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2018 UKACC 12th International Conference on Control (CONTROL)最新文献

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Cooperative Control of Innovative Tri-Rotor Drones Using Robust Feedback Linearization 基于鲁棒反馈线性化的新型三旋翼无人机协同控制
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516820
Junyan Hu, A. Lanzon
{"title":"Cooperative Control of Innovative Tri-Rotor Drones Using Robust Feedback Linearization","authors":"Junyan Hu, A. Lanzon","doi":"10.1109/CONTROL.2018.8516820","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516820","url":null,"abstract":"This paper presents a novel distributed formation control architecture for innovative tri-rotor drones. The three rotors of this novel aerial robotic platform can be tilted independently to obtain full force and torque vectoring authority, such that the tri-rotor drone is able to overcome the limitations of a classic quadrotor UAV that can not change its attitude while hovering at a stationary position. In the flight control systems design, a robust feedback linearization controller is first developed to handle the highly coupled and nonlinear dynamics and a distributed adaptive formation control tracking protocol is then designed to control a swarm of tri-rotor UAVs. The 3D position and 3D attitude of each vehicle can be controlled independently to follow a desired formation. The effectiveness of the proposed control strategy is shown via a realistic virtual reality simulation environment that the networked tri-rotor drones are robust to aerodynamic disturbances and model uncertainties.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127382297","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
Extremum Seeking Control for Truck Drag Reduction 货车减阻极值寻优控制
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516808
G. Papageorgiou, Jason Barder, J. Whidborne, K. Garry
{"title":"Extremum Seeking Control for Truck Drag Reduction","authors":"G. Papageorgiou, Jason Barder, J. Whidborne, K. Garry","doi":"10.1109/CONTROL.2018.8516808","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516808","url":null,"abstract":"The aerodynamic drag on a heavy truck tractor and semi-trailer combination can be reduced by means of a wind deflector installed on the roof of the tractor cab. The drag reduction is dependent upon the height and shape of the deflector. A variable height deflector has been constructed and tested in a wind-tunnel and on-road. In this paper, an extremum-seeking control scheme is proposed to adjust on-line the deflector height to minimize the aerodynamic drag. The effectiveness of the scheme is evaluated by simulation and its practicality is evaluated.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134372868","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 Biologically Inspired Trenchless Drilling Device 仿生非开挖钻井装置的建模与控制
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516859
K. Worrall, D. Firstbrook, Thaleia Flessa, E. McGookin, D. Thomson, P. Harkness
{"title":"Modelling and Control of a Biologically Inspired Trenchless Drilling Device","authors":"K. Worrall, D. Firstbrook, Thaleia Flessa, E. McGookin, D. Thomson, P. Harkness","doi":"10.1109/CONTROL.2018.8516859","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516859","url":null,"abstract":"This work presents the methods used and initial findings of the control of the model for an autonomous trenchless drilling device, with bioinspired worm-like locomotion. The model is validated using Inverse Simulation. The initial control is detailed with data from the simulation and experimental device.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115155066","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
Laguerre-Based Adaptive MPC for Attitude Stabilization of Quad-Rotor 基于laguerre的四旋翼姿态稳定自适应MPC
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516876
O. J. Gonzalez Villarreal, J. Rossiter, H. Shin
{"title":"Laguerre-Based Adaptive MPC for Attitude Stabilization of Quad-Rotor","authors":"O. J. Gonzalez Villarreal, J. Rossiter, H. Shin","doi":"10.1109/CONTROL.2018.8516876","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516876","url":null,"abstract":"The application of predictive control methods in real-time to fast systems, such as quad-rotors, remains a challenge for its implementation in low-power embedded systems. This paper presents the application of an Adaptive Laguerre-based Model Predictive Controller (MPC) to the Attitude Stabilization of a Quadrotor. The formulation uses an Online System Identification algorithm based on Recursive Least Squares (RLS) with forgetting factor for parameter estimation, and a Laguerre-based Model Predictive Controller for achieving real-time calcu-lation/update of the control law. The developed control system was experimentally tested in a real quad-rotor, and the results demonstrate its real-time applicability in a low-power embedded platform.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121084799","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
Hierarchical Self-Commissioning Control of Grid-Supporting Boost Converters with Nonlinear Loads 具有非线性负载的并网升压变换器的分层自调试控制
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516786
Daniel O'Keeffe, S. Riverso, L. Albiol-Tendillo, G. Lightbody
{"title":"Hierarchical Self-Commissioning Control of Grid-Supporting Boost Converters with Nonlinear Loads","authors":"Daniel O'Keeffe, S. Riverso, L. Albiol-Tendillo, G. Lightbody","doi":"10.1109/CONTROL.2018.8516786","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516786","url":null,"abstract":"Collective voltage stability and efficient load-sharing are critical objectives of grid-supporting distributed generation units in DC islanded microgrids. This paper proposes a hierarchical self-commissioning control architecture which offers plug-and-play and fully scalable design features. First, passivity theory is used to provide an explicit inequality set of control gains for decentralised state-feedback controllers at the primary control level. This set is completely independent of global system parameters and microgrid topology and is shown to guarantee collective stability of the whole microgrid comprised of DC-DC boost converters, RL power lines and linear/nonlinear loads. Second, the proposed primary controller is cascaded with distributed consensus-based secondary controls in order to perform voltage balancing and equal load-sharing. Asymptotic stability of the secondary control level is proven using a unit-gain approximation of the primary level. Finally, the architecture is evaluated using a single bus-connected topology and plug-and-play operations.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121677467","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
On Finite Time Stability of Homogeneous P-PI Controller for Robot Manipulator Orientation Control 齐次P-PI控制器在机器人机械手姿态控制中的有限时间稳定性
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516852
Yasuyuki Satoh, Hisakazu Nakamura
{"title":"On Finite Time Stability of Homogeneous P-PI Controller for Robot Manipulator Orientation Control","authors":"Yasuyuki Satoh, Hisakazu Nakamura","doi":"10.1109/CONTROL.2018.8516852","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516852","url":null,"abstract":"High precision control of robot manipulators is a fundamental and important problem in many robotic tasks. For the problem, finite time control, which guarantees the state convergence in finite time, is one of the effective approaches. In such a context, several finite-time position controllers based on nonlinear control theory such as higher order sliding mode control [1], or dilated homogeneity and homogeneous approximation [2]–[5], have been proposed. Moreover, its superior control performance is confirmed by experiments [4], [5].","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115486894","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
Parameter Estimation of Multi-Staged SI(n)RS Epidemic Models 多阶段SI(n)RS流行病模型的参数估计
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516767
A. Ibeas, M. de La Sen, S. Alonso-Quesada, R. Nistal
{"title":"Parameter Estimation of Multi-Staged SI(n)RS Epidemic Models","authors":"A. Ibeas, M. de La Sen, S. Alonso-Quesada, R. Nistal","doi":"10.1109/CONTROL.2018.8516767","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516767","url":null,"abstract":"This paper designs an algorithm to estimate the parameters of a discrete-time SI(n)RS multi-staged model. Initially, the structural properties of the discrete-time model, such as well-posedness and positivity, are studied. The estimation procedure is based on multivariable least-squares and contains a projection algorithm in order to ensure that the estimated parameters are always nonnegative, in accordance to their physical meaning. A simulation example shows the usefulness of the presented approach.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"14 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131452003","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
The Pond Cleaning System 池塘清洁系统
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516738
Konrad Gornicki, K. Groves, J. Carrasco, B. Lennox
{"title":"The Pond Cleaning System","authors":"Konrad Gornicki, K. Groves, J. Carrasco, B. Lennox","doi":"10.1109/CONTROL.2018.8516738","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516738","url":null,"abstract":"The ability to accurately control the position of an autonomous surface vehicle (ASV) inside a nuclear storage pond has many potential applications such as monitoring, sensing and removing contaminants from the pond's wall, tasks that because of elevated radiation dose rates are often dangerous or prohibitive for humans. Unfortunately, there is still no general method that allow ASVs to traverse the pond within a few centimetre stand-off distance of the wall and maintaining its course while cleaning or collecting radiological data. The majority of the literature in this field describes localisation, mapping and control techniques relevant to open-water environments and doesn't consider operations near the boundary, where disturbances and reaction forces are significant, translating in to poor control of the vehicle. The few centimetres stand-off distance is required due to detection of alpha particles for instance, of which detection can happen only at very short distances or due to cleaning equipment that needs to maintain that distance in order to effectively clean the wall.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131069513","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
Simultaneous Search and Monitoring of Evasive Targets by an Unmanned Aerial Vehicle 无人飞行器同时搜索和监视躲避目标
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516866
Haoyu Zhang, S. Veres
{"title":"Simultaneous Search and Monitoring of Evasive Targets by an Unmanned Aerial Vehicle","authors":"Haoyu Zhang, S. Veres","doi":"10.1109/CONTROL.2018.8516866","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516866","url":null,"abstract":"This paper studies a Simultaneous Search and Monitoring (SSM) problem between an aerial pursuer and multiple evasive ground targets. The adversarial target behaviours and the partial observation by the pursuer make this problem a Partially Observable Stochastic Game (POSG). Because of the intractability of obtaining an exact solution, we applied some assumptions on the information available to the targets. These assumptions simplify the game playing into a dynamic Guaranteed Search problem. A policy planning algorithm was designed for the pursuer, which achieved efficient Simultaneous Search and Monitoring and reduced the total uncertainty level. The comparative study validated the advantages of our policy planning over conventional fixed-pattern Guaranteed Search method.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122907147","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
A Vision-Based Positioning System with Inverse Dead-Zone Control for Dual-Hydraulic Manipulators 基于视觉的双液压机械臂反死区控制定位系统
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516734
C. West, S. Monk, A. Montazeri, C. J. Taylor
{"title":"A Vision-Based Positioning System with Inverse Dead-Zone Control for Dual-Hydraulic Manipulators","authors":"C. West, S. Monk, A. Montazeri, C. J. Taylor","doi":"10.1109/CONTROL.2018.8516734","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516734","url":null,"abstract":"The robotic platform in this study is being used for research into assisted tele-operation for common nuclear decommissioning tasks, such as remote pipe cutting. It has dual, seven-function, hydraulically actuated manipulators mounted on a mobile base unit. For the new visual servoing system, the user selects an object from an on-screen image, whilst the computer control system determines the required position and orientation of the manipulators; and controls the joint angles for one of these to grasp the pipe and the second to position for a cut. Preliminary testing shows that the new system reduces task completion time for both inexperienced and experienced operators, in comparison to tele-operation. In a second contribution, a novel state-dependent parameter (SDP) control system is developed, for improved resolved motion of the manipulators. Compared to earlier SDP analysis of the same device, which used a rather ad hoc scaling method to address the dead -zone, a state-dependent gain is used to implement inverse dead-zone control. The new approach integrates input signal calibration, system identification and nonlinear control design, allowing for straightforward recalibration when the dynamic characteristics have changed or the actuators have deteriorated due to age.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117011235","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: 9
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