2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)最新文献_第5页

Experimental Validation of Quadrotors Angular Stability in a Gyroscopic Test Bench 陀螺试验台四旋翼角稳定性的实验验证

2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540660

M. F. Santos, M. F. Silva, V. Vidal, L. Honório, V. M. L. Lopes, L. A. Z. Silva, H. B. Rezende, J. M. S. Ribeiro, A. Cerqueira, A. Pancoti, B. A. Regina

引用次数: 7

Efficient modelling and control design for suppression of pressure oscillations in an industrial condensation process 工业冷凝过程中压力振荡抑制的有效建模和控制设计

2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540686

C. Lohninger, B. Voglauer, Klaus Matheis-Weiss, M. Kozek

{"title":"Efficient modelling and control design for suppression of pressure oscillations in an industrial condensation process","authors":"C. Lohninger, B. Voglauer, Klaus Matheis-Weiss, M. Kozek","doi":"10.1109/ICSTCC.2018.8540686","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540686","url":null,"abstract":"In this paper, a simple yet versatile modelling approach for sinusoidal pressure oscillations in an industrial multi-stage condensation system and different control schemes for suppression are presented. The investigated condensation system is embedded in an extensive extraction system and is used to separate a hazardous substance out of a gas mixture. The main problem is posed by unknown and unmeasured process disturbances which may ultimately lead to pressure peaks exceeding the ambient pressure. When an over-pressure occurs, the hazardous substance may escape, and a safety shut-down is triggered. A surrogate model, based on observations and the physical motivation that a gas flow contains kinetic and potential energy, is developed. The model is then based on the momentum and the ideal gas equation. The validation shows a good agreement with measurements in the time and frequency domain. To suppress the oscillations and guarantee an under-pressure in the system a linear output feedback controller, an adaptive algorithm for rejection of sinusoidal disturbances and an LQR-Controller with integration of the control error are compared. The simulation shows that the readily implementable linear output feedback control scheme sufficiently suppresses the oscillations and safely keeps the pressure in the under-pressure range.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128754335","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

Nonlinear Identification of an Unmanned Quadcopter Rotor Dynamics using RBF Neural Networks 基于RBF神经网络的无人四轴飞行器旋翼动力学非线性辨识

2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540739

Paulin Kantue, J. Pedro

{"title":"Nonlinear Identification of an Unmanned Quadcopter Rotor Dynamics using RBF Neural Networks","authors":"Paulin Kantue, J. Pedro","doi":"10.1109/ICSTCC.2018.8540739","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540739","url":null,"abstract":"The unmodelled rotor dynamics in accelerated flight have a negative effect in the robustness and performance of an unmanned quadcopter, which could result in mission failure in adverse conditions or rotor faults. The nonlinear identification of an unmanned quadcopter rotor dynamics is investigated in this paper. The rotor dynamics are considered in terms of a first-order flapping dynamic model with the dynamics estimated using the radial basis function (RBF) neural networks. A RBF structure based on a continuous forward algorithm (CFA) is implemented for the estimation of a longitudinal rotor flapping dynamic coefficient. This was achieved through optimal input design by the maximization of the spectral density function and predicting the resonant frequency response from the RBF output. This was computed at various trim speeds and training data noise levels and compared with a linear model. The prediction accuracy and robustness to noise of the CFA algorithm proved that the proposed approach can result in better understanding of quadcopter flapping dynamic for high fidelity flight controller design.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116360999","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

Decentralized Model Predictive Control for N and P removal in wastewater treatment plants 污水处理厂氮磷去除的分散模型预测控制

2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540675

X. Hongyang, C. Pedret, I. Santín, R. Vilanova

引用次数: 7

Time-delay Tolerant Control of an Omnidirectional Multi-agent System for Transport Operations 运输操作全向多智能体系统的时延容忍控制

2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540692

J. Alvarez-Muñoz, J. Escareño, F. Méndez-Barrios, I. Boussaada, S. Niculescu, D. Nieto-Hern’andez

{"title":"Time-delay Tolerant Control of an Omnidirectional Multi-agent System for Transport Operations","authors":"J. Alvarez-Muñoz, J. Escareño, F. Méndez-Barrios, I. Boussaada, S. Niculescu, D. Nieto-Hern’andez","doi":"10.1109/ICSTCC.2018.8540692","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540692","url":null,"abstract":"This paper proposes a solution regarding the general consensus of a multi-agent time-delay system in order to achieve interactive and transport operations. The multi-agent system consists of a set of omni directional mobile robots equipped with vision based systems and interactive tools. It is well known that the vision-based systems and the communication between agents produce time-delays, causing stability issues for consensus and formation control. The present work deals with a high precision consensus by means of a time-delay tolerant control law. First, the mathematical model of every agent is presented. Then, this dynamic model is extended to the set of robots conforming the multi-agent system. After that, a control law, consisting of a time-delay tolerant strategy allows orientation and position consensus. The formulation of a simple algorithm for orientation and position formations for the set of robots is presented. Finally, simulation results validate the proposed control strategy and compare the results when time-delay is present in the system or not for an object transport scenario.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117224459","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

Implementation of a home appliance mobile platform based on computer vision: self-charging and mapping 一个基于计算机视觉的家电移动平台的实现:自充电与映射

2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540685

Florin-Dan Secuianu, C. Lupu

{"title":"Implementation of a home appliance mobile platform based on computer vision: self-charging and mapping","authors":"Florin-Dan Secuianu, C. Lupu","doi":"10.1109/ICSTCC.2018.8540685","DOIUrl":"https://doi.org/10.1109/ICSTCC.2018.8540685","url":null,"abstract":"One of the key features of a fully autonomous mobile robot is represented by the ability to recharge itself with energy. This paper proposes a solution for recharging an autonomous mobile robot with power so that it can perform tasks with little or no human intervention. This paper continues our work on the implementation of a mobile platform based on computer vision. In a previous paper, we implemented the foundation of the platform, in which a mobile robot detected several targets and navigated autonomously between them. We have shown that a small-size computer is perfectly capable of performing multiple tasks such as object detection, processing input data from distance sensors, sending movement commands to electric motors. The charging areas are marked with specific signs that the mobile robot can recognize using computer vision software and specific algorithms. The robot can navigate to such an area, connect to a socket, fully recharge with energy, disconnect and resume its preset activities. The prototype for this study uses in-house developed software based on OpenCV graphic library, Python language, Unix-like operating system - Debian Jessie and low-cost, high performance computer Raspberry Pi 3, model B with a CPU at 1.2 GHz 64bit quad-core ARM, 1GB of RAM, commercial robotic kits, ultrasonic sensors, Raspberry Pi camera, commercial Li-Po rechargeable battery and adaptor, a wireless charging kit, and a digital compass. The paper presents a series of promising results obtained with this structure, which could be used as a platform for future applications in various fields.","PeriodicalId":308427,"journal":{"name":"2018 22nd International Conference on System Theory, Control and Computing (ICSTCC)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114621641","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

Fast Disturbance Rejection in MIMO Process Based on Algorithms Switching 基于切换算法的MIMO过程快速抗干扰

2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540729

C. Lupu, Cosmin-Constantin Mihai, Florin-Dan Secuianu, C. Petrescu

引用次数: 9

Hyper-Redundant Arm with ER Fluid Based Actuator and Control System 基于ER流体作动器和控制系统的超冗余臂

2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540647

I. Vladu, V. Stoian

引用次数: 1

Second-Order Agents on Ring Digraphs 环有向图上的二阶智能体

2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/ICSTCC.2018.8540656

S. Parsegov, P. Chebotarev

引用次数: 2

ICSTCC 2018 Committees

2018 22nd International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2018-10-01 DOI: 10.1109/icstcc.2018.8540750

引用次数: 0