2020 IEEE Conference on Control Technology and Applications (CCTA)最新文献

{"title":"A Customized Binary-coded Genetic Algorithm for Wind-farm Layout Optimization","authors":"Ying Wen, Mengxuan Song, Jun Wang","doi":"10.1109/CCTA41146.2020.9206378","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206378","url":null,"abstract":"In this paper, a customized binary-coded genetic algorithm (GA) is proposed for wind-farm layout optimization problem. A flexible grid model that encodes the layouts to the binary-coded individuals of the population is optimized for the wind distribution. The bit-flipping GA operators are designed to handle the constraint of turbines number. The diversity in GA is measured by the variety of wind-farm layouts represented by the population. The novelty-search and duplicate individuals elimination are applied in the procedure of GA for diversity maintenance. The proposed method is compared to the methods with the traditional grid model and standard GA on the layout optimization problem for maximizing energy production. The simulations results demonstrate that the energy production of optimized layout is increased and the convergence of solution in repeated simulation is improved by the proposed algorithm.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117290345","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}

{"title":"The Inherent Robustness of a New Approach to Adaptive Control","authors":"Mohamad T. Shahab, Daniel E. Miller","doi":"10.1109/CCTA41146.2020.9206353","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206353","url":null,"abstract":"Recently it has been shown how to carry out adaptive control for an LTI plant so that the effect of the initial condition decays exponentially to zero and so that the input-output behavior enjoys a convolution bound. This, in turn, has been leveraged to prove, in several special cases, that the closed-loop system is robust in the sense that both of these properties are maintained in the presence of a small amount of parameter time-variation and unmodelled dynamics. The goal of this paper is to show that this robustness property is true for a general adaptive controller which may include multi-estimators; the immediate ramification is that if we are able to prove exponential stability and a convolution bound for the case of fixed plant parameters, then robustness comes for free.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"252 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131053987","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}

{"title":"Dynamic planning of redundant robots within a set-based task-priority inverse kinematics framework","authors":"Daniele Di Vito, Mathieux Bergeron, D. Meger, Gregory Dudek, G. Antonelli","doi":"10.1109/CCTA41146.2020.9206268","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206268","url":null,"abstract":"This work presents the dynamic planning of redundant robots by merging a global and local planner. The global planner is implemented as a sampling-based algorithm which works in the reduced-dimensionality of the robot workspace applying the Cartesian constraints only. The output trajectory is then checked within a framework of set-based task priority inverse kinematics verifying the fulfillment of the other task constraints. The inverse kinematics framework is used also in real-time as local motion control to ensure a reactive behaviour to address, e.g., mismatch between the apriori information and on-line perception acquisition. During the movement, the motion planner runs in background to adapt to changes in the environment or, in general, to continuously optimize the path. The proposed method is experimentally validated with a Kinova Jaco2 7 degrees of freedom manipulator.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131401207","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}

{"title":"SEBezDANS - Stability Estimation via Bezoutians of the Domain of Attraction for Nonlinear Systems","authors":"Thomas Pursche, Jonathan Holzbach, R. Clauss, B. Tibken","doi":"10.1109/CCTA41146.2020.9206154","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206154","url":null,"abstract":"Investigating the stability of arbitrary given systems is one of the key tasks in modern control engineering and systems theory. To evaluate the stability of systems, there were published innumerable approaches and methods to solve this crucial task. In this paper the new tool SEBezDANS is introduced to estimate the domain of attraction and therefore give a statement about the stability of the surveyed system. The underlying method is based on Bézout matrices and the theorem of Ehlich and Zeller. The functionality of the complete framework is presented with its opportunities as well as its limitations. Some illustrating examples to show the effectivity of the method conclude this paper.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123769086","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}

{"title":"On-line parameter estimation for indirect adaptive flight control: a practical evaluation of several techniques","authors":"G. Hardier, G. Ferreres, Masayuki Sato","doi":"10.1109/CCTA41146.2020.9206350","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206350","url":null,"abstract":"To be able to maintain their performance, the Flight Control Systems in use on most transport aircraft should be endowed with resilient properties to deal with sensor/actuator faulty conditions or with any significant airframe changes. During the H2020 VISION project, several adaptive control designs have been developed by ONERA, and were flight tested to this end using the MuPAL-$alpha$ research aircraft of JAXA. One of these solutions involve a gain-scheduled controller designed off-line plus an estimation algorithm to track the time-varying parameters on-line, permitting the values of the main stability and control derivatives required to schedule the controller to be updated in real time. This paper focuses on the estimation part, and provides an experimental comparison of some results achieved in strictly similar conditions by using either frequency or time domain techniques. A new Hybrid Stabilized Recursive Least-Squares (HSRLS) is also proposed, as well as competing options regarding the aircraft modeling used by the estimator.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126672551","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}

{"title":"Hierarchy for Circular Orbit Stabilization of Underactuated Satellites with Application to Distributed Formations","authors":"M. El-Hawwary","doi":"10.1109/CCTA41146.2020.9206300","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206300","url":null,"abstract":"The paper addresses circular orbits stabilization for a class of thrust-underactuated satellites, utilizing smooth feedbacks. The problem is first solved in a path-following sense which is pertinent to stabilization of distributed formations. Two orthogonal thrusts are used where, broadly, one is used to stabilize the satellite to the desired orbital plane, and the second is used to stabilize the desired orbit on that plane. Control design follows a five-step hierarchy of stabilizing five nested sets. A main advantage of the approach is its amenability to modification. By redesigning only the last step of the hierarchy, the result is extended to stabilizing time parametrized orbits, i.e. trajectory tracking, and distributed formations of not necessarily co-planar orbits with or without temporal requirements. The results are illustrated through simulations.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"268 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114239794","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}

{"title":"A comparison of modelling approaches for closed-loop decision making over discrete domains in manufacturing systems","authors":"C. JennyL.Diaz, Sorin Olaru, C. Ocampo‐Martinez","doi":"10.1109/CCTA41146.2020.9206249","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206249","url":null,"abstract":"The manufacturing industry is transforming towards smart, flexible, and energy-efficient systems. In this regard, control strategies based on optimisation have been proposed to improve the energy efficiency of manufacturing systems. Usually, the optimisation problem behind the controller design involves decision variables constrained to binary and discrete domains resulting in Mixed-Integer Linear Programming (MILP) problems and require a high computational burden to find their optimal solution. In this paper, three different approaches are proposed for the closed-loop decision making over discrete domains in manufacturing systems, including the constraints and limitations to their implementation. Thus, the number and nature of required variables as well as the additional constraints needed to represent the discrete domains of the decision variables are established. These approaches are tested and compared to solve the optimisation problem behind a predictive-like controller designed to minimise the energy consumption of a manufacturing process line.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121491833","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}

{"title":"Comfort-Oriented Gear Shifting in City Bicycles","authors":"Dario Savaresi, Federico Dettù, S. Formentin, S. Savaresi","doi":"10.1109/CCTA41146.2020.9206160","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206160","url":null,"abstract":"Maximizing the comfort is a hard task in bicycles as the cyclist takes an active part in pedaling. Whatever the road quality is, discomfort always occurs during gear shifting. This paper proposes an algorithm for finding the best shifting moment, thus maximizing comfort. The solution has been addressed as an acceleration minimization. Some experiments, performed on a real set-up, are additionally provided, to quantify the comfort improvement.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121964168","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}

{"title":"4th IEEE Conference on Control Technology and Applications","authors":"E. Blue, August, Justin P. J. Trudeau","doi":"10.1109/ccta41146.2020.9206396","DOIUrl":"https://doi.org/10.1109/ccta41146.2020.9206396","url":null,"abstract":"Organizations that want to perform at the highest levels and be competitive in their industry must effectively leverage their leadership talent. Yet, in nearly all companies, a leadership gender gap persists. In addition, research has identified an individual's emotional intelligence (EQ) as a key aspect and driver of leadership effectiveness. EQ assessment have found men and women to be strong in different areas. These differences often advantage men and disadvantage women at work and can lead to very different outcomes. Finally, men and women are raised in different cultures. It begins at birth and carries into the workplace as adults. As a result, we approach virtually every aspect of business differently. Different approaches result in different perceptions, which have a significant impact on promotion. These topics are based on Dr. Andrews’ research and best-selling book titled, “The Power of Perception: Leadership, Emotional Intelligence, and the Gender Divide” (2018 Morgan James Publishing). Practical strategies for career advancement will be provided, as well as approaches to building a more diverse & inclusive workforce. During this interactive presentation, you will learn how to: • Examine barriers that contribute to the leadership gender gap • Identify emotional intelligence attributes and their impact on leadership • Leverage gender culture differences (hard-wired and socialized) which show up every day at work and home • Apply knowledge and tactics to improve career advancement Biography: Dr. Shawn Andrews is a keynote speaker, organizational consultant, business school professor, and author of the best-selling book, The Power of Perception: Leadership, Emotional Intelligence, and the Gender Divide (2018 Morgan James Publishing). She is a Forbes contributor, quoted in the Chicago Tribune, interviewed on dozens of podcast and radio shows, including NPR, and is a Women’s Media Center SheSource expert. Shawn speaks and consults to a diverse range of clients, including SABMiller Brewing Company, Broadcom, Vizio, Johnson and Johnson, Biogen, BristolMyers Squibb, Rust-Oleum, Experian, National Diversity Council, Association for Talent Development, and Society for Human Resource Management. With over two decades of corporate experience in the biopharmaceutical industry, she has helped thousands of leaders improve and develop using presentations, workshops, coaching, and psychological instruments. She is an accredited practitioner for EQ-i 2.0 and EQ 360 model and Insights Discovery Colors. She serves as professor at both UC Irvine Paul Merage School of Business and Pepperdine Graziadio Business School, teaching courses on Women and Leadership, Organizational Behavior, Diversity in Organizations, and Leadership and Ethics. Her specific areas of focus include Organizational Leadership, Learning & Development, Talent Management, Diversity & Inclusion, and Unconscious Bias. Shawn earned her Ed.D. degree in Organizational Leadership from Pepperd","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129567713","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}

{"title":"Set-Based State Estimation of Mobile Robots from Coarse Range Measurements","authors":"Tony X. Lin, S. Coogan, D. Sofge, Fumin Zhang","doi":"10.1109/CCTA41146.2020.9206321","DOIUrl":"https://doi.org/10.1109/CCTA41146.2020.9206321","url":null,"abstract":"This paper proposes a localization algorithm for an autonomous mobile robot equipped with binary proximity sensors that only indicate when the robot is within a fixed distance from beacons installed at known positions. Our algorithm leverages an ellipsoidal Set Membership State Estimator (SMSE) that maintains an ellipsoidal bound of the position and velocity states of the robot. The estimate incorporates knowledge of the robot's dynamics, bounds on environmental disturbances, and the binary sensor readings. The localization algorithm is motivated by an underwater scenario where accurate range or bearing measurements are often missing. We demonstrate our approach on an experimental platform using an autonomous blimp.","PeriodicalId":241335,"journal":{"name":"2020 IEEE Conference on Control Technology and Applications (CCTA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128669300","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}