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L1 — Adaptive control based inner control loops of a slybird MAV L1 - 基于自适应控制的狡鸟飞行器内部控制回路
2016 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2016.7441140
C.-H. Sai Vamsi, Alexander Kale, Viswanathan, P. Kavitha
{"title":"L1 — Adaptive control based inner control loops of a slybird MAV","authors":"C.-H. Sai Vamsi, Alexander Kale, Viswanathan, P. Kavitha","doi":"10.1109/INDIANCC.2016.7441140","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441140","url":null,"abstract":"This paper presents design of L1 - adaptive control based inner loop control with state feedback for Unmanned Aerial Vehicles (UAV's). The control over the internal dynamics of the system can be achieved using L1 - adaptive control with state feedback. The robust adaptive control adapts to the changes in system dynamics and facilitates improved command tracking for UAV's. It avoids high frequency oscillations entering into the UAV system. The performance bounds of the UAV can be improved by increasing adaptation rates. The pitch and roll tracking control loops are designed using linear models and analyzed for possible failures. The simulations are carried out to demonstrate the effectiveness and adaptation of designed control loops.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127360266","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
Modeling and robust diagnosis of power system protection failures using observations in discrete event system 基于离散事件系统观测的电力系统保护故障建模与鲁棒诊断
2016 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2016.7441124
S. Reshmila, R. Devanathan
{"title":"Modeling and robust diagnosis of power system protection failures using observations in discrete event system","authors":"S. Reshmila, R. Devanathan","doi":"10.1109/INDIANCC.2016.7441124","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441124","url":null,"abstract":"Cascading outages in power system is a major concern in the industry and protection system failures contribute to it. With the increasing complexity of power system, manual monitoring and diagnosis is impossible. Failure diagnosis using discrete event systems has been an active area of interest in the last three decades and has produced creditable results. In this paper, power system protection system is modeled for failure diagnosis using a modified form of the discrete event system model. In particular, a framework using observations in modeling the component is developed for power system protection failure diagnosis. This modeling approach does away with the need to include unobservable events and is capable of predicting the diagnosability during component modeling itself. Simple conditions for diagnosability are stated for the modified DES. A diagnoser is developed for a power system protection example using the modified DES. Further, the robustness of the diagnoser is demonstrated.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129331941","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
GPS aided attitude and heading reference system using MEMS sensors 利用MEMS传感器的GPS辅助姿态和航向参考系统
2016 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2016.7441167
Sanketh. Ailneni
{"title":"GPS aided attitude and heading reference system using MEMS sensors","authors":"Sanketh. Ailneni","doi":"10.1109/INDIANCC.2016.7441167","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441167","url":null,"abstract":"Extended Kalman filter (EKF) solution for attitude and heading estimation was proposed with code phase GPS measurements aiding the micro electro mechanical systems (MEMS) Inertial Measurement Unit (IMU). The estimation was carried out assuming GPS update rates of 1, 4, 5 and 10 Hz while the IMU update rate was assumed to be 40 Hz. GPS outage durations of 20 s and 15 s were considered for a total simulation duration of 500 s. The role of GPS measurements and its update rate for attitude and heading estimation is brought out clearly. The design, development and simulation studies of the EKF are presented in this paper. 1000 Monte Carlo simulations, each of 500 s, with and without GPS outages are carried out to check the robustness of the proposed estimator.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125110212","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
Characterization of pulse-step input for saccadic eye movements 跳眼运动的脉冲步进输入特征
2016 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2016.7441099
Varsha Vasudevan, R. Padhi, A. Murthy
{"title":"Characterization of pulse-step input for saccadic eye movements","authors":"Varsha Vasudevan, R. Padhi, A. Murthy","doi":"10.1109/INDIANCC.2016.7441099","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441099","url":null,"abstract":"The understanding of the neuronal firing input to the motor neurons innervating oculomotor muscles is vital in studying control of eye-movements. The firing rate of the motor neurons which causes rapid eye movements called saccades has been characterized here using a Gaussian function. Using experimental horizontal saccade data, the parameters of the Gaussian function are estimated by least square minimization. These parameters, peak firing rate and time-to-peak of the input firing rate were observed to be functions of the saccade amplitude. Their relationship is quantified using a least square curve fit. The peak firing rate is found to be linearly varying with saccade amplitude and time-to-peak varies as a quadratic function of saccade amplitude. The model can predict the input firing rate of motor neurons for all saccade amplitudes independent of the availability of data. This work provides a method that can be extended for predicting the neural firing rates to be generated by the motor neurons at the oculomotor muscles for producing different classes of eye movements.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114018953","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
A dynamical systems approach to systemic risk in a financial network 金融网络中系统性风险的动态系统方法
2016 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2016.7441162
S. Bhat, M. Uday Kumar, Shariq Mohammed
{"title":"A dynamical systems approach to systemic risk in a financial network","authors":"S. Bhat, M. Uday Kumar, Shariq Mohammed","doi":"10.1109/INDIANCC.2016.7441162","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441162","url":null,"abstract":"The insolvency of a financial entity such as a bank can trigger a sequence of defaults in a network of financial entities interconnected through mutual financial obligations, thus posing a systemic risk to all the financial entities that make up the network. This paper studies the well-known Eisenberg-Noe model for systemic risk from a dynamical systems perspective. In particular, we model the sequence of defaults in the form of a dynamical system, and provide results on its stability and asymptotic behavior.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134220221","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
Fractional order PID controller design for an SOPDT model by online tuning method 采用在线整定法设计SOPDT模型的分数阶PID控制器
2016 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2016.7441173
Gargi Baruah, S. Majhi, C. Mahanta
{"title":"Fractional order PID controller design for an SOPDT model by online tuning method","authors":"Gargi Baruah, S. Majhi, C. Mahanta","doi":"10.1109/INDIANCC.2016.7441173","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441173","url":null,"abstract":"A relay based online tuning of a series fractional order proportional integral and derivative (FOPID) controller is proposed in this paper. A relay with hysteresis is connected in parallel to the FOPID controller inorder to obtain the limit cycle oscillation. The information provided by this limit cycle can be expressed by using a describing function which helps in determining the process parameters of the unknown plant which is further modeled into an equivalent second order plus dead time (SOPDT) plant. The identification of these parameters is a much needed necessity because the re-tuning of the FOPID controller is based on these model parameters. The proposed method highlights a simpler yet potent identification method which in turn leads to the design of a powerful controller. Also the controller always stays in loop which is not only cost-effective but also negates the harmful effects to the on-off replacement of the controller with the relay and vice versa. This method is then verified through the simulations of certain process models.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132903288","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: 4
Stability analysis of a two-channel feedback networked control system 双通道反馈网络控制系统的稳定性分析
2016 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2016.7441129
Nirupam Gupta, N. Chopra
{"title":"Stability analysis of a two-channel feedback networked control system","authors":"Nirupam Gupta, N. Chopra","doi":"10.1109/INDIANCC.2016.7441129","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441129","url":null,"abstract":"In this paper we propose a novel stabilization analysis of networked control of a controllable linear time invariant plant by a non co-located controller communicating with the actuator and the sensors of the plant via wireless channels of an existing wireless LAN (WLAN). We consider a lossless forward communication channel connecting the controller with the actuator and a lossy feedback channel connecting the sensors with the controller, where data transfer through both these channels suffer from significantly variable channel access delays. Sufficient conditions, using parameter dependent Lyapunov functions and perturbation theorem, are proposed for guaranteeing asymptotic stability of the networked control system (NCS) by treating it as a perturbation of a linear discrete-time system with variable sampling intervals. The efficacy of our results for network control synthesis is demonstrated using numerical simulations of a rotary inverted pendulum.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124690870","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
Survey of EKF based sensorless vector control methodologies for a permanent magnet synchronous motor 基于EKF的永磁同步电机无传感器矢量控制方法研究
2016 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2016.7441111
Rahee Walambe, V. Joshi
{"title":"Survey of EKF based sensorless vector control methodologies for a permanent magnet synchronous motor","authors":"Rahee Walambe, V. Joshi","doi":"10.1109/INDIANCC.2016.7441111","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441111","url":null,"abstract":"In the recent past, the use of permanent magnet synchronous motors (PMSM) has increased due to the numerous advantages they offer. The accurate performance and precise speed and/or position control of a PMS motor requires precise information about the rotor shaft position and angular speed in order to synchronize the phase excitation pulses to the rotor position. In order to achieve the speed control various sensored methods are employed. Due to number of advantages, recent trend is to implement the sensorless drive for a PMSM. This paper presents the survey conducted in studying and understanding various methodologies of EKF based sensorless algorithms for the vector control drive of a PMSM.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132078377","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
Development of genetic programming based softsensor model for styrene polymerization process and its application in model based control 基于遗传规划的苯乙烯聚合过程软测量模型的建立及其在模型控制中的应用
2016 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2016.7441134
S. B. Ghugare, S. Tambe
{"title":"Development of genetic programming based softsensor model for styrene polymerization process and its application in model based control","authors":"S. B. Ghugare, S. Tambe","doi":"10.1109/INDIANCC.2016.7441134","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441134","url":null,"abstract":"In recent years, soft sensors have been established as a valuable alternative to the traditional hardware sensors for the acquisition of critical information regarding \"difficult-to-measure\" process variables and/or parameters in chemical process monitoring and control. Soft-sensors can also be modified as a novel process identification tool for process monitoring and model based control. Often, in polymer industries the main polymerization reaction is highly nonlinear and complex to model accurately by the conventional \"first principles\" approach. In such cases, genetic programming (GP) - a novel artificial intelligence-based exclusively data-driven modeling technique - can be employed for process identification. In this work GP-based soft sensors have been developed for a continuous styrene polymerization reactor. The resulting GP-based models (soft sensor) showed high prediction and generalization performances. The best performing model was successfully utilized in designing a model predictive control (MPC) scheme for the polymerization reactor.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126885705","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
Design and implementation of remote triggered LabVIEW based PI controller for level setup 基于LabVIEW的远程触发PI电平控制器的设计与实现
2016 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2016.7441117
Sangram R. Jadhav, S. Jadhav, Mahesh Parihar
{"title":"Design and implementation of remote triggered LabVIEW based PI controller for level setup","authors":"Sangram R. Jadhav, S. Jadhav, Mahesh Parihar","doi":"10.1109/INDIANCC.2016.7441117","DOIUrl":"https://doi.org/10.1109/INDIANCC.2016.7441117","url":null,"abstract":"This paper presents an application by integrating theories through an experimental setup. In the literature it is found that, researchers designs advanced controllers and presents only simulation results. The motivation here is in-house design and fabrication of level setup and understands the practical difficulties in the real time implementation of software based controllers. They are easy for programming, monitoring and gives platform to develop GUI for mimic the process. This work is the sincere effort to design and real time implementation of LabVIEW based PI controller for laboratory purpose level setup. The mathematical model of the level system is obtained using process reaction curve method and NI ELVIS-II hardware is used as an interface. Tuning methods like Ziegler Nichols, Cohen Coon are considered for smooth control of dynamic level. The performance of simulated and realtime PI controller for different scenario are presented and it is observed that the time domain parameters are in close agreement. Also, a facility of remote triggering of this setup is developed using LabVIEW web server applications.","PeriodicalId":286356,"journal":{"name":"2016 Indian Control Conference (ICC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122265171","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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