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2019 Sixth Indian Control Conference (ICC)最新文献

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Design of Robust Optimal Fractional-order PID Controller using Salp Swarm Algorithm for Automatic Voltage Regulator (AVR) System 基于Salp群算法的稳健性分数阶PID控制器设计
2019 Sixth Indian Control Conference (ICC) Pub Date : 2019-12-01 DOI: 10.1109/ICC47138.2019.9123188
Prajakta Sirsode, Arti V. Tare, V. Pande
{"title":"Design of Robust Optimal Fractional-order PID Controller using Salp Swarm Algorithm for Automatic Voltage Regulator (AVR) System","authors":"Prajakta Sirsode, Arti V. Tare, V. Pande","doi":"10.1109/ICC47138.2019.9123188","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123188","url":null,"abstract":"This paper presents a method for robust optimum tuning of Fractional-order Proportional Integral Derivative (FoPID) controller for Automatic Voltage Regulator (AVR) system. Optimal tuning of FoPID parameters for AVR system are accomplished by using Salp Swarm Algorithm (SSA) of optimization. The performance of the AVR system with FoPID controller tuned by SSA shows the robust performance against disturbances deliberated at the output of the system. To test the robustness of the system, in the presence of external disturbance $H_{infty}$ norm is considered. AVR system with SSA tuned PID controller is also simulated with MATLAB platform. Results shows that the AVR system with SSA tuned FoPID controller outperform the SSA tuned PID controller in the presence of external disturbances at output of the system and shows its disturbance rejection capabilities.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123061415","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
Adaptive Control of a Networked Mobile Robot Subject to Parameter Uncertainties and Limited Communications 参数不确定和通信受限的网络化移动机器人自适应控制
2019 Sixth Indian Control Conference (ICC) Pub Date : 2019-12-01 DOI: 10.1109/ICC47138.2019.9123161
Sami Al Issa, Arghya Chakravarty, I. Kar
{"title":"Adaptive Control of a Networked Mobile Robot Subject to Parameter Uncertainties and Limited Communications","authors":"Sami Al Issa, Arghya Chakravarty, I. Kar","doi":"10.1109/ICC47138.2019.9123161","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123161","url":null,"abstract":"A nonholonomic mobile robot, affected by parameter uncertainties and controlled over a communication network under limited bandwidth, is considered in this paper. Adaptive backstepping controller is designed to compensate the uncertainties in the model parameters. Thereafter, an event-triggered scheme is proposed based on a Lyapunov-based triggering condition in order to reduce the unnecessary utilization of network resources. Compared to traditional time-triggered implementation, simulation results show that the proposed control scheme successfully ensures faithful trajectory tracking with substantial saving of input resources characterized by number of required control signal transmissions.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"30 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127096176","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: 3
Vision based Autonomous QuadCopter Navigation through Narrow Gaps using Visual Servoing and Monocular SLAM 基于视觉伺服和单目SLAM的四轴飞行器窄间隙自主导航
2019 Sixth Indian Control Conference (ICC) Pub Date : 2019-12-01 DOI: 10.1109/ICC47138.2019.9123153
Titas Bera, A. Sinha, A. Sadhu, R. Dasgupta
{"title":"Vision based Autonomous QuadCopter Navigation through Narrow Gaps using Visual Servoing and Monocular SLAM","authors":"Titas Bera, A. Sinha, A. Sadhu, R. Dasgupta","doi":"10.1109/ICC47138.2019.9123153","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123153","url":null,"abstract":"In this paper we show a vision based autonomous quad-copter navigation through a narrow gap or window. The goal is to provide an effective solution to a problem of urban UAV search and rescue mission scenario, such as, fire detection and quenching situation in a high rise building. Such scenario may demand a GPS denied navigation and requires extensive use of on-board vision sensors and processors. In this paper, using on-board vision sensor based localization and visual servoing, we show a method to demonstrate a UAV autonomous navigation to enter a building through a narrow window. The entire mission scenario is divided into two phases, where the first phase comprises an effective visual servoing based approach trajectory generation and execution. In the terminal phase, the vision sensors may fail to locate the desired target features due to the constraints in view angle geometry. To compensate that a non-linear guidance law based trajectory following method is used which generates a monocular SLAM based phantom target locus and provides a consistent homing control. We have experimentally demonstrated and evaluated the method in a real world scenario with substantial success rate.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"132 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115180669","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: 3
Sliding mode guidance with terminal angle and latax constraints 具有终端角和latax约束的滑模制导
2019 Sixth Indian Control Conference (ICC) Pub Date : 2019-12-01 DOI: 10.1109/ICC47138.2019.9123236
Sachit Rao
{"title":"Sliding mode guidance with terminal angle and latax constraints","authors":"Sachit Rao","doi":"10.1109/ICC47138.2019.9123236","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123236","url":null,"abstract":"An interceptor equipped with a guidance strategy that can strike a target at a specified terminal angle increases its effectiveness. Sliding mode control theory has been used to design such a guidance strategy, as it offers numerous benefits. In this paper, the role played by the interceptor’s lateral acceleration (latax) bounds in the design of a sliding mode controller to satisfy the terminal angle constraint is analysed. The paper also focusses on determining regions in the engagement space, as defined by the latax bounds and the controller parameters, to which, if the trajectory is confined, then interception is guaranteed. It is also shown that it is possible for the interceptor to become uncontrollable when intercepting stationary targets if the trajectory lies outside these regions. Simulation results are presented for the cases of intercepting stationary and constant-velocity targets.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115185982","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
Using a metric based tuning of Converted Measurement Kalman Filter (CMKF) for realistic target tracking scenario 采用基于度量的转换测量卡尔曼滤波(CMKF)进行目标跟踪
2019 Sixth Indian Control Conference (ICC) Pub Date : 2019-12-01 DOI: 10.1109/ICC47138.2019.9123160
M. Saha, B. Goswami, R. Ghosh
{"title":"Using a metric based tuning of Converted Measurement Kalman Filter (CMKF) for realistic target tracking scenario","authors":"M. Saha, B. Goswami, R. Ghosh","doi":"10.1109/ICC47138.2019.9123160","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123160","url":null,"abstract":"Converted measurement Kalman filter (CMKF), which is used in target tracking problems, converts polar measurements into Cartesian form to match Cartesian states. However, filter performance may degrade due to incorrect filter tuning of the biases and nonlinearities that arise due to the conversion. In this paper, the necessary converted measurement noise covariances have been derived in a 6 degree of freedom (6DOF) realistic target tracking scenario. In order to do so, the necessary frame conversions have also been accounted for to enable the estimation of the relative kinematics of the target. Thereafter, existing notions of robustness and sensitivity metrics have been suitably adapted to interpret the performance of CMKF in the 6DOF platform for various choices of tuning parameters and to predict the optimal tuning choice. The predicted performances and the optimal filter tuning choice have been validated in simulations in terms of the root mean squared errors (RMSE) for all measurements for 5000 Monte Carlo runs.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128445301","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
Disturbance Estimation based Robust Consensus of Nonlinear Multi-agent Systems 基于非线性多智能体系统鲁棒一致性的扰动估计
2019 Sixth Indian Control Conference (ICC) Pub Date : 2019-12-01 DOI: 10.1109/ICC47138.2019.9123189
Jaywant P. Kolhe, Adarsh Kodhanda, M. Kuber
{"title":"Disturbance Estimation based Robust Consensus of Nonlinear Multi-agent Systems","authors":"Jaywant P. Kolhe, Adarsh Kodhanda, M. Kuber","doi":"10.1109/ICC47138.2019.9123189","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123189","url":null,"abstract":"In this work, a new design based on disturbance estimation for the robust consensus of multi-agent systems is proposed where all agents are modelled as non-linear dynamic systems. Here a fixed topology is considered and it is assumed that all agents share relative information of their states with each other. The average consensus algorithm is augmented with Uncertainty and Disturbance Estimator (UDE) based disturbance estimation to achieve robustness. In doing so, state dependent nonlinearities of the system are considered as a part of the uncertainties to be estimated. The proposed robust consensus has two aspects, the agreement of the states of all agents and the estimation as well as cancellation of external disturbances acting on each agent. Here estimation of disturbances acting on the system is obtained using novel filter design of UDE. Closed loop stability of the overall system is established and numerical simulation results of proposed approach are presented to demonstrate its efficacy against different disturbances.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128615038","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 studies of control performance for a nonlinear coupled quadruple conical tank system 非线性耦合四锥罐系统控制性能的比较研究
2019 Sixth Indian Control Conference (ICC) Pub Date : 2019-12-01 DOI: 10.1109/ICC47138.2019.9123205
Alpesh I. Patel, J. Patel, Bhavik Patel
{"title":"Comparative studies of control performance for a nonlinear coupled quadruple conical tank system","authors":"Alpesh I. Patel, J. Patel, Bhavik Patel","doi":"10.1109/ICC47138.2019.9123205","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123205","url":null,"abstract":"There are many processes with Multi-Input Multi-Output (MIMO), which are non-linear in behavior. A difficulty arises in designing of controller when system interacting between input-output variables and coupling effects. This paper discusses the performance investigation of the classical PI controller and fuzzy logic-based controllers for coupled nonlinear quadruple conical tank system (QCTS). Experimental comparative analysis of controller’s performance discussed in depth. The fuzzy logic approach is more suitable for the nonlinear system to have interactions and coupling effects.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"816 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123926086","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
Automatic Control of Two Low Pressure Boilers in Sugar Plant 制糖厂两台低压锅炉的自动控制
2019 Sixth Indian Control Conference (ICC) Pub Date : 2019-12-01 DOI: 10.1109/ICC47138.2019.9123172
Abhir Raj Metkar, K. Krishnan, P. H., N. Sivakumaran
{"title":"Automatic Control of Two Low Pressure Boilers in Sugar Plant","authors":"Abhir Raj Metkar, K. Krishnan, P. H., N. Sivakumaran","doi":"10.1109/ICC47138.2019.9123172","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123172","url":null,"abstract":"The boilers in a sugar plant need to operate at constant pressure. Typically the sugar plant boilers have the load as: an electric power generation load; a cane preparation and milling load; and a process load. Generally, due to non-uniform cane feeding and milling process, large load oscillations can occur. This load swings can directly induce steam pressure oscillations which is produced from the boilers. In this plant two identical boilers with common feedwater tank and a common steam header for steam output are available. Before automation, these boilers are operated using a mechanical ‘single element based’ drum level control system. The plant turbo-generator have frequent trip due to pressure oscillations. With the aim of efficiency enhancement, the retrofit automation of boilers was implemented in a sugar plant. Hence, the pressure oscillations were reduced considerably. As an industrial automation application, this paper discusses the key features of the design and implementation of automatic control system for two low pressure boilers in sugar plant and the benefits achieved.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124203169","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
Collaborative Maxima-Turn-Switching for Source Seeking in 2-D Environment with Two Sensor-Equipped UAVs 二维环境下双传感器无人机协同最大转弯寻源
2019 Sixth Indian Control Conference (ICC) Pub Date : 2019-12-01 DOI: 10.1109/ICC47138.2019.9123216
R. Upasana, Satadal Ghosh
{"title":"Collaborative Maxima-Turn-Switching for Source Seeking in 2-D Environment with Two Sensor-Equipped UAVs","authors":"R. Upasana, Satadal Ghosh","doi":"10.1109/ICC47138.2019.9123216","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123216","url":null,"abstract":"This paper presents a combination of maxima-turn-switching and pursuit strategies to drive two mobile sensory aerial agents to an unknown source of a scalar signal field in a planar environment. The source may be stationary, moving or maneuvering, but is assumed to be of constant signal strength. The signal strength is assumed to lessen with distance from the source. The only available information are the scalar measurements of the signal field captured by the on-board sensor of the UAVs at each time-instant. Each of the two UAVs is assumed to be able to communicate the measured signal strength with the other one, and know the relative position of the other one. The ability of the proposed method in driving the UAVs towards the source, for varied initial conditions, and stationary and mobile sources, is demonstrated through simulation results. A comparison of the proposed method with an existing method for localizing a stationary source is demonstrated using simulations to show the time-efficiency of the proposed method.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114219494","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
Development of Sliding-Mode Landing Controller using Cooperative Relative Localization with Pattern Generation 基于模式生成的协同相对定位滑模着陆控制器的研制
2019 Sixth Indian Control Conference (ICC) Pub Date : 2019-12-01 DOI: 10.1109/ICC47138.2019.9123233
Rohith Boyinine, Anusna Chakraborty, Rajnikant Sharma, K. Brink
{"title":"Development of Sliding-Mode Landing Controller using Cooperative Relative Localization with Pattern Generation","authors":"Rohith Boyinine, Anusna Chakraborty, Rajnikant Sharma, K. Brink","doi":"10.1109/ICC47138.2019.9123233","DOIUrl":"https://doi.org/10.1109/ICC47138.2019.9123233","url":null,"abstract":"In this paper, we develop a landing controller based on sliding-mode control law for landing a UAV on a moving ship using relative estimates in GPS-denied environments with range-only measurements. Precise knowledge of relative position, orientation and velocity is required to accurately land an Unmanned Aerial Vehicle (UAV) onto the surface of a moving platform. Although vision-based techniques have been used to previously solve such problems, they fail in dark or hostile weather conditions and also a line of sight is required with the landing platform at all times. Cooperation among different Unmanned Vehicles (UVs) have been introduced to aid the estimation process. We also investigate how different trajectories followed by supporting vehicles effect the localization accuracy. A Matlab/Simulink simulator has been created and exhaustive simulations have been performed that demonstrates the effect of these trajectories on localization accuracy.","PeriodicalId":231050,"journal":{"name":"2019 Sixth Indian Control Conference (ICC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124345616","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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