CDPR, based on the Lowest Kinematic Energy for a Rotation Movement 基于旋转运动最低运动能量的平面CDPR缆索结构分析
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921200
Marco Carpio, R. E. Astudillo, J. Aller, R. Saltarén, Alejandro Rodríguez, G. Portilla, J. Cely
{"title":"Cables Configuration Analysis for a planar CDPR, based on the Lowest Kinematic Energy for a Rotation Movement","authors":"Marco Carpio, R. E. Astudillo, J. Aller, R. Saltarén, Alejandro Rodríguez, G. Portilla, J. Cely","doi":"10.1109/CCAC.2019.8921200","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921200","url":null,"abstract":"In the field of robotics, energy consumption is a very important factor that must be considered. Plenty of research focuses on optimizing the systems design in order to maximize energy efficiency. In cable driven parallel robots, the energy required for picking up or releasing is directly related to the geometric position of the links between the cables and the final effector. This article evaluates the configuration of a cable driven parallel robot with three degrees of freedom, and a rectangular final effector. For this reason the kinematics are analyzed with a Jacobian matrix using Screws theory considering different linkage points. With the kinetic energy known it is possible to find a proper location guarantying the lowest energy consumption. All calculations are done in a MATLAB and the results are corroborated with the Adams View 2017.2 simulation software.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116854895","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
Issues regarding the implementation of sliding controls for thermal regulation 关于热调节滑动控制的实施问题
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920891
Frank Florez, P. F. Córdoba, G. Tost
{"title":"Issues regarding the implementation of sliding controls for thermal regulation","authors":"Frank Florez, P. F. Córdoba, G. Tost","doi":"10.1109/CCAC.2019.8920891","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8920891","url":null,"abstract":"In this work a sliding modes controller is designed and implemented for regulate the temperature in a closed space. The system is represented with a lumped parameter model of 18R13C, initially the model is evaluated in simulation and tuned with experimental data, for the design of the controller is used the Monte Carlo method to simplify, and later calculate the equilibriums and main parameters, finally the controller is tested in a reduced scale model.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122729178","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
Automatic diagnostic system for second use lithium ion battery for stationary energy storage applications 固定式储能用二次锂离子电池自动诊断系统
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921143
Alejandro Camargo, A. Marulanda
{"title":"Automatic diagnostic system for second use lithium ion battery for stationary energy storage applications","authors":"Alejandro Camargo, A. Marulanda","doi":"10.1109/CCAC.2019.8921143","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921143","url":null,"abstract":"Energy storage has several beneficial applications in high power electrical systems, however, the costs of new batteries impede large scale deployment. Second use lithium ion batteries have been proven to be technically feasible for energy storage in the grid while being much cheaper than new batteries. This paper presents the design, construction and testing of an automatic test bench for second use lithium ion batteries for stationary energy applications. This automatic test bench cycles a battery while simulating real life conditions, this way it is possible to perform an accelerated life cycle test. The testing of the battery is monitored by the device and the information is stored to further understand the batterie's behavior and determine its viability for stationary energy storage applications. The device gathers data via an array temperature, voltage and current sensors. The battery tested by the system is a lithium ion battery built from heterogeneous second use lithium ion cells recovered form discarded laptop batteries. The results from the device show that the battery has potential for stationary energy storage applications, however, more data is needed to have a better understanding of the evolution of the battery over time. Also, some improvements to the device are mentioned as future work.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128540781","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
Design of an Impulsive Offset-Free MHE/ZMPC Scheme For Type 1 Diabetes Treatment 1型糖尿病无脉冲偏移MHE/ZMPC治疗方案的设计
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921327
M. F. Villa-Tamayo, P. Rivadeneira
{"title":"Design of an Impulsive Offset-Free MHE/ZMPC Scheme For Type 1 Diabetes Treatment","authors":"M. F. Villa-Tamayo, P. Rivadeneira","doi":"10.1109/CCAC.2019.8921327","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921327","url":null,"abstract":"Type 1 diabetes treatment can be modeled as an impulsive control system because insulin doses are administered to the patient as small pulses and not as a continuous or discrete input. Therefore, an impulsive scheme of estimation and control is needed. Here, an impulsive MHE is designed and it is coupled with a zone MPC which allows to include the system constraints in both estimation and control problems. In addition, an offset-free strategy is added to compensate the effects of the inherent plant-model mismatch given by the physiological changes of the patient. These variations can generate an inaccurate insulin administration that produces an offset in relation to the nor-moglycemia zone and leads to hypoglycemia or hyperglycemia events. The offset-free MHE/ZMPC formulation reestablishes the normoglycemia behavior by compensating parameter variations. Variations up to 30% were considered, as well as the sensor noise from the continuous glucose monitor.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114237732","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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