2018 Indian Control Conference (ICC)最新文献_第5页

Low complexity block distributed Kalman filtering for interacting systems 面向交互系统的低复杂度块分布卡尔曼滤波

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307953

K. Babu, K. Detroja

引用次数: 0

Internal model controller for CFBC boiler using neural networks 基于神经网络的循环流化床锅炉内模控制器

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307991

B. K. Sethi, J. Vinayak, N. Sivakumaran

引用次数: 3

Topology identification of sparse networks of continuous time systems 连续时间系统稀疏网络的拓扑识别

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307960

S. K. Varanasi, P. Jampana

引用次数: 0

Optimal path planning for a non-holonomic robot using interval analysis 基于区间分析的非完整机器人最优路径规划

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307975

Abhisha Chauhan, Pranjal Vyas, L. Vachhani, Arnab Maity

{"title":"Optimal path planning for a non-holonomic robot using interval analysis","authors":"Abhisha Chauhan, Pranjal Vyas, L. Vachhani, Arnab Maity","doi":"10.1109/INDIANCC.2018.8307975","DOIUrl":"https://doi.org/10.1109/INDIANCC.2018.8307975","url":null,"abstract":"Path planning of autonomous mobile robots in cluttered environment is a challenging and a well studied problem. The configuration space based methods are typically used for finding out the feasible and non-feasible areas for a mobile robot. Finding an optimal path considering admissible control inputs is challenging as it needs to explore all the possible options, present and future. The interval analysis approach can used for dividing the configuration space into feasible and non-feasible spaces. This technique is capable of dividing the space into intervals of different sizes which helps to cover the obstacles in a refined manner. This paper presents the computation of collision-free path using interval analysis between any two points in a 2D-environment cluttered with obstacles for a non-holonomic robot. The admissible control inputs for the robot are considered as constraints and are included in the configuration space parameters while computing the collision-free regions. The optimal shortest path between two points is computed using A∗ search algorithm and Pontryagin's minimum principle. Simulation results are shown using MATLAB by computing the path between two points considering selected control inputs as constraints.","PeriodicalId":338695,"journal":{"name":"2018 Indian Control Conference (ICC)","volume":"54 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":"127108482","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

Double integrator consensus in fixed time: A novel distributed algorithm for generalised networks 固定时间的双积分器一致性:广义网络的一种新的分布式算法

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307993

Arijit Sen, S. R. Sahoo, Mangal Kothari

引用次数: 0

Optimal sizing of PV panels and battery for grid connected load under dynamic pricing 动态定价下并网负荷光伏板和电池的最优尺寸

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307972

Dimple Raja, K. Detroja

引用次数: 1

MRAC and modified MRAC controller design for level process control 液位过程控制的MRAC及改进型MRAC控制器设计

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307981

R. Pawar, B. Parvat

引用次数: 6

A novel quad-rotor configuration capable of attitude control through center of gravity variation 一种新型四旋翼构型，能够通过重心变化进行姿态控制

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8308003

K. Siddhardha

{"title":"A novel quad-rotor configuration capable of attitude control through center of gravity variation","authors":"K. Siddhardha","doi":"10.1109/INDIANCC.2018.8308003","DOIUrl":"https://doi.org/10.1109/INDIANCC.2018.8308003","url":null,"abstract":"This paper considers the attitude control of rotor based unmanned aerial vehicles (UAVs) using center of gravity (CoG) variation. Towards this, a novel quadrotor attitude actuation system having movable control masses to vary its CoG is proposed. A detailed non-linear mathematical model is derived to capture the complex dynamics of this multi-body system — quad-rotor augmented with CoG varying actuators. The addition of CoG varying mechanism to a conventional quad-rotor leads to over actuation of the roll and pitch degrees of freedom. Therefore, control allocation is performed such that the roll and pitch degrees of freedom are controlled using CoG varying mechanism, whereas vertical motion and yaw stabilization is taken care of by the rotor angular speed control. Based on the developed mathematical model, an integral back-stepping controller is designed to stabilize and control the attitude and position of the proposed configuration. Further, the robustness of the designed controller and the proposed actuation mechanism is demonstrated through various simulations that are performed with measurement noise, and model and parameter uncertainties.","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":"134466033","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

Modified series cascade control strategy for integrating processes 集成过程的改进串联串级控制策略

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307987

G. Raja, Ahmad Ali

引用次数: 5

Stabilization of limit cycles in the Lorenz attractor through the orbit closure method 用轨道闭合法稳定Lorenz吸引子的极限环

2018 Indian Control Conference (ICC) Pub Date : 1900-01-01 DOI: 10.1109/INDIANCC.2018.8307984

Aravind Kumar, S. Ali, M. Friswell, A. Arockiarajan

{"title":"Stabilization of limit cycles in the Lorenz attractor through the orbit closure method","authors":"Aravind Kumar, S. Ali, M. Friswell, A. Arockiarajan","doi":"10.1109/INDIANCC.2018.8307984","DOIUrl":"https://doi.org/10.1109/INDIANCC.2018.8307984","url":null,"abstract":"This manuscript deals with the creation and stabilization of limit cycles in the Lorenz attractor with the help of orbit closure technique. Chaos control techniques such as the OGY and OPF techniques apply small perturbations to a system parameter to stabilize an unstable periodic orbit present in a chaotic attractor. But it may happen that the system parameters may not be available for control. For example, in structural systems, it is difficult to alter their geometry and material properties in real-time, so as to suppress chaos. In such cases, use of state feedback control will provide ease of implementation. The orbit closure technique is a novel method of controlling chaos wherein a finite time control effort is applied to the system states, once per period, to bring back the chaotic trajectory to a desired periodic orbit so as to stabilize it. In this manuscript, the orbit closure technique is applied to create and stabilize limit cycles of different time periods in the Lorenz attractor. The control effort required for closure of the orbits is provided through feedback linearization. As a pilot study, the efficacy of the proposed technique is demonstrated through numerical simulations in this manuscript. Further, the influence of the control gain on the shape and time period of the stabilized orbit is studied and reported.","PeriodicalId":338695,"journal":{"name":"2018 Indian Control Conference (ICC)","volume":"3 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":"123704185","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