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Colliding bodies optimization-based approximants of linear-time invariant continuous-time systems 基于碰撞体优化的线性时不变连续系统逼近
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966957
Chhabindra Nath Singh, Deepak Kumar, P. Samuel, A. K. Gupta, V. Sreeram
{"title":"Colliding bodies optimization-based approximants of linear-time invariant continuous-time systems","authors":"Chhabindra Nath Singh, Deepak Kumar, P. Samuel, A. K. Gupta, V. Sreeram","doi":"10.1109/ANZCC56036.2022.9966957","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966957","url":null,"abstract":"This paper presents a novel hybrid model reduction technique for large-scale continuous-time systems using colliding bodies optimization algorithm (CBOA). The proposed method ensures the stability of the reduced-order approximant as the stability equations are incorporated along with CBOA. Two case studies establish the efficacy of the proposed method. An extensive comparative analysis of the dynamic responses and performance indices is also shown, confirming the supremacy of the presented method over the existing methods.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128986946","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
Preliminary experimental assessment of second-order sliding mode control for wave energy conversion systems 波能转换系统二阶滑模控制的初步实验评价
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966859
N. Faedo, F. Mosquera, C. Evangelista, J. Ringwood, P. Puleston
{"title":"Preliminary experimental assessment of second-order sliding mode control for wave energy conversion systems","authors":"N. Faedo, F. Mosquera, C. Evangelista, J. Ringwood, P. Puleston","doi":"10.1109/ANZCC56036.2022.9966859","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966859","url":null,"abstract":"Wave energy converters (WECs) inherently necessitate appropriate control technology to operate at optimal efficiency. A particularly well-established family of WEC controllers is based upon a composite structure, where an optimal velocity reference is generated via direct optimal control procedures, followed by a suitable tracking control strategy. Recently, second-order sliding mode (SOSM) control has been shown to be a promising technique for the latter reference tracking problem in WEC systems, being able to achieve robust performance with finite-time convergence. Motivated by the potential of SOSM control within the wave energy field, this paper provides an experimental assessment of SOSM in a tailored hardware-in-the-loop system, located within the facilities of the Centre for Ocean Energy Research, Ireland. We show that the proposed controller is able to achieve robust reference tracking in a variety of wave conditions, consistently maximising energy absorption at virtually the same level of performance obtained in simulation, hence being an ideal candidate for WEC applications.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"423 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122799336","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
Polyquadratic Stability of Positive Switched Systems with Time-Varying Polytopic Uncertainties via Structured Lyapunov Functions 基于结构Lyapunov函数的时变多面体不确定性正开关系统的多二次稳定性
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966948
Rodrigo Possidônio Noronha, G. Serra
{"title":"Polyquadratic Stability of Positive Switched Systems with Time-Varying Polytopic Uncertainties via Structured Lyapunov Functions","authors":"Rodrigo Possidônio Noronha, G. Serra","doi":"10.1109/ANZCC56036.2022.9966948","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966948","url":null,"abstract":"In this work we aim to propose new conditions for the polyquadratic stability of positive switched linear systems containing discrete-time varying polytopic uncertainties. Parameter Dependent Switched Structures Lyapunov Functions (PDSSLF) are used to obtain conditions that guarantee the polyquadratic stability and positivity of the dynamical system via Linear Matrix Inequalities (LMIs). The present work con-siders the case of discrete-time varying polytopic uncertainties in the switched state matrix. The switching function is of arbitrary type. The PDSSLF depends on both the switching function and the uncertainty parameter that describes the convex polytope of each mode of the switched system. The proposed conditions were evaluated on two example systems.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125024808","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
Parallel Learning between Science for AI and AI for Science: A Brief Overview and Perspective* 面向人工智能的科学与面向科学的人工智能的平行学习:简要概述与展望*
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966863
Q. Miao, Min Huang, Yisheng Lv, Fei Wang
{"title":"Parallel Learning between Science for AI and AI for Science: A Brief Overview and Perspective*","authors":"Q. Miao, Min Huang, Yisheng Lv, Fei Wang","doi":"10.1109/ANZCC56036.2022.9966863","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966863","url":null,"abstract":"This paper gives a brief overview of how AI and Science promote each other. First, the main algorithms inspired by mathematics, physics, and biology during the last 80~ years are summarized. Second, on the counter-direction, AI methods that help to solve hard problems in recent years are introduced. Perspectives and challenges are also discussed. Third, the Parallel Learning is introduced for the purpose of a general framework to assist the development of both Science for AI and AI for Science.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122269018","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
Structured-Light-Based 3D Scanning System for Industrial Manipulator in Bin Picking Application 基于结构光的工业机械手三维扫描系统在拣仓中的应用
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966979
Phuc Thanh Ly, Q. Nguyen, Ngoc Duy Hung Nguyen, P. Pham, K. Hong
{"title":"Structured-Light-Based 3D Scanning System for Industrial Manipulator in Bin Picking Application","authors":"Phuc Thanh Ly, Q. Nguyen, Ngoc Duy Hung Nguyen, P. Pham, K. Hong","doi":"10.1109/ANZCC56036.2022.9966979","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966979","url":null,"abstract":"This paper developed an industrial manipulator integrated with a structured-light-based 3D scanning system using Gray code and phase-shifting patterns, implementing the bin-picking problem. The procedure of the vision-based robotic system developed in this paper is described as follows: First, the object is reconstructed in point cloud format by projecting a series of Gray code patterns followed by four-phase shift patterns. Point clouds of the object from different views are filtered and concatenated to obtain the full cloud. The full clouds, altogether with partial clouds, then are fed to PointNet neural network as a training dataset, whose estimated grasping pose can be used to pick up the objects from a bin. By using the estimated grasping pose, the robotic arm can reach the desired position and pick the object. Experimental results indicate that the developed vision-based system can reconstruct objects and grasp different-sized objects in the bin.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"300 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115141124","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
An Edge Computing Architecture Based on Unikernel 一种基于Unikernel的边缘计算架构
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966982
Shichao Chen, Ruijie Xu, Wenqiao Sun
{"title":"An Edge Computing Architecture Based on Unikernel","authors":"Shichao Chen, Ruijie Xu, Wenqiao Sun","doi":"10.1109/ANZCC56036.2022.9966982","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966982","url":null,"abstract":"In the era of big data, more and more applications of smart devices are computing-intensive, thus raising the strong demand for task offloading to cloud data centers. However, it gives rise to network delay and privacy data leak issues. Edge computing can effectively solve latency, bandwidth occupation and data privacy problems, but the deployment of applications are also limited by hardware architectures and resources, i.e., computing and storage resources. Therefore, the combination of virtualization technology and edge computing become important in order to realize the rapid deployment of intelligent application in an edge server or an edge node by virtualization technology. The traditional virtual machine (VM) is no longer suitable for resource-constrained devices. Container technique including Docker can effectively solve these problems, but it also depends on an operating system. Unikernel is the state-of-art virtualization technology. In this paper, we combine Unikernel with edge computing to explore its application in an edge computing system. An application architecture of edge computing based on Unikernel is proposed. It is suitable for application in edge computing.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132811487","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
Adaptive second-order sliding mode control of singularly perturbed systems 奇异摄动系统的自适应二阶滑模控制
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966965
Arnold Tshimanga Banza
{"title":"Adaptive second-order sliding mode control of singularly perturbed systems","authors":"Arnold Tshimanga Banza","doi":"10.1109/ANZCC56036.2022.9966965","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966965","url":null,"abstract":"A new adaptive second-order sliding mode control algorithm is proposed for singularly perturbed systems. Given fast sensor dynamics, in series with the plant, are used as study case. The main result shows that by adequate selection of the control parameters and, establishing a clear time-scale separation between plant, sensors and adaptive SMC dynamics, the closed-loop system can converge to a small neighborhood of the origin. Simulation results on a verified Maglev model are presented to show the effectiveness of the proposed approach.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124674965","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
Distributed adaptive platooning control for platoons under DoS attacks DoS攻击下的分布式自适应队列控制
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966860
Xiaofei Zhang, H. Du, Zhijuan Jia, Suimin Jia, Yuchu He, Chi Cui
{"title":"Distributed adaptive platooning control for platoons under DoS attacks","authors":"Xiaofei Zhang, H. Du, Zhijuan Jia, Suimin Jia, Yuchu He, Chi Cui","doi":"10.1109/ANZCC56036.2022.9966860","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966860","url":null,"abstract":"This paper deals with the distributed adaptive platooning control problem of autonomous vehicles connected via ad-hoc networks under Denial-of-Services (DoS) attacks. The vehicle platoon is composed of a leader vehicle and the following vehicles, each transmitting the information through the wireless channel. The wireless network is vulnerably attacked by DoS attacks, which will cause data packet loss and communication interrupt. This paper designed a distributed adaptive RBF sliding mode observer to solve this problem and proposed a fast recovery mechanism. Firstly, the detection method will detect whether the communication topology contains a spanning tree. If it contains, no action will be used. Otherwise, the link failure number will be counted. If the link failure number <k, the backup path will be activated, and the Randomized Routing Algorithm will be used to find an arc-disjoint spanning tree. Finally, if the link failure number ≥k, the system needs to use the onboard sensor to get the necessary information. Besides, numerical validations are provided to show the effectiveness of the proposed method in maintaining platooning performance.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125201914","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
Modelling and Control of a Model Scaled Surface Vessel with Twin Propellers, Single Rudder and Two Side Thrusters* 双螺旋桨、单舵、双侧推进器水面船舶模型的建模与控制*
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966970
H.D. Nguyen, Tien Q. Nguyen, Yuanyuan Wang, Minh Q. Tran, C. Nguyen
{"title":"Modelling and Control of a Model Scaled Surface Vessel with Twin Propellers, Single Rudder and Two Side Thrusters*","authors":"H.D. Nguyen, Tien Q. Nguyen, Yuanyuan Wang, Minh Q. Tran, C. Nguyen","doi":"10.1109/ANZCC56036.2022.9966970","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966970","url":null,"abstract":"This paper presents the developed mathematical model for a model scaled container vessel, namely P&O Nedlloyd Hoorn, and control algorithms for surface missions. Hoorn is a free running model equipped with twin propellers, single rudder and two side thrusters. A 4-degree-of-freedom (4-DOF) model has been developed using free running test data and updated with forces and moments generated by two side thrusters. A full set of derivative coefficients has been estimated and verified by simulation, then a trajectory tracking control algorithm has been developed for a surface mission. The results have indicated a good agreement with experimental data and the 4-DOF model can be used to design and verify any proposed control algorithms.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124179484","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
Monitoring of a Platinum Group Metal Flotation Plant with an Isolation Forest 某铂族金属浮选厂隔离林监测
2022 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2022-11-24 DOI: 10.1109/ANZCC56036.2022.9966980
Xiu Liu, C. Aldrich
{"title":"Monitoring of a Platinum Group Metal Flotation Plant with an Isolation Forest","authors":"Xiu Liu, C. Aldrich","doi":"10.1109/ANZCC56036.2022.9966980","DOIUrl":"https://doi.org/10.1109/ANZCC56036.2022.9966980","url":null,"abstract":"Froth flotation is one of the most important techniques in mineral processing to beneficiate valuable minerals from ore. As a consequence, advanced control of industrial flotation plants can significantly affect the efficiency of mineral beneficiation. Videographic monitoring of flotation cells is a vital element of advanced process control systems, as the froth phase richly reflects the operational state of the process. However, traditional multivariate process monitoring systems based on principal component analysis (PCA) may not necessarily capture the nonlinear behaviour reflected features extracted from the froth phase. Therefore, in this paper a novel unsupervised monitoring scheme is proposed which is based on the isolation forest (IF) model and its statistical metric anomaly score. The results show that this novel monitoring scheme can be a promising alternative or complementary to traditional monitoring schemes based on the PCA model.","PeriodicalId":190548,"journal":{"name":"2022 Australian & New Zealand Control Conference (ANZCC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130235069","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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