2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)最新文献_第2页

Modeling and Control of Interacting Irrigation Channels 相互作用灌溉渠道的建模与控制

2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920926

Gregory Conde, N. Quijano, Carlos Ocampo-Matinez

引用次数: 2

Consistent Approximations of the Control - Affine Systems With Bounded Uncertainties: Application to the Controlled Lotka - Volterra Dynamics 有界不确定性控制仿射系统的一致性逼近:在受控Lotka - Volterra动力学中的应用

2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921242

V. Azhmyakov, Camilo Londoño, Pablo Osorio, A. Rojas, M. E. Puerta, L. A. G. Trujillo

引用次数: 1

Nonlinear Extended State Observer for Hybrid Dynamical Systems 混合动力系统的非线性扩展状态观测器

2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921108

Jaime Arcos-Legarda, J. Cortés-Romero, A. Tovar

{"title":"Nonlinear Extended State Observer for Hybrid Dynamical Systems","authors":"Jaime Arcos-Legarda, J. Cortés-Romero, A. Tovar","doi":"10.1109/CCAC.2019.8921108","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921108","url":null,"abstract":"This paper introduces a nonlinear disturbance observer for hybrid dynamical systems with continuous and discrete dynamics. The hybrid dynamical system considered in this work is a bipedal robot. The robot is modeled by a continuous mathematical model connected to a discrete reset functions. The continuous and discrete dynamics are exposed to model parameter uncertainties and external disturbances. The uncertainties and disturbances in the continuous dynamics are lumped into a total disturbance signal, which is estimated through a nonlinear extended state observer (NESO). The disturbance estimation is used to design an active disturbance rejection control (ADRC). To address the reset function uncertainties on the discrete dynamics, a reference trajectory generator is designed to achieve zero tracking error after each reset function using a smooth transition function from the system state to the nominal references. The control strategy proposed in this work is applied to the gait control of a planar, dynamic bipedal robot with point feet, five degrees of freedom, and one degree of underactuation. The gait stability is tested through a linearized Poincaré return map.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"40 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":"116674456","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

Driving a 3 DOF Robotic Manipulator with Protected Data through Industrial Communication using Master-Slave Architecture 基于主从结构的工业通信保护数据驱动三自由度机器人

2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921340

M. Hugo, Claudio Urrea Oñate, J. Molina

引用次数: 0

Multi-objective Optimal Path Planning for Mobile Robots using State Space Cell Mapping 基于状态空间单元映射的移动机器人多目标路径规划

2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920971

E. Grisales-Ramírez, M. F. Jaramillo-Morales, G. Osorio, J. Gómez-Mendoza

引用次数: 1

Design of Controllers to Track Trajectories for Multi-rotor Unmanned Aerial Vehicles 多旋翼无人机轨迹跟踪控制器设计

2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921246

Robinson S. Alvarez-Valle, P. Rivadeneira

{"title":"Design of Controllers to Track Trajectories for Multi-rotor Unmanned Aerial Vehicles","authors":"Robinson S. Alvarez-Valle, P. Rivadeneira","doi":"10.1109/CCAC.2019.8921246","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921246","url":null,"abstract":"This paper presents the synthesis of controllers for a multi-rotor unmanned aerial vehicle with the goal to track trajectories, transforming its MIMO system representation into simpler structures based on SISO systems. Three control structures are provided to control the four outputs: x, y, z positions and the yaw angle. All the structures are based on decoupled control loops for each output described above. The first structure consists of classical controls, where the first two loops (x and y positions) use a third order transfer function control while the last two (z position and yaw angle) a PID/PD control. The second one uses for the first two loops a cascade control strategy based on a PD controllers. The third structure uses cascade control strategies with a PID-PID-PD-P control combination for the first two loops, while a PD-P combination for the last two. The control performance of each structure is assessed through simulation following changes of set points and a square trajectory. For a 1 [m] step change in x or y position, the system response has a setting time of around 5.7 [s, 4. 7[s], and 1.9 [s], with an overshoot of approximately 75.3%, 40.3% and 0.3% for each structure, respectively. For a 1 [m] change in z position, the setting time is 6.4 [s] and the overshoot is 24.9% for the first two structures. While for the last one, the setting time is 2.7 [s] without overshoot. Similar results are achieved for changes in the yaw angle. Finally, disturbances are included to test the robustness of the control strategies. Based on these results, the conclusion is that the third structure has the best performance.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"18 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":"133717915","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

Comparative analysis of MPPT techniques and Optimal Control for a PMSG-based WECS 基于pmsg的wcs最优控制与MPPT技术的对比分析

2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921183

David Cortés-Vega, F. Ornelas‐Tellez, J. Anzurez-Marín

{"title":"Comparative analysis of MPPT techniques and Optimal Control for a PMSG-based WECS","authors":"David Cortés-Vega, F. Ornelas‐Tellez, J. Anzurez-Marín","doi":"10.1109/CCAC.2019.8921183","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921183","url":null,"abstract":"This paper presents a comparative study about different schemes for maximum power point tracking (MPPT) for Wind Energy Conversion Systems (WECS) based on Permanent Magnet Synchronous Generator (PMSG). Owing to the inherent changing nature of the wind, it is required to have techniques capable of fulfill the task of extracting the maximum available power at any time by tracking some system variables such as rotor speed, torque, power among others. Therefore, including a controller that can track the maximum power point in any wind speed scenario is essential. This paper analyzes four MPPT techniques, Power Signal Feedback (PSF), Tip Speed Ratio (TSR) control, Perturb and Observe Method (P&O) and Optimal Torque (OT) control using a wind speed estimator for the schemes that require such measurement. A comparison of the performance of these MPPT algorithms has been made under a varying wind speed scenario to examine its characteristics such as efficiency and ease of implementation. A nonlinear optimal control scheme based on a State Dependent Coefficient Factorization (SDCF) was designed to track the trajectories generated by the MPPT algorithms. Simulations results developed in Simulink are presented to show the characteristics and performance of each technique.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"22 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":"131909836","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

A Modified Smith Predictor For Processes with Variable Delay 变延迟过程的改进Smith预测器

2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920844

Carlos Mejía, O. Camacho, D. Chávez, M. Herrera

引用次数: 4

An Approximation to the Construction of Pedestrian Smart Cities 构建步行智慧城市的近似方法

2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921336

M. J. Betancur, Valentín Restrepo, Jairo J. Pérez, J. A. Restrepo, Andrés F. Agudelo, Diego Cuartas-Ramírez

引用次数: 4

Optimal Assignment of Resources for Distributed Computing in Real-Time Applications 实时应用中分布式计算的资源优化分配

2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921068

J. Noreña, E. Perez, Richard Ríos, A. Acosta, J. Espinosa

引用次数: 0