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

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State estimation of fuzzy Sugeno systems with local nonlinear rules and unmeasurable premise variables 具有局部非线性规则和不可测前提变量的模糊Sugeno系统的状态估计
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347825
H. Moodi, M. Farrokhi
{"title":"State estimation of fuzzy Sugeno systems with local nonlinear rules and unmeasurable premise variables","authors":"H. Moodi, M. Farrokhi","doi":"10.1109/MMAR.2012.6347825","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347825","url":null,"abstract":"This paper considers the design of observers for a class of continuous and discrete-time nonlinear systems presented by Takagi-Sugeno (T-S) model with nonlinear subsystems and unmeasurable premise variables. As a result, the proposed T-S structure reduces the number of rules in the Sugeno model by using local nonlinear rules. Moreover, it can represent larger class of nonlinear systems as compared to the measurable premise variable case. The proposed observer guarantees exponential convergence of state estimation error by Lyapunov stability analysis and linear matrix inequality (LMI) formulation. Numerical examples illustrate effectiveness of the proposed method.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"114 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":"117206951","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
Diagnosis of Wheel Slide Protection Systems for rail vehicles 轨道车辆轮滑保护系统的诊断
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347896
G. Barna
{"title":"Diagnosis of Wheel Slide Protection Systems for rail vehicles","authors":"G. Barna","doi":"10.1109/MMAR.2012.6347896","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347896","url":null,"abstract":"The paper presents the diagnostic system of Wheel Slide Protection Systems (WSP) for rail vehicles. The overall goal of diagnostic system of a traction rail vehicle is described. The principles of operation of WSP devices for rail vehicles are presented, as well as relation between WSP systems and overall safety of the train passengers is presented. Means of promoting WSP security given in European normative documents are described. The tasks and algorithm of the monitoring system are proposed. Simulation model implemented in Matlab Simulink® and the simulation results are presented.","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":"132954664","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
A strategy for thruster fault-tolerant control applied to an AUV 应用于水下航行器的推力器容错控制策略
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347891
Jeremy G. Rauber, C. Santos, Antonio C. B. Chiella, Lucas R. H. Motta
{"title":"A strategy for thruster fault-tolerant control applied to an AUV","authors":"Jeremy G. Rauber, C. Santos, Antonio C. B. Chiella, Lucas R. H. Motta","doi":"10.1109/MMAR.2012.6347891","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347891","url":null,"abstract":"In this article we discuss the dynamic modelling of the propulsion system of an autonomous underwater vehicle (AUV), and also a method of fault tolerant control in an AUV that has four vertical and two horizontal thrusters. Firstly we made an analysis of the dynamic and kinematic effects of the vehicle, subsequently we did an analysis of dynamic propulsion system and then found out the state of the art of the underwater vehicle. Through a series of simulations, it was validated our propulsion model system and its efficiency of the fault tolerant control working in conjunction with the purpose of the vehicle to follow a desired path even when some thrusters is faulty.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"21 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134259394","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
Sufficiency conditions for pole assignment in column-regularizable implicit linear systems 列可正则隐式线性系统极点配置的充分条件
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347844
T. Korotka, J. Loiseau, P. Zagalák, V. Kučera
{"title":"Sufficiency conditions for pole assignment in column-regularizable implicit linear systems","authors":"T. Korotka, J. Loiseau, P. Zagalák, V. Kučera","doi":"10.1109/MMAR.2012.6347844","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347844","url":null,"abstract":"The paper is devoted to the problem of pole assignment by state feedback in non-square implicit linear systems. In particular, the proof of Theorem 4.6 in [5] (here Theorem 1) is completed by a proof of sufficiency conditions, providing a complete solution to the problem of pole assignment in the case of column regularizable systems.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"5 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":"133286211","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
Design of gain scheduling anti-sway crane controler using genetic fuzzy system 基于遗传模糊系统的增益调度防摇起重机控制器设计
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347822
J. Smoczek, J. Szpytko
{"title":"Design of gain scheduling anti-sway crane controler using genetic fuzzy system","authors":"J. Smoczek, J. Szpytko","doi":"10.1109/MMAR.2012.6347822","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347822","url":null,"abstract":"The objective of the paper is to describe the genetic fuzzy-based method of designing the gain scheduling control system, which is the effective and wide used adaptive technique based on varying controller parameters according to the exogenous variables. The problem is addressed in the paper to find the minimum set of linear controllers scheduled by fuzzy interpolation scheme. The proposed method is based on the pole placement approach and interval mathematic used to define the desired region of poles around the operating point at which the controller is designed. The genetic algorithm is used to explore of searching space by competition between the fuzzy gain scheduling systems differing in number of fuzzy partitions distributed within the intervals of scheduling variables, and fine tuning the membership functions. The proposed approach is addressed in the paper to the anti-sway crane control problem.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"75 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":"133118270","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
Using a recursive least square algorithm for identification of interconnected linear discrete-time delay multivariable systems 用递推最小二乘算法辨识互联线性离散时滞多变量系统
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347884
S. Bedoui, M. Ltaief, K. Abderrahim
{"title":"Using a recursive least square algorithm for identification of interconnected linear discrete-time delay multivariable systems","authors":"S. Bedoui, M. Ltaief, K. Abderrahim","doi":"10.1109/MMAR.2012.6347884","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347884","url":null,"abstract":"An algorithm for simultaneous identification of unknown time delays and parameters of interconnected discrete-time delay multivariable systems is proposed in this paper. This algorithm consists in constructing a linear-parameter formulation by building a generalized vector observation of each subsystem and using the recursive least squares approach to solve the obtained system. Simulation example results are presented to illustrate the performance of the proposed approach.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"56 5 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":"116515165","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
On robust PID control for time-delay plants 时滞对象的鲁棒PID控制
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347828
W. Krajewski, U. Viaro
{"title":"On robust PID control for time-delay plants","authors":"W. Krajewski, U. Viaro","doi":"10.1109/MMAR.2012.6347828","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347828","url":null,"abstract":"This paper presents an easily implementable method for determining the set of PID controllers that stabilize an LTI system with or without a time delay while satisfying certain robustness requirements. The adopted approach, which does not require approximating the time delay or solving complex non-algebraic equations, draws directly on the graphic approach suggested in [1], [2], [3] for PI controllers and first-order-plus-dead-time processes. In particular, it is shown that, on suitable cross sections of the parameter space, the boundary of the regions where a given H∞ margin is ensured is the envelope of families of ellipses whose centres lie on the stability boundary. The loci of constant crossover frequencies, strictly related to the achievable passbands, are also displayed. The technique is applied to some benchmark examples with the aid of dedicated software.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"303 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":"114858429","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
Observer-based predictive temperature control for distributed heating systems based on the method of integrodifferential relations 基于积分微分关系方法的分布式供热系统观测器预测温度控制
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347830
A. Rauh, Luise Senkel, Christina Dittrich, H. Aschemann
{"title":"Observer-based predictive temperature control for distributed heating systems based on the method of integrodifferential relations","authors":"A. Rauh, Luise Senkel, Christina Dittrich, H. Aschemann","doi":"10.1109/MMAR.2012.6347830","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347830","url":null,"abstract":"In many practical applications, the control design for thermal systems aims at either preventing local overtemperatures or at achieving temperature distributions which are homogeneous in the spatial coordinates. For the purpose of control synthesis, the nonstationary system model, which is naturally given by a parabolic partial differential equation, is commonly discretized in the spatial coordinate to derive realtime applicable control laws. However, classical finite volume discretization procedures as well as finite element techniques do not allow for a direct quantification of the resulting approximation quality of the finite-dimensional model that is used for the control synthesis. In contrast, the method of integrodifferential relations (MIDR) provides a direct possibility to quantify the approximation quality. In this paper, the MIDR is therefore employed to design an observer-based predictive control strategy for a distributed heating system. Moreover, experimental results are presented in which the advantages of the MIDR system formulation are highlighted in comparison with a cascaded state and output feedback control approach derived on the basis of a classical finite volume model.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"38 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":"122830474","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
Adaptive tracking control of uncertain SISO nonlinear systems 不确定SISO非线性系统的自适应跟踪控制
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347863
Z. Zwierzewicz
{"title":"Adaptive tracking control of uncertain SISO nonlinear systems","authors":"Z. Zwierzewicz","doi":"10.1109/MMAR.2012.6347863","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347863","url":null,"abstract":"In the paper we consider adaptive tracking control problem of a class of partially unknown, nonlinear systems in affine form. The proposed here output feedback linearizing controller plus parameter tuning law ensure asymptotic tracking via adaptive compensation of linearly parametrized model nonlinearities. A new feature is that this controller does not require multiple differentiation of the system output which could be problematic especially for the systems of higher relative degree.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"48 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":"122849033","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
Optimal control of a ball pitching robot 投球机器人的最优控制
2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI: 10.1109/MMAR.2012.6347845
Esubalewe Lakie Yedeg, E. Wadbro
{"title":"Optimal control of a ball pitching robot","authors":"Esubalewe Lakie Yedeg, E. Wadbro","doi":"10.1109/MMAR.2012.6347845","DOIUrl":"https://doi.org/10.1109/MMAR.2012.6347845","url":null,"abstract":"Summary form only given. We study a two-link pitching robot, with an active gripping mechanism and aim to make it throw a ball as far as possible. The two links are connected at the elbow joint by a linear torsional spring. The gripping mechanism is able to hold a ball and release it at any specified time. The two-link pitching robot is connected to a motor shaft at the shoulder joint by a non-linear torsional spring. The shoulder joint is held fixed at the origin of the coordinate system. The configuration of the arm and the motor shaft is illustrated in Figure 1 and described by the angels q1 and qm, measured with respect to the horizontal axis, respectively, whereas q2 denote the angle change between the arm and forearm at the elbow joint.","PeriodicalId":305110,"journal":{"name":"2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"84 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120816126","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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