2018 Indian Control Conference (ICC)最新文献_第2页

Active disturbance rejection control with adaptive rate limitation for process control application 自适应速率限制自抗扰控制在过程控制中的应用

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307966

R. Desai, B. Patre, S. Pawar

引用次数: 7

An enhanced IAF-MPNLMS algorithm for sparse system identification 稀疏系统识别的增强IAF-MPNLMS算法

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307980

Ankit Deshmukh, M. Venkatesh, G. Ray

{"title":"An enhanced IAF-MPNLMS algorithm for sparse system identification","authors":"Ankit Deshmukh, M. Venkatesh, G. Ray","doi":"10.1109/INDIANCC.2018.8307980","DOIUrl":"https://doi.org/10.1109/INDIANCC.2018.8307980","url":null,"abstract":"For a highly sparse impulse response the modified proportionate normalized least-mean-square (MPNLMS) algorithm converges slowly during the update of small coefficients, because the proportionality of these coefficients is ignored in the learning process of the algorithm. An individual-activation factor (IAF)-MPNLMS algorithm resolves this problem by assigning individual activation factors for the coefficients. However, it suffers from slow convergence if the input signal is highly correlated. In Enhanced (E)IAF-PNLMS algorithm, a new gain distribution strategy for the coefficients that have already almost converged is introduced. In this paper, a square-root(non-linear) activation factor is suggested for the IAF-MPNLMS algorithm and subsequently, gain redistribution strategy following the procedure given in the EIAF-PNLMS algorithm is adopted in updating the tap coefficients. The proposed algorithm converges faster than EIAF-PNLMS as well as with the other well-known MPNLMS and IAF-MPNLMS algorithms for identification of sparse system when input signal becomes highly correlated. We conclude numerical experiments to illustrate the performance of the proposed (EIAF-MPNLMS) algorithm. Simulation results exhibit that the EIAF-MPNLMS algorithm achieves faster convergence, outperforming the EIAF-PNLMS and other existing PNLMS type algorithms.","PeriodicalId":338695,"journal":{"name":"2018 Indian Control Conference (ICC)","volume":"51 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":"128193192","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

CAN-based networked path-tracking control of a 4WS4WD electric vehicle: Minimum sampling period 基于can的4WS4WD电动汽车网络路径跟踪控制:最小采样周期

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/indiancc.2018.8308007

A. Singh, R. Potluri

{"title":"CAN-based networked path-tracking control of a 4WS4WD electric vehicle: Minimum sampling period","authors":"A. Singh, R. Potluri","doi":"10.1109/indiancc.2018.8308007","DOIUrl":"https://doi.org/10.1109/indiancc.2018.8308007","url":null,"abstract":"An earlier work of the authors presented a multi-input multi-output (MIMO) path-tracking control system (PTCS) for an autonomous version of the four-wheel steering four-wheel drive (4WS4WD) electric vehicle. This PTCS has a supervisor module controlling eight motor control system modules. Since a serial communication link has several advantages over point-to-point wiring, the practical implementation planned by the authors of the PTCS has these nine modules forming feedback loops over a Controller Area Network (CAN) protocol-based serial link, thereby forming a networked control system (NCS). However, the MIMO nonlinear loops in the PTCS turn the selection of the minimum and maximum sampling periods TS min and TS max for a digital implementation, while factoring the time delays introduced by the communication, into a non-trivial task. Almost all the available literature on CAN-based NCS treats the protocol as a black box involving uncertain communication delays, resulting in high order controllers that are conservative. This paper solves the controller order and conservativeness problem by determining Ts min through a systematic audit of the time delays caused by the communication and by controller code execution, and validates the theoretical results through a hardware-in-the-loop simulation. The techniques shown are promising for applications involving coordination of multiple actuators and for CAN-based NCS.","PeriodicalId":338695,"journal":{"name":"2018 Indian Control Conference (ICC)","volume":"9 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":"121781026","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

Synchronization of multiple linear systems with communication delay 具有通信延迟的多线性系统的同步

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307994

Souradip De, S. R. Sahoo, A. Mahindrakar, P. Wahi

{"title":"Synchronization of multiple linear systems with communication delay","authors":"Souradip De, S. R. Sahoo, A. Mahindrakar, P. Wahi","doi":"10.1109/INDIANCC.2018.8307994","DOIUrl":"https://doi.org/10.1109/INDIANCC.2018.8307994","url":null,"abstract":"In this paper the problem of state and output synchronization of multi-agent systems with individual identical linear dynamics has been considered in the presence of constant and homogeneous communication delay. A linear synchronization protocol is introduced to perceive distributive control strategy which uses delayed information of states from the neighbouring agents. For marginally unstable dynamics of agents, maximum possible delay margin has been found. The delay margin depends both on the system matrix of the agent dynamics and network topology for directed graph whereas for undirected graph it depends only on the system matrix of the agents. However, for single-integrator and double-integrator agents, proposed protocol ensures synchronization with arbitrarily large bounded delay. A condition on coupling strength is derived for the proposed control methodology to tolerate delay less than the delay margin. It has been shown that the eigenvalues of the Laplacian matrix representing the communication topology are crucial in finding the condition for reaching synchronization. The idea of state synchronization is extended to output synchronization by the use of Luenberger observer. Finally, numerical simulations are provided to illustrate the results.","PeriodicalId":338695,"journal":{"name":"2018 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":"132541146","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

Singularity analysis of rooftop configuration 屋顶结构奇异性分析

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8308000

T. Vishnu, H. Simha, Priyadarshnam

{"title":"Singularity analysis of rooftop configuration","authors":"T. Vishnu, H. Simha, Priyadarshnam","doi":"10.1109/INDIANCC.2018.8308000","DOIUrl":"https://doi.org/10.1109/INDIANCC.2018.8308000","url":null,"abstract":"Control Moment Gyroscopes are widely used momentum exchange devices with spinning rotors and one or more actuated gimbals. The primary problem associated with a control moment gyroscope array is the existence of singularities. Singularities occur when the torque vector is constrained to a plane or a line and hence torque cannot be generated in IR3 space. In this paper, we study the singularity of the rooftop arrangement of a control moment gyroscope array using a recently developed model for control moment gyroscope dynamics. The effect of a non-zero offset between the gimbal and rotor center of masses on the singularity properties of a rooftop configuration is the focus of the study. This study was carried out by numerical simulation of the matrix relating the angular momentum contribution of the single gimbal control moment gyroscope array and the gimbal angle rates for a large number of permutation of the gimbal angles. Comparison with that of the classical model of a control moment gyroscope is carried out. A Lie group geometrical variational integrator was used to implement a pointing maneuver using the rooftop arrangement to study the results obtained from the previous numerical simulation.","PeriodicalId":338695,"journal":{"name":"2018 Indian Control Conference (ICC)","volume":"39 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":"126577666","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

Efficient Simulation of Electro-Thermal Microgripper using PMOR 基于PMOR的电热微夹持器高效仿真

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307978

A. Roy, M. Nabi

引用次数: 3

A stochastic resampling based selective particle filter for visual object tracking 基于随机重采样的选择性粒子滤波视觉目标跟踪

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307951

Neilay Khasnabish, K. Detroja

引用次数: 1

MIMO PID compensation for dynamic positioning of a ship 船舶动态定位的MIMO PID补偿

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307967

Rohan S Soman, Falguni Gopmandal, A. Ghosh

{"title":"MIMO PID compensation for dynamic positioning of a ship","authors":"Rohan S Soman, Falguni Gopmandal, A. Ghosh","doi":"10.1109/INDIANCC.2018.8307967","DOIUrl":"https://doi.org/10.1109/INDIANCC.2018.8307967","url":null,"abstract":"The design of a suitable controller for dynamic positioning (DP) of a ship is a challenging task because of the presence of nonlinearity, model uncertainty, high channel interaction, environmental disturbances (wind, waves), etc. This paper is concerned with multivariable PID compensation for dynamic positioning control of a ship. For this purpose, a 3-Degree-of-Freedom (DoF) nonlinear model suitable for dynamic ship positioning is obtained from rigid body and hydrodynamic equations of motion in 6-DoF. The multi-input multi-output (MIMO) PID control is designed for the linearized system obtained from nonlinear system around an operating point. For design of PID gains, the PID control problem is transformed into state feedback control design. The state feedback gains are designed using optimal linear quadratic regulator (LQR) method. To improve the reference input to output characteristics of the control system, a feedforward gain is added to the PID controller and designed using LMI-based method. The performance of the control system designed is studied through simulations of the nonlinear system in presence of low frequency and high frequency environmental disturbances that occur in ship dynamic positioning system. Robustness of the system is also studied.","PeriodicalId":338695,"journal":{"name":"2018 Indian Control Conference (ICC)","volume":"1 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":"122193145","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

Design of discrete-time Kalman filter based delay compensator for Rhodium-103 SPND 基于离散卡尔曼滤波的铑-103 SPND延迟补偿器设计

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307952

Tarun Mutneja, T. U. Bhatt, A. Tiwari, S. Jain, K. Nathani, S. Sen

{"title":"Design of discrete-time Kalman filter based delay compensator for Rhodium-103 SPND","authors":"Tarun Mutneja, T. U. Bhatt, A. Tiwari, S. Jain, K. Nathani, S. Sen","doi":"10.1109/INDIANCC.2018.8307952","DOIUrl":"https://doi.org/10.1109/INDIANCC.2018.8307952","url":null,"abstract":"Rhodium-103 Self-Powered Neutron Detectors (SPNDs) are used in typical Pressurized Water Reactors (PWRs) for flux measurement. They are slow responding neutron detectors. The slow response of Rhodium-103 SPND restricts its direct use for monitoring, control and determination of parameters like neutron flux distribution, local flux peaking. These reactor parameters are indirectly calculated in terms of Departure from Nucleate Boiling Ratio (DNBR) & Linear Heat Generation Rate (LHGR), so that the extracted power limits from Fuel Assembly do not exceed the design limit. Whereas benefits offered by Rhodium-103 SPNDs like simple response, ease in handling and replacement from core etc., make them suitable candidates for this applications. In this paper, the goal is to develop a Discrete-Time Kalman Filter (DTKF) based delay compensator to improve the response time of Rhodium-103 SPNDs. The simulation results of delay compensation algorithm of Rhodium-103 SPND are compared with the collected data from 1000 MWe VVER units-1&2, Kudankulam, India. It is established that the simulation output is in very good agreement with the prompt responding Ex-core (Ion chamber) detectors. This puts the possibility of using Rhodium-103 detectors for fuel health monitoring inside reactor core.","PeriodicalId":338695,"journal":{"name":"2018 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":"115139259","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

Event-triggered control of vehicle active suspension systems 车辆主动悬架系统的事件触发控制

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307974

K. Bansal, P. Mukhija

引用次数: 9