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

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Aeroelastic Load Control Through the Use of a Mechanically Driven Flap 利用机械驱动襟翼控制气动弹性载荷
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516896
Xing Wei, Xiaowei Zhao, Bing Feng Ng
{"title":"Aeroelastic Load Control Through the Use of a Mechanically Driven Flap","authors":"Xing Wei, Xiaowei Zhao, Bing Feng Ng","doi":"10.1109/CONTROL.2018.8516896","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516896","url":null,"abstract":"Aeroelastic control through the use of flap actuated through novel mechanical network is demonstrated in this study. The aeroelastic model couples a composite beam description of the structural dynamics to the unsteady vortex-lattice method for the aerodynamics. Flap dynamics are introduced to the model for flap rotation to be controlled by the total torque (aerodynamic torque and control torque) applied on its hinge. In this study, a passive mechanical controller is proposed to sense the relative angular velocity of the flap to generate the control torque. The mechanical controller can be realized by passive components including springs, dampers and inerters. The parameters of the mechanical controller are optimized by $H$∞ and $H_{2}$ routines for robustness and efficacy on load reduction, respectively. It is shown that both mechanical controllers exhibit marked reductions in bending moment and tip deflection in the presence of external disturbances.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"26 6 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":"122889065","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
Capturing Discontinuities in Optimal Control Problems 最优控制问题中的不连续捕获
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516770
Yuanbo Nie, E. Kerrigan
{"title":"Capturing Discontinuities in Optimal Control Problems","authors":"Yuanbo Nie, E. Kerrigan","doi":"10.1109/CONTROL.2018.8516770","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516770","url":null,"abstract":"We present a method for automatically capturing discontinuous features when using hp-adaptive pseudo-spectral methods to solve an optimal control problem. The simultaneous reduction of the objective cost and the approximation error at discontinuities is obtained via the use of a flexible mesh, where the end-points of the time intervals are included as decision variables in the optimization problem.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"14 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":"115223160","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 ‘Begin Robotics' in Undergraduate Teaching “Begin Robotics”在本科教学中的应用
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516836
R. Mitchell
{"title":"Using ‘Begin Robotics' in Undergraduate Teaching","authors":"R. Mitchell","doi":"10.1109/CONTROL.2018.8516836","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516836","url":null,"abstract":"Begin Robotics, a successful open online course, introduces cybernetics, robotics, control, haptics, artificial intelligence and artificial life. It was designed as a recruitment tool aimed at Key Stage 3 pupils. However, like previous recruitment methods used by the author, its focus is primarily educational. As such, much of the material is relevant in the first year of the undergraduate degree. This paper discusses the philosophy, how it is used and the associated assessments integrated, and student reaction.","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":"132512649","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
Passivity Control in Real-Time Hybrid Testing 实时混合测试中的无源控制
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516814
L. D. Hashan Peiris, A. Plummer, J. D. du Bois
{"title":"Passivity Control in Real-Time Hybrid Testing","authors":"L. D. Hashan Peiris, A. Plummer, J. D. du Bois","doi":"10.1109/CONTROL.2018.8516814","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516814","url":null,"abstract":"This paper details the application of passivity control in stabilizing real-time hybrid test (RtHT) systems with linear and nonlinear physical substructures. The effectiveness of this novel application in hybrid systems is assessed in the time and frequency domains with special attention given to improvements in stability and tracking performance. A 1 degree-of-freedom system is chosen as a test case with transfer dynamics modelled as a pure delay. The application of passivity control widely used in the teleoperation industry has been found to stabilize the hybrid test system under a wide range of operating conditions whilst resulting in tracking improvements as well. Unlike conventional model based compensation schemes, the application of passivity control does not require any information about the transfer system and/or physical substructure making this technique practical and effective in compensating complex hybrid tests where accurate linear models are unavailable.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"29 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":"134188966","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
A Portable Low-Cost Arduino-Based Laboratory Kit for Control Education 一种用于控制教育的便携式低成本arduino实验室套件
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516817
Christos Y Foulis, S. Papadopoulou
{"title":"A Portable Low-Cost Arduino-Based Laboratory Kit for Control Education","authors":"Christos Y Foulis, S. Papadopoulou","doi":"10.1109/CONTROL.2018.8516817","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516817","url":null,"abstract":"This abstract gives full details of a recently developed laboratory kit in the Dpt of Automation Engineering, ATEI of Thessaloniki, Greece, to serve the needs of undergraduate and postgraduate control education in a number of relevant courses. The lack of sufficient funding and staff for laboratory equipment purchase and maintenance, mainly due to the recent economic crisis, led us to a drastic reformation of the laboratory practical courses, which are now based on cheap take-home kits, equipped with Arduino-based electronics and compatible sensors. There is no doubt that low-cost take-home equipment can raise the student's interest in control theory and practice, by allowing them to study in their own place and in any convenient time. The ease with which embedded control can be applied tends to increase the percentage of students involved in the design and testing of basic as well as more advanced control, with extra project or thesis work, as the time saved in the experimental setup and control, is invested to deeper study of the underpinning theory.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"180 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":"114531040","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
Phase Properties of the Generalised Zames- Falb Multipliers 广义Zames- Falb乘法器的相位特性
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516879
W. Heath, J. Carrasco
{"title":"Phase Properties of the Generalised Zames- Falb Multipliers","authors":"W. Heath, J. Carrasco","doi":"10.1109/CONTROL.2018.8516879","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516879","url":null,"abstract":"The Zames- Falb multipliers are a classical tool in the analysis of Lure systems. They are the widest known class of multipliers (up to phase equivalence) that preserve the positivity of memoryless monotone and bounded nonlinearities. They can be used to prove that the Kalman Conjecture is true for third order systems. This paper brings together two separate and recent developments in the area. On the one hand it is possible to derive generalised multipliers applicable to nonlinearities that need be neither memoryless nor monotone, but that can be bounded by input-output maps with such properties. On the other, it is possible to derive analytic constraints on the phase properties of Zames- Falb multipliers and to interpret these in terms of the Kalman Conjecture. We derive and discuss such analytic phase restrictions for the generalised Zames- Falb multipliers. We discuss the implications for nonlinearities with partial symmetry and for Lure systems with persistent disturbances.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"84 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":"123852740","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
Delayed Systems - H∞ Preview Tracking Control 延迟系统- H∞预览跟踪控制
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516863
E. Gershon
{"title":"Delayed Systems - H∞ Preview Tracking Control","authors":"E. Gershon","doi":"10.1109/CONTROL.2018.8516863","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516863","url":null,"abstract":"The problem of stationary H∞ state-feedback tracking for linear continuous time-invariant delayed systems is investigated. We consider the case where the reference signal, which excites the system dynamics, is previewed in a fixed time-interval ahead. The retarded system is transformed via the input-output approach, to an uncertain norm bounded system to which a state-feedback controller is found for a given fixed preview pattern.","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":"116620872","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
Model-to-Decision Approach for Autonomous Vehicle Convoy Collision Ethics 自动驾驶车辆车队碰撞伦理的模型-决策方法
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516846
James E. Pickering, Patricia Ashman, Alex Gilbert, D. Petrovic, K. Warwick, K. Burnham
{"title":"Model-to-Decision Approach for Autonomous Vehicle Convoy Collision Ethics","authors":"James E. Pickering, Patricia Ashman, Alex Gilbert, D. Petrovic, K. Warwick, K. Burnham","doi":"10.1109/CONTROL.2018.8516846","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516846","url":null,"abstract":"The introduction of autonomous vehicles (AVs) is expected to reduce the number of road traffic accidents; however, it is expected that this will not be completely without incidents. In the event of AV incidents, ethical decisions will need to be made, e.g. a decision between colliding into one of three different AVs ahead on a multiple lane highway. A possible solution to the ethical problem is known as the utilitarian approach; this involves the AV steering into the collision path of least loss of utility, e.g. lowest injury level or number of fatalities. Deciding on the collision outcome of such ethical problems involves the investigation of a model-to-decision (M2D) approach. Thus, using a mathematical model of the collision scenarios to then make decisions based on the severity of each outcome as a measure of utility loss. This research investigates the use of such an approach for AVs in convoy on a three-lane highway. The mathematical model of an AV convoy collision that has been developed is of a nonlinear (bilinear) lumped mass spring configuration. This model is used in conjunction with a pragmatic multi-criteria decision maker (MCDM). The results from the M2D approach highlight the effectiveness of the utilisation approach on-board future AVs to minimise utility loss in terms of the severity of road traffic injuries and/or number of fatalities.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"26 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":"116900362","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
Dynamic Analysis of a Twin Rotor MIMO System and Control Design 双转子MIMO系统动力学分析及控制设计
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516727
E. Prempain, Andrea Lecchini-Visintini
{"title":"Dynamic Analysis of a Twin Rotor MIMO System and Control Design","authors":"E. Prempain, Andrea Lecchini-Visintini","doi":"10.1109/CONTROL.2018.8516727","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516727","url":null,"abstract":"A control oriented analysis of a Twin Rotor MIMO System (TRMS) based on a high fidelity, non-linear model, recently developed, is proposed. Explicit formulae for the system states equilibria and for the descriptor matrices of the corresponding linear systems are provided. A modal analysis is presented which gives insights into the dynamics behaviour of the system across its operating envelope. Thanks to this analysis and to the analytical formulae developed, a simple, robust, LQR state-feedback controller is designed. Good tracking responses both in simulation and on the real, physical TRMS system are achieved. The responses predicted in simulation are almost identical to those observed on the real, physical system and these compare very favourably with the results of the literature.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"38 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":"116034120","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
Nonlinear H-Infinity Control for Optimizing Cement Production 水泥生产优化的非线性h∞控制
2018 UKACC 12th International Conference on Control (CONTROL) Pub Date : 2018-09-01 DOI: 10.1109/CONTROL.2018.8516804
G. Rigatos, P. Siano, P. Wira, K. Busawon, I. Jovanovic
{"title":"Nonlinear H-Infinity Control for Optimizing Cement Production","authors":"G. Rigatos, P. Siano, P. Wira, K. Busawon, I. Jovanovic","doi":"10.1109/CONTROL.2018.8516804","DOIUrl":"https://doi.org/10.1109/CONTROL.2018.8516804","url":null,"abstract":"Nonlinear H-infinity control is developed aiming at optimizing the functioning of cement mills. The dynamic model of a cement mill is difficult to control due to its high nonlinearity and its multivariable structure. For this reason several control methods have been proven to be little efficient (e.g. MPC or NMPC). The cement mill's dynamic model is subjected to approximate linearization around a temporary operating point which is recomputed at each iteration of the control algorithm. This operating point is defined by the present value of the system's state vector and by the last value of the control inputs vector that was applied on the cement's mill model. With the use of Taylor series expansion and the computation of the associated Jacobian matrices, linearization of the cement mill's model is accomplished. The robustness of the control method compensates for the modelling error which is due to the truncation of higherorder terms in this Taylor series expansion. Next, an H-infinity feedback controller is designed for the approximately linearized model of the cement mill. To compute the controller's feedback gain an algebraic Riccati equation is solved at each step of the control algorithm. Lyapunov analysis is used to prove the stability of the control scheme. First, it is demonstrated that the control loop satisfies the H-infinity tracking performance criterion which assures for robustness against model uncertainty and external perturbations. Additionally, conditions for the global asymptotic stability of this control scheme are provided. Finally, the H-infinity Kalman Filter is used as a robust state estimator thus allowing to implement sensorless control for the cement mill's model.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"45 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":"121381670","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
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