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2011 IEEE International Conference on Control Applications (CCA)最新文献

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Air-to-air missile vector scoring 空对空导弹矢量评分
2011 IEEE International Conference on Control Applications (CCA) Pub Date : 2011-10-13 DOI: 10.1109/CCA.2011.6044487
Nicholas Sweeney, K. Fisher
{"title":"Air-to-air missile vector scoring","authors":"Nicholas Sweeney, K. Fisher","doi":"10.1109/CCA.2011.6044487","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044487","url":null,"abstract":"An air-to-air missile vector scoring system is proposed for test and evaluation applications. A linear six-state constant velocity (CV) dynamics model is used, consisting of missile position and velocity in a Cartesian coordinate system. Frequency modulated continuous wave (FMCW) radar sensors, carefully located to provide spherical coverage around the target, provide updates of missile kinematic information relative to a drone aircraft. Data from the radar sensors are linearized about a nominal measurement and fused with missile model predictions using an extended Kalman filter (EKF) algorithm. The performance of the system is evaluated through high-fidelity, six-degree of freedom (6DOF) simulations yielding sub-meter end-game accuracy in a variety of scenarios.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131149004","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
Slip measurement and vehicle control for leg/wheel mobile robots using caster type odometers 使用脚轮式里程表的腿/轮移动机器人的滑移测量和车辆控制
2011 IEEE International Conference on Control Applications (CCA) Pub Date : 2011-10-13 DOI: 10.1109/CCA.2011.6044384
Yohei Watanabe, K. Nonaka
{"title":"Slip measurement and vehicle control for leg/wheel mobile robots using caster type odometers","authors":"Yohei Watanabe, K. Nonaka","doi":"10.1109/CCA.2011.6044384","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044384","url":null,"abstract":"In this paper, we propose a velocity control method for leg/wheel type robots by using tire side slip angle and tire slip ratio. Side slip angle and slip ratio is measured by caster type odometers which are comprised of directional sensors and travel distance sensors. The odometer system has redundant four encoders to measure three dimensional velocities: planar two dimensional and rotational movements. We reduce the error between target velocity and actual velocity by feedback control based on both tire slip angle and slip ratio. This method can improve stability and accuracy of movement of vehicles. The experimental vehicle is an omnidirectional vehicle which has legs comprised of three joints. Experimental results of circular trajectory running show effectiveness of the proposed control method.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114358759","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 synthetic voltage division controller to extend the stable operating range of parallel plate actuators 一种综合分压控制器，扩展了并联板执行器的稳定工作范围
2011 IEEE International Conference on Control Applications (CCA) Pub Date : 2011-10-13 DOI: 10.1109/CCA.2011.6044423
R. Dean, C. Wilson, J. Brunsch, J. Hung
{"title":"A synthetic voltage division controller to extend the stable operating range of parallel plate actuators","authors":"R. Dean, C. Wilson, J. Brunsch, J. Hung","doi":"10.1109/CCA.2011.6044423","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044423","url":null,"abstract":"The parallel plate actuator is utilized in many applications, but its open loop stable range of motion is limited to 1/3 of its maximum range of motion. Numerous controllers have been implemented to extend the stable range of motion. One well known technique for accomplishing this goal is the series capacitor method. However, this method possesses several negative attributes: a very high input voltage, a very small discrete capacitor and sensitivity to parasitic capacitance. Synthetic voltage division (SVD) emulates the series capacitor method utilizing a linear feedback controller and overcomes the negative attributes of the series capacitor method. A prototype SVD controller was successfully analyzed, designed, fabricated and tested using a parallel plate actuator emulator.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124922211","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: 11
Fault detection of an engine using a neural network trained by the smooth variable structure filter 利用光滑变结构滤波器训练的神经网络进行发动机故障检测
2011 IEEE International Conference on Control Applications (CCA) Pub Date : 2011-10-13 DOI: 10.1109/CCA.2011.6044515
R. Ahmed, M. E. Sayed, S. Gadsden, S. Habibi
{"title":"Fault detection of an engine using a neural network trained by the smooth variable structure filter","authors":"R. Ahmed, M. E. Sayed, S. Gadsden, S. Habibi","doi":"10.1109/CCA.2011.6044515","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044515","url":null,"abstract":"A multilayered neural network is a multi-input, multi-output (MIMO) nonlinear system in which training can be regarded as a nonlinear parameter estimation problem by estimating the network weights. In this paper, the relatively new smooth variable structure filter (SVSF) is used for the training of a nonlinear multilayered feed forward network. The SVSF is a recursive sliding mode parameter and state estimator that has a predictor-corrector form. Using a switching gain, a corrective term is calculated to force the network weights to converge to within a neighbourhood of the optimal weight values. SVSF-based trained neural networks are used to classify engine faults on the basis of vibration data. Two faults are induced in a four-stroke, eight-cylinder engine. Furthermore, a comparative study between the popular back propagation method, the extended Kalman filter (EKF), and the SVSF is presented. Experimental results indicate that the SVSF is comparable with the EKF, and both methods outperform back propagation.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122954617","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: 6
Nonlinear control of flyback type DC to DC converters: An indirect backstepping approach 反激式DC - DC变换器的非线性控制:一种间接反推方法
2011 IEEE International Conference on Control Applications (CCA) Pub Date : 2011-10-13 DOI: 10.1109/CCA.2011.6044502
M. Seker, E. Zergeroglu
{"title":"Nonlinear control of flyback type DC to DC converters: An indirect backstepping approach","authors":"M. Seker, E. Zergeroglu","doi":"10.1109/CCA.2011.6044502","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044502","url":null,"abstract":"Flyback type DC to DC converters are basically a transformer — isolated version of the standard buck-boost converter. In this work, a nonlinear control methodology for the flyback type DC to DC converter is proposed. The proposed method uses a backstepping approach to regulate the corresponding current required to set the output voltage to its desired value as opposed to directly regulating the output voltage. Simulation results are presented to illustrate the effectiveness of the proposed method.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129705444","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: 8
Human skill evaluation by operation input characteristics with multiple neural networks 基于操作输入特征的多神经网络人类技能评价
2011 IEEE International Conference on Control Applications (CCA) Pub Date : 2011-10-13 DOI: 10.1109/CCA.2011.6044436
H. Igarashi
{"title":"Human skill evaluation by operation input characteristics with multiple neural networks","authors":"H. Igarashi","doi":"10.1109/CCA.2011.6044436","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044436","url":null,"abstract":"This paper addresses a human skill evaluation technique with characteristics of input command decision during operation tasks of a mobile object. The characteristics is how long past of tracking error information is utilized to decide the operation command. This evaluation is achieved by a novel human model with multiple neural networks which have different time series of input signals. Then, by the prediction errors from the neural networks, which time series is dominant to decide operation command can be estimated. In this paper, target tracking tasks in 2D CG environment are experimented. A main goal of the task is to operate the mobile target by joystick operation to keep approaching a reference target behaving randomly. Furthermore, effects of subliminal input filtering by predicted operation input are discussed. Finally, by analysis for distribution the neural networks prediction errors, the operator's skill is evaluated and verify the technique with conventional average of tracking errors during the task.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"11 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120870594","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 a one-shoot tuning PID controller 单次整定PID控制器的设计
2011 IEEE International Conference on Control Applications (CCA) Pub Date : 2011-10-13 DOI: 10.1109/CCA.2011.6044392
K. Hayashi, Toru Yamamoto
{"title":"Design of a one-shoot tuning PID controller","authors":"K. Hayashi, Toru Yamamoto","doi":"10.1109/CCA.2011.6044392","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044392","url":null,"abstract":"PID control is a common and an effective approach in process industries. However, it is important to determine suitable PID gains included in the PID controller because the control performance strongly depends on these PID gains. In this paper, a new design scheme of PID controllers without using the system model in computing PID gains. That is, PID gains can be derived by using only the operating (input/output) data. Concretely, the generalized output is newly derived from the PID control law, and the PID gains are computed so that the generalized output approaches to the system output. As a result, the suitable PID gains can be obtained, which the system output approaches to the reference model output. The behavior of the proposed scheme is examined by numerical simulation examples and application to an injection molding process.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121338969","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
Real-time leak isolation based on state estimation in a plastic pipeline 基于状态估计的塑料管道实时泄漏隔离
2011 IEEE International Conference on Control Applications (CCA) Pub Date : 2011-10-13 DOI: 10.1109/CCA.2011.6044397
A. Navarro, O. Begovich, G. Besançon, Jean-François Dulhoste
{"title":"Real-time leak isolation based on state estimation in a plastic pipeline","authors":"A. Navarro, O. Begovich, G. Besançon, Jean-François Dulhoste","doi":"10.1109/CCA.2011.6044397","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044397","url":null,"abstract":"A Leak Detection and Isolation (LDI) algorithm based on a State Estimation Observer is designed and tested in real-time to locate a water-leak on a plastic pipeline prototype. In order to tackle the problem of friction variations in such a pipeline, the explicit so-called Swamee-Jain equation is implanted for the friction, instead of a constant parameter as in other studies. The observer is then designed as an Extended Kalman filter on the basis of a discretized model both in time and in space. The space discretization is nonuniform depending on the unknown leak location, and the time variable is discretized with the Heun's method. The approach assumes only flow and pressure sensors at the ends of the duct, and experimental results with data obtained from the pipeline prototype are presented to assess the method efficiency.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"214 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124043048","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: 24
Combined partial conjugate gradient and gradient projection solver for MPC MPC的部分共轭梯度和梯度投影联合求解器
2011 IEEE International Conference on Control Applications (CCA) Pub Date : 2011-10-13 DOI: 10.1109/CCA.2011.6044405
O. Santin, V. Havlena
{"title":"Combined partial conjugate gradient and gradient projection solver for MPC","authors":"O. Santin, V. Havlena","doi":"10.1109/CCA.2011.6044405","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044405","url":null,"abstract":"The objective of this paper is to present fast algorithm for large scale box constrained quadratic program which arises from linear model predictive control (MPC) with hard limits on the inputs. The presented algorithm uses the combination of the gradient projection method and the partial conjugate gradient method. The special structure of the MPC problem is exploited so that the conjugate gradient method converges in a few number of iterations and the algorithm well suitable for processes with thousands of inputs and small number of outputs is obtained.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131075400","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
3D target tracking by UAVs subject to measurement uncertainties 受测量不确定性影响的无人机三维目标跟踪
2011 IEEE International Conference on Control Applications (CCA) Pub Date : 2011-10-13 DOI: 10.1109/CCA.2011.6044399
K. Subbarao, M. Ahmed
{"title":"3D target tracking by UAVs subject to measurement uncertainties","authors":"K. Subbarao, M. Ahmed","doi":"10.1109/CCA.2011.6044399","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044399","url":null,"abstract":"This paper proposes an Extended Kalman Filter (EKF) based approach to track a moving target UAV in 3D. The state of the target UAV is estimated from the range, azimuth, and elevation angle measurements that are assumed to be available from a ground based sensor or from on-board seeker antenna. The chaser vehicle states are also estimated using onboard sensors, namely GPS + IMU. These estimated states (chaser and the target) are utilized in a nonlinear guidance law which provides signals for the velocity, flight path, and course/heading angle to the chaser so as to track the target vehicle. It is to be mentioned that the guidance controller onboard the chaser was designed based on a backstepping like technique. All process and measurement noise are modelled as zero-mean Gaussian processes with known covariances. The performance of the combined estimation and guidance algorithm is shown via extensive simulation.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131158977","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
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