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2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)最新文献

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Feedback stabilization of quasilinear hyperbolic systems with varying delays 变时滞拟线性双曲型系统的反馈镇定
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347931
Markus Hirsch-Dick, M. Gugat, G. Leugering
{"title":"Feedback stabilization of quasilinear hyperbolic systems with varying delays","authors":"Markus Hirsch-Dick, M. Gugat, G. Leugering","doi":"10.1109/MMAR.2012.6347931","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347931","url":null,"abstract":"We consider the feedback stabilization of quasilinear hyperbolic systems on star-shaped networks. We present boundary feedback controls with varying delays. The delays are given by C1-functions with bounded derivatives. We obtain the existence of unique C1-solutions on a given finite time interval. In order to measure the system evolution, we introduce an L2-Lyapunov function with delay terms. The feedback controls yield the exponential decay of the Lyapunov function with time. This implies the exponential stability of the system. Our results can be applied on the stabilization of the isothermal Euler equations with friction that model the gas flow in pipe networks.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131898030","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: 7
Effect of a novel control input on swing up of a pendubot 一种新型控制输入对摆锤摆动的影响
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347871
Prafa Neetha
{"title":"Effect of a novel control input on swing up of a pendubot","authors":"Prafa Neetha","doi":"10.1109/MMAR.2012.6347871","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347871","url":null,"abstract":"This paper proposes a novel control input for swing up of a pendubot. The input is derived from the proposed control Hamiltonian function. The input so derived is capable of swinging link 1 to the upright position with an added error of +1 radians to the desired angular position. Additionally, the control input sets the system to different equilibrium manifolds depending on the selected parameter values. The efficacy of this approach is demonstrated through simulation results.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124888461","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
Some new concepts of setup costs in multimode resource-constrained project scheduling problem 多模式资源约束项目调度问题中设置成本的一些新概念
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347841
M. Mika, R. Różycki, Grzegorz Waligóra
{"title":"Some new concepts of setup costs in multimode resource-constrained project scheduling problem","authors":"M. Mika, R. Różycki, Grzegorz Waligóra","doi":"10.1109/MMAR.2012.6347841","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347841","url":null,"abstract":"The multimode resource-constrained project scheduling problem is considered. In some practical situations resources used to perform an activity have to be set up before the execution of this activity. Setup operations are characterized by two parameters setup time and setup cost. The latter is considered if the financial aspects of the schedule are taken into account. In this paper we present an adaptation of the classical models of setups, which are known from the machine scheduling theory, to the multimode project scheduling problem. Several new concepts are proposed as well.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127897128","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
Parameter identification of a DC motor via distribution based approach 基于分布的直流电机参数辨识方法
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347919
D. Sendrescu
{"title":"Parameter identification of a DC motor via distribution based approach","authors":"D. Sendrescu","doi":"10.1109/MMAR.2012.6347919","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347919","url":null,"abstract":"In this paper one presents an algorithm for a DC motor parameters identification from sample data using the distribution approach. While most of the latest methods used in identification utilize a discrete-time model, the distribution method is an alternative approach to directly identify a continuous-time model from discrete-time data. The relation between the state variables is represented by functionals using techniques from distribution theory. Based on these relations, an algorithm for off-line parameter identification is developed. The method is applied to identify the parametric model of a real experimental platform and of a simulated model.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127955195","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: 11
Practical verification of the control strategies for the counter-current heat exchanger 逆流式换热器控制策略的实际验证
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347904
Piotr Laszczyk, Jacek Czeczot, Rafal Czubasiewicz, K. Stebel
{"title":"Practical verification of the control strategies for the counter-current heat exchanger","authors":"Piotr Laszczyk, Jacek Czeczot, Rafal Czubasiewicz, K. Stebel","doi":"10.1109/MMAR.2012.6347904","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347904","url":null,"abstract":"This paper shows the experimental results of the control of the heat exchanger working as a part of the laboratory heat exchange and distribution pilot plant. Two control strategies are considered: PI + gain scheduling (PI+GS) technique and Balance-Based Adaptive Control (B-BAC) methodology. In both cases, simplified modeling of different type is required and the results of the comparative tests show the control performance of both strategies when the flow rate of the heating medium is the manipulated variable.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126186530","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
Proposal of recovery strategy from loss of leg incident for legged walking robot 腿式步行机器人失腿事故恢复策略的提出
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347859
F. Seljanko
{"title":"Proposal of recovery strategy from loss of leg incident for legged walking robot","authors":"F. Seljanko","doi":"10.1109/MMAR.2012.6347859","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347859","url":null,"abstract":"In this paper author gives an overview of locomotion strategy based on the idea of using virtual leading edges for movement calculations of a multi-legged robot, of symmetrical construction and proposes the idea of using locomotion strategy for recovery from loss of leg incident by reconfiguring the robot to resemble legged mechanisms with lesser number of legs and applying virtual leading edges locomotion strategy to a new configuration. Presented locomotion strategy can be used for energy-efficient robot with low power processors. The method is fast and the computational cost is low.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115249858","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
An algorithm to solve algebraic Riccati equations with polynomials 用多项式求解代数Riccati方程的算法
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347854
P. Augusta
{"title":"An algorithm to solve algebraic Riccati equations with polynomials","authors":"P. Augusta","doi":"10.1109/MMAR.2012.6347854","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347854","url":null,"abstract":"The paper deals with solving algebraic Riccati equations with two-sided polynomials, which arise in some applications of optimal control of linear time-invariant spatially distributed systems. The conditions are given for the existence of a solution in the set of finite-order polynomials. If such a solution does not exist, the infinite-order solution is truncated and given in the form of polynomial of an arbitrary high order. The proposed numerical algorithm is based on the discrete Fourier transform theory. An example on optimal control of spatially-distributed systems is also given. The proposed algorithm is used to design of the distributed LQ controller.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129483990","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
Variable-, fractional-order discrete PID controllers 变量，分数阶离散PID控制器
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347829
P. Ostalczyk
{"title":"Variable-, fractional-order discrete PID controllers","authors":"P. Ostalczyk","doi":"10.1109/MMAR.2012.6347829","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347829","url":null,"abstract":"The fractional calculus is the area of mathematics that handles derivatives and integrals of any arbitrary order (fractional or integer, real or complex order) [1,2,3,4]. Nowadays it is applied in almost all areas of science and engineering. Here one can mention its numerous and successful applications in dynamical systems modeling and control with increasing number of studies related to the theory and application of fractional-order controllers, specially ones. In such controllers μk <;0 and vk >; 0 denote the integration and differentiation order, respectively. Now research activities are focused on developing new analysis and closed-loop system synthesis methods for fractional-order controllers being an extension of classical control theory. In the fractional-order controller tuning there are two additional parameters μk <; 0 and vk >; 0. This impedes the controller tuning procedure but leads to new (unattainable in classical PID control [5]) closed-loop system transient responses. The closed-loop system with fractional controller must satisfy typical requirements among which one can mention the system robustness due to the plant model uncertainties.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128321113","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: 23
Feedforward control design for a four-rotor UAV using direct and indirect methods 四旋翼无人机直接与间接前馈控制设计
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347849
Tobias Grüning, A. Rauh, H. Aschemann
{"title":"Feedforward control design for a four-rotor UAV using direct and indirect methods","authors":"Tobias Grüning, A. Rauh, H. Aschemann","doi":"10.1109/MMAR.2012.6347849","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347849","url":null,"abstract":"To calculate feedforward control strategies by means of dynamic optimization procedures, the alternatives of direct and indirect methods are compared in this paper. The direct optimization approaches that are considered in this paper make use of the Hermite-Simpson method and of the Legendre Pseudospectral method as underlying discretization strategies. Their description is followed by a short introduction to the maximum principle of Pontryagin, i.e., the indirect method. All procedures are employed to compute feedforward control sequences for the flight control of a four-rotor UAV, which is an unstable, nonlinear multi-input multi-output system. The optimization results are compared with respect to their accuracy and applicability.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128270078","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: 12
Adaptive finite fractional difference with a time-varying forgetting factor 具有时变遗忘因子的自适应有限分数差分
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347910
K. Latawiec, R. Stanisławski, W. Hunek, M. Lukaniszyn
{"title":"Adaptive finite fractional difference with a time-varying forgetting factor","authors":"K. Latawiec, R. Stanisławski, W. Hunek, M. Lukaniszyn","doi":"10.1109/MMAR.2012.6347910","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347910","url":null,"abstract":"Normalized finite fractional differences are considered as an approximation to the Grunwald-Letnikov fractional difference. In particular, adaptive finite fractional difference (AFFD) is recalled and effectively modified by the introduction of a time-varying forgetting factor. The modified AFFD is shown in simulations to provide an excellent approximation performance, both in terms of the modeling accuracy and robustness.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123995640","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
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