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Neurofuzzy based temperature prediction of an industrial polymerization reactor in real time 基于神经模糊的工业聚合反应器温度实时预测
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-01 DOI: 10.1109/CDC.2015.7402631
F. Aller, L. F. Blázquez, L. J. Miguel
{"title":"Neurofuzzy based temperature prediction of an industrial polymerization reactor in real time","authors":"F. Aller, L. F. Blázquez, L. J. Miguel","doi":"10.1109/CDC.2015.7402631","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402631","url":null,"abstract":"The ultimate purpose of this work is the real-time control of a semibatch emulsion polymerization reaction. The main variable under control is the temperature inside the reactor. The keypoint to get accurate control is the early detection of temperature deviations. A neurofuzzy network has been trained to predict the temperature from some of the previously calculated variables. This approach aims to extend the prediction horizon with which the temperature is predicted to an order of magnitude of minutes, based on variables which are not measured online but rather estimated using a reduced calorimetric model. This methodology has been applied to data from a real life emulsion polymerization reactor, and in order to allow its implementation in this factory, it has been ensured that all of the operations can be performed in real time by a common Programmable Logic Controller (PLC). The resulting set of equations predicts the temperature several minutes in advance with good accuracy.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122690153","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
Optimal mean square control using the continuous stream model of computation 最优均方控制采用连续流模型进行计算
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-01 DOI: 10.1109/CDC.2015.7402494
D. Fontanelli, L. Greco, L. Palopoli
{"title":"Optimal mean square control using the continuous stream model of computation","authors":"D. Fontanelli, L. Greco, L. Palopoli","doi":"10.1109/CDC.2015.7402494","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402494","url":null,"abstract":"We consider the problem of optimal allocation of computation resources to a set of control tasks sharing a CPU. Each task is used to control a linear and time invariant plant affected by noise and is supposed to have a computation time with known distribution. The metric we use to express the Quality of Control (QoC) is a function of the steady state covariance of the state. We show how the combination of a Resource Reservation scheduler with an unconventional model of computation known as Continuous Stream produces a system that is easy to analyse. In particular, it is possible to compute the QoC of each control loop as a function of the fraction of CPU (bandwidth) that the task receives, and formalise an optimisation problem where a global QoC metric is defined that consolidates the QoC of each task. We show an efficient solution to this optimisation problem and validate its efficacy on a set of numeric examples.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122737139","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
Fully distributed adaptive consensus control of multi-agent systems with LQR performance index 具有LQR性能指标的多智能体系统的全分布式自适应共识控制
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-01 DOI: 10.1109/CDC.2015.7402231
Zhenhong Li, Z. Ding
{"title":"Fully distributed adaptive consensus control of multi-agent systems with LQR performance index","authors":"Zhenhong Li, Z. Ding","doi":"10.1109/CDC.2015.7402231","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402231","url":null,"abstract":"This paper deals with fully distributed consensus control of linear multi-agent systems in continuous-time. The subsystems or the agents are connected by an undirected graph with unknown network connectivity, which is then estimated by a carefully designed adaptive scheme. With this adaptive scheme, the proposed control design only uses the relative state information of the subsystems in a neighbourhood. This makes the proposed control fully distributed, without the use of the network connectivity that requires the Laplacian matrix of the entire network. The proposed control is also guaranteed to achieve an optimal control performance index.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"509 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122761936","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
Nonlinear design and stability analysis with experimental validation of cascaded pi controlled dc/dc boost converters 级联pi控制dc/dc升压变换器的非线性设计与稳定性分析及实验验证
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-01 DOI: 10.1109/CDC.2015.7403008
K. F. Krommydas, A. Alexandridis
{"title":"Nonlinear design and stability analysis with experimental validation of cascaded pi controlled dc/dc boost converters","authors":"K. F. Krommydas, A. Alexandridis","doi":"10.1109/CDC.2015.7403008","DOIUrl":"https://doi.org/10.1109/CDC.2015.7403008","url":null,"abstract":"Nonlinear proportional-integral cascaded controllers that guarantee stability are proposed for the challenging problem of regulating the output voltage of dc/dc boost power converters. In order to examine whether the proposed controllers can achieve stable operation, a novel stability analysis is introduced, which incorporates the advanced nonlinear concept of input-to-state stability and exploits the cascaded structure of the closed-loop system. This new methodology succeeds in proving asymptotic stability of the complete closed-loop system, under the only constraint of selecting negative feedback-loops. However, since the cascaded controller design is based on the time-scale separation assumption, a systematic tuning method is conducted for the accurate gain selection of both the inner-loop and outer-loop controllers. Finally, the theoretical analysis and the system performance are fully verified by simulation results which are further validated by experimental tests.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122614272","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
Observer-based robust coordinated tracking of multi-agent systems with input saturation 输入饱和的多智能体系统基于观测器的鲁棒协调跟踪
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-01 DOI: 10.1109/CDC.2015.7402228
Xiaoling Wang, Housheng Su, Xiao Fan Wang
{"title":"Observer-based robust coordinated tracking of multi-agent systems with input saturation","authors":"Xiaoling Wang, Housheng Su, Xiao Fan Wang","doi":"10.1109/CDC.2015.7402228","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402228","url":null,"abstract":"This paper addresses the robust semi-global coordinated tracking problem of multiple-input multiple-output (MIMO) multi-agent systems with input saturation and communication noise. A distributed observer-based coordinated tracking protocol is constructed by combining a novel parameterized low-and-high feedback technique with the high-gain observers design approach. It is shown that, under the assumptions that each agent is asymptotically null-controllable with bounded controls and the network is connected, semi-global consensus tracking or semi-global swarm tracking can be attained for left-invertible and minimal-phase systems.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114157156","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 data-driven approach to nonlinear braking control 非线性制动控制的数据驱动方法
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-01 DOI: 10.1109/CDC.2015.7402415
C. Novara, S. Formentin, S. Savaresi, M. Milanese
{"title":"A data-driven approach to nonlinear braking control","authors":"C. Novara, S. Formentin, S. Savaresi, M. Milanese","doi":"10.1109/CDC.2015.7402415","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402415","url":null,"abstract":"In modern road vehicles, active braking control systems are crucial elements to ensure safety and lateral stability. Unfortunately, the wheel slip dynamics is highly nonlinear and the on-line estimation of the road-tire conditions is still a challenging open research problem. These facts make it difficult to devise a braking control system that is reliable in any situation without being too conservative. In this paper, we propose the Data-Driven Inversion Based Control (D2-IBC) approach to overcome the above issues. The method relies on a two degrees of freedom architecture, with a linear controller and a nonlinear controller in parallel, both designed using only experimental data. The effectiveness of the proposed approach is shown by means of an extensive simulation campaign.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114441136","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
Adaptive output-feedback fault-tolerant tracking control for mobile robots under partial loss of actuator effectiveness 部分执行器效能损失下的移动机器人自适应输出反馈容错跟踪控制
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-01 DOI: 10.1109/CDC.2015.7403212
Yeong-Hwa Chang, Chun-I Wu, Cheng-Yuan Yang
{"title":"Adaptive output-feedback fault-tolerant tracking control for mobile robots under partial loss of actuator effectiveness","authors":"Yeong-Hwa Chang, Chun-I Wu, Cheng-Yuan Yang","doi":"10.1109/CDC.2015.7403212","DOIUrl":"https://doi.org/10.1109/CDC.2015.7403212","url":null,"abstract":"This paper presents an output-feedback fault-tolerant control scheme for mobile robots, where a set of dynamic equations of differential wheeled robots can be obtained from kinematics and dynamics analyses. Based on backstepping techniques with low-pass filters, the proposed control law can be derived. In particular, the problem of the partial loss of actuator effectiveness and unmeasured states is investigated. It can be shown that all closed-loop signals are uniformly ultimately bounded using Lyapunov stability analysis. Finally, results of simulations verify that the desired control object can be preserved under various uncertainties and actuator faults.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114445960","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
An energy efficient trajectory tracking controller for car-like vehicles using Model Predictive Control 一种基于模型预测控制的类车节能轨迹跟踪控制器
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-01 DOI: 10.1109/CDC.2015.7402789
Mauro Salazar, A. Alessandretti, Antonio Pedro Aguiar, C. Jones
{"title":"An energy efficient trajectory tracking controller for car-like vehicles using Model Predictive Control","authors":"Mauro Salazar, A. Alessandretti, Antonio Pedro Aguiar, C. Jones","doi":"10.1109/CDC.2015.7402789","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402789","url":null,"abstract":"A Model Predictive Control (MPC) strategy for energy efficient motion control of car-like vehicles is presented. First, a nonlinear control law for trajectory tracking is derived and used to design a trajectory tracking MPC controller with convergence guarantees to a desired position trajectory. Then, assuming electric propulsion, a performance index reflecting the energy consumption of the vehicle is derived and combined with the stabilizing stage cost of the MPC controller. The resulting strategy drives the vehicle through energy efficient trajectories around the desired one. The distance between the closed-loop trajectories and the desired one provided by the user is guaranteed to be ultimately bounded. Numerical results show the effectiveness of the proposed control strategy for the case of a car driven through flat land or mountainous territory.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114577128","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: 13
Minimized coupling in probability sense for a class of multivariate dynamic stochastic control systems 一类多变量动态随机控制系统的概率最小耦合
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-01 DOI: 10.1109/CDC.2015.7402479
Qichun Zhang, Jinglin Zhou, Hong Wang, T. Chai
{"title":"Minimized coupling in probability sense for a class of multivariate dynamic stochastic control systems","authors":"Qichun Zhang, Jinglin Zhou, Hong Wang, T. Chai","doi":"10.1109/CDC.2015.7402479","DOIUrl":"https://doi.org/10.1109/CDC.2015.7402479","url":null,"abstract":"This paper presents a novel concept which is firstly established to describe the probabilistic property of the couplings among system states. Based on this concept, a new algorithm is presented to minimize the elements of the states covariance matrix for a class of multivariate dynamic stochastic nonlinear systems, which are represented by a set of Ito̅ stochastic differential equations. Since the measurable covariance matrix is dynamically related to the control inputs, this controller combines feedback linearization, covariance control and LQR can thus attenuate the pairwise dependence of the states. Moreover, decoupling in probability sense can be realized. The mean square stability is proved for the closed loop systems. To evaluate the performance of the closed loop systems with different controllers, the assessment criterion is proposed. An illustrative example is utilized to demonstrate the use of the control algorithm, and desired results have been obtained.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122016465","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: 19
A loopshaping approach to controller design in networks of linear systems 线性系统网络控制器设计中的环整形方法
2015 54th IEEE Conference on Decision and Control (CDC) Pub Date : 2015-12-01 DOI: 10.1109/CDC.2015.7403207
R. Pates
{"title":"A loopshaping approach to controller design in networks of linear systems","authors":"R. Pates","doi":"10.1109/CDC.2015.7403207","DOIUrl":"https://doi.org/10.1109/CDC.2015.7403207","url":null,"abstract":"A method for designing a set of controllers to robustly stabilise a network of linear systems is presented. The method allows the design of each controller to be posed as a loopshaping problem. Critically each loopshaping problem requires only local knowledge of the overall system model to formulate, and may be solved separately. Furthermore the approach is inherently scalable, as any local changes to the network model can be accommodated through the design of the corresponding local controllers, leaving all the others untouched.","PeriodicalId":308101,"journal":{"name":"2015 54th IEEE Conference on Decision and Control (CDC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122195968","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
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