2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)最新文献

{"title":"[Title page]","authors":"","doi":"10.1109/iccma54375.2021.9646205","DOIUrl":"https://doi.org/10.1109/iccma54375.2021.9646205","url":null,"abstract":"","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126613505","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":"Inverter-Side Current Control of Grid-Connected Inverter with LCL Filter Based on Fractional-Order Extended State Observation","authors":"Xiaohong Wang, Chun-Wei Wu, Zhifeng Pan, Lianfang Tian","doi":"10.1109/ICCMA54375.2021.9646190","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646190","url":null,"abstract":"In applications of grid-connected inverter with a LCL-type passive filter, the resonance damping and high quality of the grid current is required. Traditional grid current control strategy based on a high-order LADRC has difficulties in design and parameters tuning, which is not conducive for practical engineering applications. To simplify the design of LADRC, the inverter current feedback control is used in this paper. On this basis, a fractional-order extended state observer (FOESO) is proposed to further strengthen the capability to estimate the disturbances caused by grid voltage and parameter uncertainty. Compared with the traditional ESO in LADRC, the FOESO can efficiently improve the disturbance observation accuracy, so as to improve the steady-state performance. Theoretical analysis and simulation results are presented to demonstrate its validity and the superiority over the traditional LADRC control strategy.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128090824","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":"Development of a 6-axis Robot Using Multibody Dynamic Software","authors":"Li Lan, P. Lin, Chin-Yu Wang","doi":"10.1109/ICCMA54375.2021.9646204","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646204","url":null,"abstract":"Based on multibody dynamic analysis software, this study has accomplished a customized robot developing technique. Initially, the geometry and functions of the customized robot are defined to fulfill the system assembly drawing and dimensional diagrams of mechanical components. With the usage of RecurDyn software, the standardized installed functions are simulated under various working conditions by changing the parameters such as torque, load, and acceleration. Accordingly, the design and analyses of the robot are completed. Further, the mechanical element is purchased according to the design scheme, and the technics including electric motor drive system, mechanism, transmission system, wirings, electromechanical system, and teach pendant program design are carried out. Finally, the prototype robot is completed and the performance testing is conducted.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128162512","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":"Multi-Robot Task Allocation Based on Combinatorial Auction","authors":"Xiao Wen, Zhen-Gang Zhao","doi":"10.1109/ICCMA54375.2021.9646189","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646189","url":null,"abstract":"In recent years, the rapid development of robots has brought many conveniences to the production and life of human beings. The research on robots is of great significance. Task allocation is one of the most important issues in the field of multi-robot research. As the working environment of robots is inherently highly dynamic and uncertain, multi-robots also have the problem of communication and cooperation, how to quickly and accurately allocate tasks in these complex environments is very important. In this paper, aiming at the real-time task assignment problem of agreed time coupling, the multi-robot task allocation topology of mixed committee decision-making is adopted. The two intelligent agents of manipular and mobile service robot are heterogeneous, and the task allocation of multi-service robot based on combined auction is realized. Based on the traditional method of simulating the market mechanism, this paper discarded the single commodity auction method that caused low allocation efficiency, followed the mechanism of using combined auction to improve efficiency, and proposed a “social welfare maximization” mechanism which considers the budget and improved from lock-in auction method, each agent takes the future cost into consideration in the bidding process, so as to maximize the overall benefits of the multi-robot system. In addition, solving the high-dimensional NP hard problem of largescale robot task allocation usually leads to an explosion of dimensions, this paper proposed a dimension-reduced combined commodities auction method. The subtasks decomposed from the parent task are divided into types and numbers of service locations and service objects, and a combination of lower dimensionality is selected to form each group of combined commodities that can be classified as traveling salesman problems. Finally, three combined commodities auctions at different time points were conducted in a simulated restaurant scene. The experimental results show that the multi-service robot task allocation method based on combined auctions proposed in this paper is fast, efficient and accurate.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134016992","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":"Discrete Feedback Control for Robust Walking of Biped Dynamic Walker","authors":"K. Yadav, R. P. Kumar","doi":"10.1109/ICCMA54375.2021.9646191","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646191","url":null,"abstract":"This paper presents a robust biped dynamic walker based on the virtual slope, which introduces the driving force in the walking direction. Virtual passive dynamic walker as a reference model is used to develop the feedback controller based on the relation between the step length and the virtual slope of the walker. A numerical solution is prescribed to obtain the local and global stability of the biped dynamic walker. The Poincare map and the basin of attraction plots have been used for stability analysis. A fifth-order curve fitting polynomial function is used to set the relation between step length and slope. A proportional feedback controller is used to correct the error at the transition state.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115486978","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":"Pressure and Volume Control of a Non-invasive Mechanical Ventilator: a PI and LQR Approach","authors":"Sergio Morales, Styven Palomino, Ricardo Terreros, Victor Ulloque, Noé Bazán-Lavanda, María Palacios-Matos, Julio Valdivia-Silva, E. Vela, Ruth Canahuire","doi":"10.1109/ICCMA54375.2021.9646186","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646186","url":null,"abstract":"Many studies in recent years have been focused on treating diseases caused by the SARS-CoV-2 virus, such as the Covid-19 disease. In this regard, the development of mechanical ventilation systems became very important for the care of patients with moderate symptoms caused by the virus. Most of the works developed used the non invasive mechanical ventilation system, since this is rapidly assembled and replicated. This work is centered on automating the manual Bag-Valve-Mask (BVM) ventilation of the Emergency Mechanical Ventilator for ICU (UTEC-AE EMV-ICU). For this purpose, it is necessary to implement a satisfactory control system to reach the adequate volume or pressure for patients. The control system implemented for the UTEC-AE EMV-ICU is based on LQR method for the three non-invasive ventilation modes (volumen controlled ventilation, pressure controlled ventilation, and assisted ventilation). The LQR control system of the UTEC-AE EMV-ICU was tested in an artificial lung where the obtained results were compared and discussed with the obtained results from a PI control system.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"13 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113956902","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":"Stabilization of Nonlinear Continuous Systems Based on Discrete Integrator Backstepping","authors":"Jean Oscard Domguia Teto, J. Seewig","doi":"10.1109/ICCMA54375.2021.9646216","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646216","url":null,"abstract":"In this paper two integrator backstepping designs are presented for digitally controlled continuous-time systems. One of them is based on the continuous-time design and the other on the Euler-method approximated discrete-time model. The presented control design leads either to global-asymptotic stabilization or semiglobal-practical stabilization of the approximated discrete-time system. A new design-approach for integrator backstepping based on Euler approximated discrete-time model using parameter-dependent Lyapunov function, which could lead to better behavior of the digitally controlled continuous system, is also presented. The properties of the developed control law are illustrated in one example.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127947659","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 Non-intrusive Quantification Method for Biochar Water Retention Capacity Using A Portable Microwave Sensor and Machine Learning","authors":"Di An, Haoyu Niu, Y. Chen","doi":"10.1109/ICCMA54375.2021.9646210","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646210","url":null,"abstract":"Biomass from agriculture and forestry can be converted to biochar by pyrolysis gasification process and when applied to soil, this becomes a carbon negative technology. How to quantify the effect of biochar applied into soil in terms of water retention capacity accurately, quickly, cost-effectively and in large scale mapping are still a challenging problem. This work for the first time, reported extensive lab tests to demonstrate that a non-intrusive quantification method for biochar water retention capacity using a portable microwave sensor and machine learning is feasible. Scaling up can be achieved by putting the sensor on a mobility platform, either ground or aerial. We reported in this paper details of our materials and methods, and machine learning workflow and results. The significance of this work lays the foundation for future carbon negative technology applications assessment such as soil carbon accounting. We evaluated our nonintrusive quantification method with SVM and LDA classifier algorithm on the data collected from real-world experiments. Results show that our method achieved a 74.0% recognition accuracy over six different kinds of biochar footprints.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123076789","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":"Optimized adaptive MPC for lateral control of autonomous vehicles","authors":"Yassine Kebbati, V. Puig, N. A. Oufroukh, V. Vigneron, D. Ichalal","doi":"10.1109/ICCMA54375.2021.9646218","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646218","url":null,"abstract":"Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is among the fittest controllers for this task due to its optimal performance and ability to handle constraints. This paper proposes an adaptive MPC controller (AMPC) for the path tracking task, and an improved PSO algorithm for optimising the AMPC parameters. Parameter adaption is realised online using a lookup table approach. The propose AMPC performance is assessed and compared with the classic MPC and the Pure Pursuit controller through simulations.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115108519","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":"Robust Control of a Proportional Solenoid Valve","authors":"O. A. Aal, Mohammad Abdel Aal, Mohammad R. Al-Masaed","doi":"10.1109/ICCMA54375.2021.9646212","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646212","url":null,"abstract":"This paper considers the application of $H_{infty}$ robust optimal control system for solenoid valves to control the position of the valve plunger with the aim of tracking a pre designed reference transfer function. Robustness analysis was conducted in order to evaluate the performance of tuned PID controllers applied to the uncertain model of the solenoid valve. Two PID controllers were designed; the first one involved the nominal parameters of the transfer function, while the second dealt with the uncertain model. Simulation results show an improvement on the robustness of the controller over the entire range of system uncertainty. An optimal $H_{infty}$ controller was computed using loop shape technique, the obtained responses were found to be more robust to the changes in system parameters. It was found that the system is more sensitive to the changes in both the coil resistance and the return spring stiffness.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114990965","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}