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

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A Second Order Cone Formulation of Min-Max MPC With Zone Control for LPV Systems LPV系统带区域控制的最小-最大MPC二阶锥公式
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921029
A. Marquez-Ruiz, J. Patino, Leyla Özka, J. Espinosa
{"title":"A Second Order Cone Formulation of Min-Max MPC With Zone Control for LPV Systems","authors":"A. Marquez-Ruiz, J. Patino, Leyla Özka, J. Espinosa","doi":"10.1109/CCAC.2019.8921029","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921029","url":null,"abstract":"This paper proposes a Second Order Cone Formulation of min-max MPC with zone control for LPV Systems. The min-max strategy in model predictive control (MPC) allows computing the optimal control actions where the worst-case performance to the system uncertainties is assumed. Zone control is used instead of a reference trajectory, as the MPC performance for several complex systems with uncertainty improves with a control range rather than a reference path. Unfortunately, min-max formulations of predictive controllers often produce intractable optimization problems as the number of states, inputs, and outputs of the system increase. Hence, in this paper uncertainty is treated in such a way that the min-max optimization problem can be solved through a second-order cone programming problem. This equivalent solution has a polynomial complexity for the min-max solution, a fact that constitutes the most remarkable feature of the proposed formulation. Performance of the method is verified in simulation through the application on a stirred tank reactor (CSTR) system.","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":"115060479","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 Class of Continuous Predefined-Time Controllers 一类连续的预定义时间控制器
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921367
Esteban Jiménez‐Rodríguez, A. Muñoz‐Vázquez, J. Sánchez‐Torres, A. Loukianov
{"title":"A Class of Continuous Predefined-Time Controllers","authors":"Esteban Jiménez‐Rodríguez, A. Muñoz‐Vázquez, J. Sánchez‐Torres, A. Loukianov","doi":"10.1109/CCAC.2019.8921367","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921367","url":null,"abstract":"A class of continuous predefined-time controllers is designed in this paper. The control structure is built upon a class of comparison functions, whose features allow to analyze the predefined-time convergence property in the Lyapunov framework. Rather than providing exact predefined-time convergence to the equilibrium point, the proposed controller guarantees uniform predefined-time ultimate predefined boundedness of the solutions, i.e., the capability of setting an arbitrarily desired ultimate bound and an arbitrarily desired convergence time, through an appropriate selection of the controller parameters. Moreover, for a class of second-order systems, an additional analysis is carried out to show finite-gain input-output stability. The reliability of the proposed scheme is highlighted through numerical simulations in a representative example.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"83 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":"114920239","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
VRFT Control for an Alternate Activated Sludge Process with a Coupled Settling Model 基于耦合沉降模型的交替活性污泥过程VRFT控制
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921317
Nathalie Hernández Velásquez, Eduardo Mojica Nava, A. Wouwer
{"title":"VRFT Control for an Alternate Activated Sludge Process with a Coupled Settling Model","authors":"Nathalie Hernández Velásquez, Eduardo Mojica Nava, A. Wouwer","doi":"10.1109/CCAC.2019.8921317","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921317","url":null,"abstract":"This work presents the development and implementation of a controller for a wastewater treatment plant with an activated sludge process in an alternate bioreactor and a dynamic settling system. The methodology used is known as Virtual Reference Feedback Tuning, based on the data collection of input and output from the plant to obtain the controller through a defined structure that in this case is specified as a PID controller. The input signals are defined as the Oxygen dilution and the highly degradable Substrate, the output variables considered are the Substrate and the Oxygen.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"39 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":"116954438","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
Automatic fermentation and drying cocoa process 可可自动发酵干燥过程
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921378
J. Veira, Esteban Cuaycuan, Nohora España
{"title":"Automatic fermentation and drying cocoa process","authors":"J. Veira, Esteban Cuaycuan, Nohora España","doi":"10.1109/CCAC.2019.8921378","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921378","url":null,"abstract":"The fermentation and drying processes of cocoa in Tumaco using traditional techniques have some problems concerning the exposure of the grain to pollutants and variations in the climate, due to this the producers of cocoa in this region suffer economic losses. In order to contribute to the solution of these problems in the association ASPROCAT, proposes the design of an automatic system with PLC in which the temperature of the mass of cocoa is controlled to achieve its fermentation and drying, reducing operation times and contamination of the grain. The main variables in these processes are monitored and the international recommendations for the handling of the cocoa bean are considered. With the implementation of the design, short operation times and minimization of processed grain losses are achieved.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"128 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":"129892993","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
Optimization of Energy and Water Consumption on Crop Irrigation using UAVs via Path Design 基于路径设计的无人机作物灌溉能耗和用水量优化
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921148
Carlos Hernández López, L. F. Giraldo
{"title":"Optimization of Energy and Water Consumption on Crop Irrigation using UAVs via Path Design","authors":"Carlos Hernández López, L. F. Giraldo","doi":"10.1109/CCAC.2019.8921148","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921148","url":null,"abstract":"Technological advances have made efficient resource allocation an easier task nowadays. In the case of crop irrigation, sensing has improved in a way that it is possible to measure the amount of water needed to be provided in a certain area and to present this information in a single an image. Measurements of this type include Crop Water Stress Index (CWSI) and Normalized difference Vegetation Index (NDVI). Using these tools, we propose a method that designs paths for agricultural Unmanned Aerial Vehicles (UAVs), reducing the amount of water and energy consumed during the irrigation process, depending on the conditions of the crop. The proposed method takes a CWSI or NDVI image and generates a path that determines the UAV velocity and direction, assuming a constant discharge of water from the UAV. This method is based on a reformulation of the Traveler Salesman Problem that incorporates a dynamical model of a UAV and water stress indicators. We show through simulations that the proposed method allows for an important reduction of spent water and energy resources during the irrigation process.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"83 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":"132867392","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
Semantic Automation Systems, a Suitable Approach for Automation Networks in the Industry 4.0 语义自动化系统:工业4.0中自动化网络的一种合适方法
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921156
S. Gil, Germán D. Zapata-Madrigal
{"title":"Semantic Automation Systems, a Suitable Approach for Automation Networks in the Industry 4.0","authors":"S. Gil, Germán D. Zapata-Madrigal","doi":"10.1109/CCAC.2019.8921156","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921156","url":null,"abstract":"The Industry 4.0 demands a change ofparadigm for the automation engineering and some new requirements that has to be accomplished like data integration, big data processing, semantics, communication protocols, and standardization. The interoperability is another essential concept, it is a key for the development of the Industry 4.0. This work presents a semantic approach to model automation systems through an ontology, and its applicability in industrial automation networks using OPC UA. The Automation I4.0 Ontology, the model proposed in this project, provides a semantic tool to represent high-, middle, and low-level concepts of automation systems, and offers a way to integrate directly in software applications and semantic-based communications protocols such as OPC UA. It demonstrates the suitability of the semantic-based automation systems to be implemented by semantic-based or object-based communication protocols in Industry 4.0 applications. This initiative intends to empower the development of the Industry 4.0 and the Internet of Things for the automation engineering.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"79 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":"131454169","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 comparison of control architectures for controlling a CSTR for acrylic acid production 丙烯酸生产CSTR控制体系结构的比较
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920953
Andrés Duque, Silvia Ochoa
{"title":"A comparison of control architectures for controlling a CSTR for acrylic acid production","authors":"Andrés Duque, Silvia Ochoa","doi":"10.1109/CCAC.2019.8920953","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8920953","url":null,"abstract":"In this work, different control architectures are applied and compared for the control of a CSTR reactor producing acrylic acid. The architectures implemented included: a pure PID structure, a dynamic optimization-based approach and an Economic Nonlinear Model Predictive Control (E-NMPC) implementation. In the E-NMPC, the obtained control sequence minimizes an objective function composed by profit, tracking and penalization movement terms, under process and safety constraints. Results have shown the effectiveness of applying the Economic Nonlinear Model Predictive Controller for economic improvement and control performance of the process.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"134 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":"131694607","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
Impedance-based Backdrivability Recovery of a Lower-limb Exoskeleton for Knee Rehabilitation 基于阻抗的下肢外骨骼膝关节后向可驾驶性恢复
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8921278
M. D. S. Manchola, Luis J. Arciniegas Mayag, M. Múnera, Carlos García
{"title":"Impedance-based Backdrivability Recovery of a Lower-limb Exoskeleton for Knee Rehabilitation","authors":"M. D. S. Manchola, Luis J. Arciniegas Mayag, M. Múnera, Carlos García","doi":"10.1109/CCAC.2019.8921278","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8921278","url":null,"abstract":"This paper features the performance of the AGoRA lower-limb exoskeleton in knee rehabilitation therapy. Given that stroke rehabilitation focuses on functionality recovery, robotic devices for such purpose need to be able to move the limbs safely and naturally. Thus, rigid orthoses have lately implemented impedance-based controllers to ensure compliance of non-backdrivable mechanical structures and guarantee easy operation. Following such compliance recovery concepts, the exoskeleton presented here utilizes an admittance controller to deploy a learning mode (LM) in which a trajectory pattern defined by a therapist is recorded for future use. Once the trajectory has been saved, an assistance mode (AM) based on a gravity compensation module passively replays such behavior on the user's limb while the motor position and velocity profiles are monitored. A preliminary test in a healthy subject was conducted to assess the performance of this control architecture. Results drawn from this trial suggest that the proposed therapeutic approach might be useful for early stages of knee rehabilitation where continuous repetitive movements are recommended, since position and velocity errors were not greater than ±1.5°, and ±17% of maximum velocity value, respectively.","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":"122224953","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: 10
Control-Oriented Model Including Hyperinsulinemia Induced Insulin Resistance in Type 1 Diabetes 控制导向模型包括高胰岛素血症诱导的1型糖尿病胰岛素抵抗
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920846
M. Moscoso-Vásquez, P. Colmegna, R. Sánchez-Peña
{"title":"Control-Oriented Model Including Hyperinsulinemia Induced Insulin Resistance in Type 1 Diabetes","authors":"M. Moscoso-Vásquez, P. Colmegna, R. Sánchez-Peña","doi":"10.1109/CCAC.2019.8920846","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8920846","url":null,"abstract":"Insulin Resistance (IR) is an important risk factor for health complications in subjects with Type 1 Diabetes Mellitus (TIDM) that is induced by Hyperglycemia (HG) and Hyperinsulinemia (HI) conditions, among other triggers. Considering the relevance of impaired insulin action in closed-loop glycemic control in TIDM, in this work, a previous controloriented Linear Parameter-Varying (LPV) model is augmented by adding the estimate of the patient’s Insulin On Board (IOB) as a model input. The model is obtained based on the distribution version of the UVA/Padova metabolic simulator, and allows to include the effect of active insulin on the patient’s insulin sensitivity $(mathrm {S}_{mathrm {I}})$ and cope with inter-patient variability by using a priori patient information. The efficacy of this model is evaluated in comparison with the previous control-oriented LPV model which in turn is an improvement of previous representations, in terms of their open- and closed-loop differences with respect to the UVA/Padova model. In silico results evidence the importance of including the effects of insulin stacking at the controller-design stage.","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":"125193623","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
RLS Estimation and Sliding Mode Control with Integral Action for a Twin Rotor MIMO System 双转子MIMO系统的RLS估计与积分滑模控制
2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI: 10.1109/CCAC.2019.8920887
Byron Hernández, Ospina H. Steven, Marín L. Angelo, E. Giraldo
{"title":"RLS Estimation and Sliding Mode Control with Integral Action for a Twin Rotor MIMO System","authors":"Byron Hernández, Ospina H. Steven, Marín L. Angelo, E. Giraldo","doi":"10.1109/CCAC.2019.8920887","DOIUrl":"https://doi.org/10.1109/CCAC.2019.8920887","url":null,"abstract":"In this paper, a sliding mode control with integral action for a Twin Rotor Multiple Input Multiple Output (MIMO) System is presented. The nonlinear controller is based on a estimated model of the Twin Rotor System obtained by using a Recursive Least Squares (RLS) identification algorithm. The performance of the proposed adaptive control method is evaluated over a simulated and a real model. It is noticeable, that the proposed method outperforms, in terms of tracking error and settling time, the classical MIMO controllers under internal and external disturbances. As a result, it can be seen that the sliding mode control algorithm with integral action based on a RLS identification method is suitable for real applications where the model parameters are not well defined.","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":"125244935","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
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