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

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CCAC 2019 Preconference Workshops CCAC 2019会前研讨会
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920981
{"title":"CCAC 2019 Preconference Workshops","authors":"","doi":"10.1109/CCAC.2019.8920981","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8920981","url":null,"abstract":"Workshop overview: This workshop will be organized in two main components. The first component will provide a detailed description of the gradient descent algorithm and of the fast gradient algorithm developed by Nesterov in a landmark paper. We will emphasize the following central ideas that underlie these two algorithms: the choice of stepsize, the choice of momentum (for fast gradient), and a novel proof of their convergence properties based on the Fenchel conjugate.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"156 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":"114289934","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
Design of Predictive Control Structures to Track Trajectories for Multi-rotor Unmanned Aerial Vehicle 多旋翼无人机轨迹跟踪预测控制结构设计
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921205
Robinson S. Alvarez-Valle, P. Rivadeneira
{"title":"Design of Predictive Control Structures to Track Trajectories for Multi-rotor Unmanned Aerial Vehicle","authors":"Robinson S. Alvarez-Valle, P. Rivadeneira","doi":"10.1109/CCAC.2019.8921205","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921205","url":null,"abstract":"This paper presents the synthesis of four model predictive controllers for a multi-rotor unmanned aerial vehicle to track trajectories. Three control structures are used to control the state variables: x, y, z positions and the yaw angle. For the first structure, a centralized control loop is used and two control strategies are proposed. The first strategy uses the outputs described above, while the second one increases the outputs with the state variables: roll and pitch angles. The second and third control structures use a non-centralized control loop. The second one splits the control loop into a cascade structure with a master and a slave loops. The last structure combines a master model predictive control strategy with a slave PD-P control combination. In both cases, the slave loop controls the new reference state variables roll and pitch angles, given by the master loop. The development of each controller is accomplished by changing the set points and is later tested by tracking a square trajectory. For a 1 [m] step change in x or y position, the system response has a setting time of around 1.44 [s], 1. 45[s], and 2.74 [s], with an overshooting of approximately 1.4%, 0% and 2.2% for each structure, respectively. For a 1 [m] change in z position, the setting time is 1.94 [s] and the overshoot is 2.88% for the first two structures. While for the last one, the setting time is 3 [s] without overshoot. For a half turn change of the yaw angle, the setting time is 1.74 [s] for the first two structures and 4.16 [s] for the last one, all of them without overshoot. Finally, disturbances are included to test the robustness of the control strategies tracking a square trajectory. Based on these results, the conclusion is that the first and second structures have the best performance.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"5 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":"115641456","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
A Therapist Helping Hand for Walker-Assisted Gait Rehabilitation: A Pre-Clinical Assessment 助行器辅助步态康复的治疗师之手:临床前评估
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920943
Sergio D. Sierra M., Mario F. Jiménez, M. Múnera, T. Bastos, A. Frizera-Neto, C. Cifuentes
{"title":"A Therapist Helping Hand for Walker-Assisted Gait Rehabilitation: A Pre-Clinical Assessment","authors":"Sergio D. Sierra M., Mario F. Jiménez, M. Múnera, T. Bastos, A. Frizera-Neto, C. Cifuentes","doi":"10.1109/CCAC.2019.8920943","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8920943","url":null,"abstract":"Smart Walkers are robotic devices commonly used to improve physical stability and sensory support for people with lower limb weakness or cognitive impairments. Even though such devices offer continuous monitoring during physical rehabilitation, providing a tool to empower therapists might reduce their efforts and increase patient’s safety during gait therapies. The implementation of remote-operation strategies enable therapy managers to remote control and assess the smart walker and user information. In this context, this paper presents a new strategy to control and perceive a walker-assisted gait therapy, by means of a haptic joystick with three operational modes. A set of path following tasks were implemented to validate the operational modes. The kinematic estimation error was calculated, and it was found a decrease in the error, when feedback modes were used. Likewise, results from an usability and acceptance questionnaire show better participant’s understating of visual feedback mode, and higher effort perception under haptic feedback mode. This interaction strategy represents a potential joystick application as a safety and control interface in walker-assisted gait.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"21 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":"122716026","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
Dissecting cell-size control strategies through stochastic processes 通过随机过程剖析细胞大小控制策略
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921329
C. A. Nieto-Acuna, C. A. Vargas-Garcia, J. M. Pedraza-Leal
{"title":"Dissecting cell-size control strategies through stochastic processes","authors":"C. A. Nieto-Acuna, C. A. Vargas-Garcia, J. M. Pedraza-Leal","doi":"10.1109/CCAC.2019.8921329","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921329","url":null,"abstract":"Recent studies have focused on characterizing bacterial cell-size control strategies from single-cell measurements. It remains largely unknown, however, which are the underlying bio-molecular mechanisms of such strategies. We extend recently proposed modeling approaches to study cell-size control phenomena. We propose model signatures that might shed light on key components that a bio-molecular mechanisms should include to explain a given cell-size control strategy. Understanding such bio-molecular mechanisms are key on crucial applications like medicine, epidemics, and industry.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"101 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":"129706058","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
Extended State Observer Based Control of an UPQC to assure Power Quality in Electric Distribution Grids 基于扩展状态观测器的UPQC控制以保证配电网的电能质量
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920958
Holman Bueno-Contreras, G. Ramos
{"title":"Extended State Observer Based Control of an UPQC to assure Power Quality in Electric Distribution Grids","authors":"Holman Bueno-Contreras, G. Ramos","doi":"10.1109/CCAC.2019.8920958","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8920958","url":null,"abstract":"The growing use of new technologies as electric vehicles and renewable energy sources (loads and generators with high nonlinear content), cause a deterioration in the voltage and current signals in the grid. The sensitive loads are significantly affected by these problems. So, an Unified Power Quality Conditioner (UPQC) with an Extended State Observer (ESO) tuned with Linear Quadratic Regulator algorithm is proposed with the incorporation of an internal model of sinusoidal signals. The objective is to compensate harmonic distortion and to guarantee correct RMS amplitude values for the load voltage and the grid current, and at the same time, to provide Power Factor Correction. The proposed system attenuates the harmonic distortion of both signals with a THD lower than 5% on nonlinear loads with high power consumption. Additionally, the system reaches a effective compensation of sags and swells of long and short duration.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"16 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":"127695277","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
Robust Adaptive Control of a Planar 3RRR Parallel Robot for Trajectory-Tracking Applied to Crouch Gait Cycle in Children with Cerebral Palsy 平面3RRR并联机器人轨迹跟踪鲁棒自适应控制应用于脑瘫儿童蹲伏步态周期
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921328
M. Rodelo, S. Polo, J. Duque, J. L. Villa, E. Yime
{"title":"Robust Adaptive Control of a Planar 3RRR Parallel Robot for Trajectory-Tracking Applied to Crouch Gait Cycle in Children with Cerebral Palsy","authors":"M. Rodelo, S. Polo, J. Duque, J. L. Villa, E. Yime","doi":"10.1109/CCAC.2019.8921328","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921328","url":null,"abstract":"This paper presents the modelling, control and simulation of a 3$underline{R}$RR planar parallel robot, using a robust adaptive control strategy. The objective of this work is to achieve the control over desired trajectory-tracking of the joint pattern with the end-effector of robot, considering the disturbances during the crouch gait activity in children with cerebral palsy. The kinematic analysis is based on the screw theory. A dynamical modelling by Virtual Work formulation approach is developed. The performance of the robust adaptive control law is developed using Lyapunov’s Direct Method and Barbalat’s lemma. Furthermore, the controller is evaluated in Matlab/Simulink simulation environment with the physic model simulated through Simscape Multibody. The angular position errors, velocity errors and output torques for each motor are calculated. Simulation results show that the proposed controller has good efficiency with stable response of the robot in performing trajectory-tracking.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"13 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":"127730429","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
Optimal Power Allocation in Multicarrier Mobile Communications Using Replicator Dynamics 基于复制器动力学的多载波移动通信优化功率分配
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921322
A. Pantoja, C. A. Viteri-Mera
{"title":"Optimal Power Allocation in Multicarrier Mobile Communications Using Replicator Dynamics","authors":"A. Pantoja, C. A. Viteri-Mera","doi":"10.1109/CCAC.2019.8921322","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921322","url":null,"abstract":"Most of the wireless networks in use today, such as WiFi and LTE, use multicarrier communication techniques. These systems divide the available bandwidth into a set of orthogonal subchannels. Performance in this type of systems is optimized by appropriately assigning power to each subchannel such that a total power constraint is satisfied. In this paper, we propose a dynamic resource allocation scheme based on replicator dynamics to achieve maximum spectral efficiency in a multicarrier system. We demonstrate that the population-based technique obtains the optimal water-filling solution. We illustrate the algorithm application with numerical simulations for a single-user power allocation in a common WiFi scenario. The results show the optimality and low computational cost of the proposed strategy, which can be used in the future to design resource allocation schemes in multiuser settings.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"12 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":"121351109","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
Decentralized Controller for a Grid Tied Cascade Multilevel Inverter 并网级联多电平逆变器的分散控制器
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920877
Miguel Vivert, D. Patiño, R. Díez, Diego Bernal Cobaleda, M. Cousineau
{"title":"Decentralized Controller for a Grid Tied Cascade Multilevel Inverter","authors":"Miguel Vivert, D. Patiño, R. Díez, Diego Bernal Cobaleda, M. Cousineau","doi":"10.1109/CCAC.2019.8920877","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8920877","url":null,"abstract":"The article is about a decentralized controller for a Cascade Multilevel Inverter connected to the grid. The objective of this controller is to supply current to the grid and to balance the output voltage of each full bridge cell. The controller is composed of two stages, one to manage the output current and the other for balancing the output voltage of each Full Bridge cell. Besides, a bypass system is implemented in the controller in order to have the ability to insert or remove a full bridge during the operation. This control technique avoids that the disturbances in the current affect the voltage balancing of full bridges. The control technique is validated in three simulations, changing the output current reference, disturbing the input voltages and inserting/removing a Full Bridge cell. Finally, the article shows the comparison between theoretical part and the simulations.","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":"121533493","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
Model Predictive Control of a Cold Room for an Agriculture Application 农业用冷室模型预测控制
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921363
R. J. Sebastian, D. Patiño
{"title":"Model Predictive Control of a Cold Room for an Agriculture Application","authors":"R. J. Sebastian, D. Patiño","doi":"10.1109/CCAC.2019.8921363","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921363","url":null,"abstract":"Model Predictive Control (MPC), is popular in control system theory, due to their advantageous characteristics of constraints for the control signal and the possibility of measure indirectly the states. This paper presents the design of an MPC controller for a post-harvest refrigeration system in floriculture. The design is based on the simulation of different conditions. Different tests are carried out with mismatches in the state matrix in order to know whether the MPC is able to respond to such changes. A comparison is also made with an state feedback plus observer proving that the MPC has a better behavior against mismatches.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"45 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":"126720746","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
Hybrid Control Design of a DC/DC Buck Power Converter DC/DC降压功率变换器的混合控制设计
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921204
L. Ocampo, F. Angulo, G. Osorio, David Angulo-García
{"title":"Hybrid Control Design of a DC/DC Buck Power Converter","authors":"L. Ocampo, F. Angulo, G. Osorio, David Angulo-García","doi":"10.1109/CCAC.2019.8921204","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921204","url":null,"abstract":"Here we present the model and design of a control law for the DC/DC buck power converter using the hybrid systems formalism. First we obtained the restricted algebraic differential equations governing the system, which depend on the modes of operation of the diode and the position of the switch. With this, we defined a switched differential inclusion and we applied a Krasovskii regularization to the discontinuous vector fields. Applying the closure operation allowed us to obtain a switched differential inclusion with constraints encompassing all the possible operation topologies of the DC/DC buck power converter. From the model, we designed a control strategy based on a Lyapunov function. Finally we show via numerical simulations that the controlled system is globally stable and robust respect to the switch position and perturbations in the reference and inputs voltages.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"26 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":"131383717","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
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