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Cramer-Rao lower bound for parameters of random processes in navigation data processing 导航数据处理中随机过程参数的Cramer-Rao下界
21st Mediterranean Conference on Control and Automation Pub Date : 2013-06-25 DOI: 10.1109/MED.2013.6608874
O. Stepanov, V. A. Vasilyev, A. S. Dolnakova
{"title":"Cramer-Rao lower bound for parameters of random processes in navigation data processing","authors":"O. Stepanov, V. A. Vasilyev, A. S. Dolnakova","doi":"10.1109/MED.2013.6608874","DOIUrl":"https://doi.org/10.1109/MED.2013.6608874","url":null,"abstract":"The paper considers the problem of estimating the parameters of random processes often dealt with by researchers in the processing of navigation information as a problem of optimal nonlinear filtering. An algorithm for calculating the Cramer-Rao lower bound of estimation accuracy in this problem is suggested. The application of this algorithm is illustrated by two examples.","PeriodicalId":350383,"journal":{"name":"21st Mediterranean Conference on Control and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133602563","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
Nonlinear regulation for linear fat plants: The constant reference/disturbance case 线性脂肪植物的非线性调节:恒定参考/扰动情况
21st Mediterranean Conference on Control and Automation Pub Date : 2013-06-25 DOI: 10.1109/MED.2013.6608797
S. Galeani, G. Valmórbida
{"title":"Nonlinear regulation for linear fat plants: The constant reference/disturbance case","authors":"S. Galeani, G. Valmórbida","doi":"10.1109/MED.2013.6608797","DOIUrl":"https://doi.org/10.1109/MED.2013.6608797","url":null,"abstract":"In this paper, the output regulation problem for linear time invariant systems is considered, for the case of fat plants and constant exogenous signals, including both references to be tracked and (measured or unmeasured) disturbances to be rejected. It is shown that nonlinear (in particular, piecewise linear solutions) of the regulator equations are optimal solutions when either (input or state) constraints or very reasonable performance indices are introduced; hence, such solutions might be preferable to the standard, well known and easy linear solutions.","PeriodicalId":350383,"journal":{"name":"21st Mediterranean Conference on Control and Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133254586","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: 10
Freeway shockwave control using ramp metering and variable speed limits 高速公路冲击波控制使用匝道计量和可变速度限制
21st Mediterranean Conference on Control and Automation Pub Date : 2013-06-25 DOI: 10.1109/MED.2013.6608931
A. Csikós, I. Varga, K. Hangos
{"title":"Freeway shockwave control using ramp metering and variable speed limits","authors":"A. Csikós, I. Varga, K. Hangos","doi":"10.1109/MED.2013.6608931","DOIUrl":"https://doi.org/10.1109/MED.2013.6608931","url":null,"abstract":"In this work a novel controller design method is suggested for motorway shockwave management using ramp metering and variable speed limit (VSL) control. The proposed controller has a feedforward-feedback control structure that is designed for a motorway arterial model. For the feedback design the nonlinear model predictive control is used. The feedforward control is utilized to enhance the operability of the control system to high disturbances. Two different controllers are designed: while controller A uses continuous VSL signs, VSL input values of controller B is chosen from a discrete set. For the latter, a two-step optimization is used to decrease oscillations. The designed controllers are tested in a case study, in which a total traffic breakdown situation is modeled. In the uncontrolled case, the initial perturbation leads to a traffic jam with zero traffic speed, whereas the proposed control design is capable of preventing the congestion.","PeriodicalId":350383,"journal":{"name":"21st Mediterranean Conference on Control and Automation","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116408557","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: 12
Quantification of the multiplicative uncertainty in the linearized minimally parameterized parsimonious Wiener model for the neuromuscular blockade in closed-loop anesthesia 闭环麻醉中神经肌肉阻滞线性化最小参数化简约Wiener模型中乘法不确定性的量化
21st Mediterranean Conference on Control and Automation Pub Date : 2013-06-25 DOI: 10.1109/MED.2013.6608800
M. M. Silva, T. Wigren, A. Medvedev, T. Mendonça
{"title":"Quantification of the multiplicative uncertainty in the linearized minimally parameterized parsimonious Wiener model for the neuromuscular blockade in closed-loop anesthesia","authors":"M. M. Silva, T. Wigren, A. Medvedev, T. Mendonça","doi":"10.1109/MED.2013.6608800","DOIUrl":"https://doi.org/10.1109/MED.2013.6608800","url":null,"abstract":"In this paper the multiplicative uncertainty in the linearized minimally parameterized parsimonious Wiener model for the neuromuscular blockade is quantified. A set of model parameters was identified from input-output data collected in the surgery room from a population of fifty patients undergoing general anesthesia. The nominal model was considered to be the average of the transfer functions over all fifty realizations. The non-parametric and parametric methods that were implemented delivered similar beta-tolerance regions in the frequency domain for the multiplicative model uncertainty to be used in e.g. robust control design.","PeriodicalId":350383,"journal":{"name":"21st Mediterranean Conference on Control and Automation","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116527946","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
Modeling and analysis of a hybrid-energy system using fuzzy cognitive maps 基于模糊认知地图的混合能源系统建模与分析
21st Mediterranean Conference on Control and Automation Pub Date : 2013-06-25 DOI: 10.1109/MED.2013.6608731
Ioannis E. Karagiannis, P. Groumpos
{"title":"Modeling and analysis of a hybrid-energy system using fuzzy cognitive maps","authors":"Ioannis E. Karagiannis, P. Groumpos","doi":"10.1109/MED.2013.6608731","DOIUrl":"https://doi.org/10.1109/MED.2013.6608731","url":null,"abstract":"A hybrid energy system is an excellent solution to the problem of not being able to meet the power demand using a single energy source. Such a system incorporates a combination of one or more renewable energy source (RES) such as solar photovoltaic, wind-energy, geothermal, and could also have a conventional generator for backup. This paper discusses different system components of a hybrid energy system and develops a theoretical model to find an acceptable combination of energy components. A theoretical model of a hybrid energy system, using Fuzzy Cognitive Maps (FCMs) and learning algorithms, is presented. FCMs perform well even with missing data and despite nonlinearities, which such systems usually have. The simulation results verified the effectiveness and reliability of the proposed hybrid energy system.","PeriodicalId":350383,"journal":{"name":"21st Mediterranean Conference on Control and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116592479","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
Improvement of the BIS reference tracking performance in the presence of parameters uncertainties 参数不确定情况下BIS参考跟踪性能的改进
21st Mediterranean Conference on Control and Automation Pub Date : 2013-06-25 DOI: 10.1109/MED.2013.6608725
F. Nogueira, T. Mendonça, P. Rocha
{"title":"Improvement of the BIS reference tracking performance in the presence of parameters uncertainties","authors":"F. Nogueira, T. Mendonça, P. Rocha","doi":"10.1109/MED.2013.6608725","DOIUrl":"https://doi.org/10.1109/MED.2013.6608725","url":null,"abstract":"In this paper two controllers in parallel, each of them as proposed in [1] for the control of the total mass in SISO compartmental systems, are used to control the depth of anesthesia in patients (DoA) by means of the administration of propofol and remifentanil. These controllers are based on a parameter parsimonious Wiener model recently introduced in the literature. A strategy to solve the problem raised by the existence of uncertainties in the parameters of the patients models is presented. This technique significantly improves the performance of the controller.","PeriodicalId":350383,"journal":{"name":"21st Mediterranean Conference on Control and Automation","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125731300","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
Design and implementation of an H∞ controller for a quadrotor helicopter 四旋翼直升机H∞控制器的设计与实现
21st Mediterranean Conference on Control and Automation Pub Date : 2013-06-25 DOI: 10.1109/MED.2013.6608871
M. Rich, N. Elia, Phillip H. Jones
{"title":"Design and implementation of an H∞ controller for a quadrotor helicopter","authors":"M. Rich, N. Elia, Phillip H. Jones","doi":"10.1109/MED.2013.6608871","DOIUrl":"https://doi.org/10.1109/MED.2013.6608871","url":null,"abstract":"In this paper, we present a six degree of freedom model of a quadrotor helicopter, onboard electronics, and a networked control system. We follow this with a procedure for designing robust control for quasi hover conditions using Glover-McFarlane loop shaping. The model is presented symbolically as well as numerically for the specific system used in our experiments. In our control design procedure we take steps to minimize potential difficulties of MIMO loop shaping, while still producing effective linear control which is robust to a class of generic uncertainty. Finally, we present both simulation and experimental implementation results and find them in agreement.","PeriodicalId":350383,"journal":{"name":"21st Mediterranean Conference on Control and Automation","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122250280","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
Vehicle yaw stability control using rear active differential via Sliding mode control methods 车辆偏航稳定性控制采用后主动差速器通过滑模控制方法
21st Mediterranean Conference on Control and Automation Pub Date : 2013-06-25 DOI: 10.1109/MED.2013.6608740
Daniel Y. Rubin, S. Arogeti
{"title":"Vehicle yaw stability control using rear active differential via Sliding mode control methods","authors":"Daniel Y. Rubin, S. Arogeti","doi":"10.1109/MED.2013.6608740","DOIUrl":"https://doi.org/10.1109/MED.2013.6608740","url":null,"abstract":"The problem of vehicle yaw control is addressed in this paper using a rear active differential. The controller objective is to minimize the yaw-rate error and body slip-angle error of target values. A new Sliding mode controller is designed using a nonlinear 2DOF vehicle model and a sliding surface that integrates the vehicle yaw-rate error and slipangle error. Two control law approaches, namely, saturation control and saturation plus constant gain control where tested. Simulations performed using CarSim and Matlab/Simulink show robust stability in face of model uncertainties and superior performances of the saturation plus constant gain control.","PeriodicalId":350383,"journal":{"name":"21st Mediterranean Conference on Control and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122291575","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
Microcontroller implementation of digital fractional order controllers for time delay processes 微控制器实现数字分数阶控制器，用于延时处理
21st Mediterranean Conference on Control and Automation Pub Date : 2013-06-25 DOI: 10.1109/MED.2013.6608911
R. Both, C. Muresan, E. Dulf, F. Dulf
{"title":"Microcontroller implementation of digital fractional order controllers for time delay processes","authors":"R. Both, C. Muresan, E. Dulf, F. Dulf","doi":"10.1109/MED.2013.6608911","DOIUrl":"https://doi.org/10.1109/MED.2013.6608911","url":null,"abstract":"The present work deals with the control of the liquid carbon monoxide level in a cryogenic carbon isotopes separation column. Due to the fact that the cryogenic carbon isotope separation column is a time and cost consuming process, the authors propose a hardware in the loop (HIL) simulation of the closed loop system prior to the actual implementation with, the controller being implemented on a NI PXI-8183 embedded controller from National Instruments and also on a MSP 430 Ultra-Low-Power microcontroller from Texas Instruments while the process is simulated using a personal computer. The designed controller is a PI fractional order controller and is implemented in a Smith-predictor structure, due to the process large time delays. The real time simulation results prove the efficiency of the controller, suggesting the possibility to use the implemented control structure on the real plant.","PeriodicalId":350383,"journal":{"name":"21st Mediterranean Conference on Control and Automation","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127331973","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
Non-linear control of Pneumatic Artificial Muscles 气动人工肌肉的非线性控制
21st Mediterranean Conference on Control and Automation Pub Date : 2013-06-25 DOI: 10.1109/MED.2013.6608804
G. Andrikopoulos, G. Nikolakopoulos, S. Manesis
{"title":"Non-linear control of Pneumatic Artificial Muscles","authors":"G. Andrikopoulos, G. Nikolakopoulos, S. Manesis","doi":"10.1109/MED.2013.6608804","DOIUrl":"https://doi.org/10.1109/MED.2013.6608804","url":null,"abstract":"In this article, a non-linear PID structure is being synthesized, providing ameliorated compensation of the Pneumatic Artificial Muscle's (PAM) non-linear hysteretic phenomena and advanced robustness. Experimental studies are being utilized to prove the overall efficiency of the non-linear control scheme regarding: a) set-point tracking performance for the position control of a single PAM and torsion angle control of an antagonistic PAM setup, as well as b) disturbance rejection in both single and antagonistic control scenarios.","PeriodicalId":350383,"journal":{"name":"21st Mediterranean Conference on Control and Automation","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129469532","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
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