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2022 30th Mediterranean Conference on Control and Automation (MED)最新文献

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Model-free iPI controller design and application to a thermal plant 热电厂无模型iPI控制器的设计与应用
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837054
A. Baciu, C. Lazar, C. Caruntu
{"title":"Model-free iPI controller design and application to a thermal plant","authors":"A. Baciu, C. Lazar, C. Caruntu","doi":"10.1109/MED54222.2022.9837054","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837054","url":null,"abstract":"The automatic controllers with multiple integral components represent a special category. Although they are not so widely used for standard applications, there is a class of processes that require this type of controller. Thus, in this paper, the intelligent PI (iPI) controllers designed in the Model-Free Control paradigm are presented and compared with a PI controller. Two tuning methods are proposed for the iPI controllers, one based on a pole-placement technique and the other one based on the Iterative Feedback Tuning (IFT) strategy. The IFT algorithm hinges on an iterative data-driven approach that starts from a predesigned set of parameters for the controller and leads to an optimal set of parameters that should improve the system’s performance. To test the capabilities of the proposed design methods, a comparison between the three controllers was performed on a thermal plant used to heat-treat Mg-Li-Al based alloys, and their performances were evaluated based on a numerical analysis.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134107602","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
Specific Data Sampling and Filtering Helps to Detect and Isolate Periodic Disturbances 特定的数据采样和滤波有助于检测和隔离周期性干扰
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837226
P. Ettler, Ivan Puchr
{"title":"Specific Data Sampling and Filtering Helps to Detect and Isolate Periodic Disturbances","authors":"P. Ettler, Ivan Puchr","doi":"10.1109/MED54222.2022.9837226","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837226","url":null,"abstract":"The Fast Fourier Transform is the unique tool enabling to engage the frequency domain analysis in detection and isolation of periodic disturbances in industrial processes containing rotating elements. Nevertheless, there exist particular problems where the time-domain examination of oscillations can provide equally or more accurate results with less effort. Specific data sampling, filtering and process modelling are introduced in the paper with the aim to classify sources of oscillations in the process of cold rolling. Although the FFT may not be part of the method itself, its use allows to illustrate the presented research.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133309655","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
Passivity-Based Teleoperation With Interaction Force Constraints Using Hybrid Linear Model Predictive Control 基于交互力约束的无源遥操作混合线性预测控制
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837253
Nicola Piccinelli, R. Muradore
{"title":"Passivity-Based Teleoperation With Interaction Force Constraints Using Hybrid Linear Model Predictive Control","authors":"Nicola Piccinelli, R. Muradore","doi":"10.1109/MED54222.2022.9837253","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837253","url":null,"abstract":"The bilateral teleoperation technique allows a human operator to interact with a remote environment and is generally applied in safety-critical scenarios. In such scenarios, even if the force feedback allows to feel the interaction with the environment, communication delay can lead to damages or side effects. For instance, in a critical scenario like surgery, different tissues tolerate different maximum forces and their manipulation often requires force control. Model Predictive Control (MPC) could be a solution to such situations thanks to its capability of embedding constraints in the optimization problem. In particular, linear MPC is usually employed in real-time control since it allows to have high control frequency. In this paper, we propose a hybrid-MPC based bilateral teleoperation. The hybrid system allows to explicitly handle the switching behaviour of the interaction force. Such methodology minimizes the number of switches between free motion and contact states. This reduced chattering provides smooth behaviour of the manipulator both in soft and hard contact scenarios.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131790920","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
AROWA: An autonomous robot framework for Warehouse 4.0 health and safety inspection operations AROWA:仓库4.0健康和安全检查操作的自主机器人框架
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837259
F. Konstantinidis, Vasiliki Balaska, S. Symeonidis, S. Mouroutsos, A. Gasteratos
{"title":"AROWA: An autonomous robot framework for Warehouse 4.0 health and safety inspection operations","authors":"F. Konstantinidis, Vasiliki Balaska, S. Symeonidis, S. Mouroutsos, A. Gasteratos","doi":"10.1109/MED54222.2022.9837259","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837259","url":null,"abstract":"Over the previous two decades, a tremendous impact has been created on each stage of the production value chain, through digitization of the traditional industrial processes and procedures. Since warehouses are at the heart of distributed supply chain networks, it is critical to leverage modern automation tools and through-engineering solutions to increase their efficiency and continuously meet the demanding standards. Towards this end, we describe the design of a health and safety (H&S) inspection robot capable of autonomously detecting hazard events without human intervention in warehouses. It makes use of computer vision (CV) techniques, edge computing (EC) and artificial intelligence (AI) to identify critical occurrences that have a detrimental impact on H&S. while counting available resources using inventory tracking methodologies. Furthermore, action-based modules are activated in response to the recognised event, informing warehouse workers about it and notifying other systems, operators and stakeholders, where appropriate, as foreseen by the protocol. Lastly, the conceptual architecture of the proposed autonomous robot is presented, which classifies the needed vision-based and action-based modules.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134132610","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
Distributed bounded integral control for multimachine power systems 多机电力系统的分布式有界积分控制
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837149
I. G. Perantonis, Zaint A. Alexakis, George C. Konstantopoulos, A. Alexandridis
{"title":"Distributed bounded integral control for multimachine power systems","authors":"I. G. Perantonis, Zaint A. Alexakis, George C. Konstantopoulos, A. Alexandridis","doi":"10.1109/MED54222.2022.9837149","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837149","url":null,"abstract":"In this paper, the problem of frequency control in multimachine power networks is investigated in a distributed manner. Taking as an example a cyber-physical architecture of the IEEE 68 bus, 16 machine power system, a new distributed bounded integral control (DiBIC) scheme is proposed to achieve frequency restoration to the rated value and power sharing among the 16 generators with only neighbour-to-neighbour communication, while maintaining the mechanical torque of each generator within predefined limits. The boundedness of the mechanical torque inputs is analytically proven independently of the distributed control tasks and without the need for saturation mechanisms that might lead the power system to instability. To verify the proposed DiBIC performance, the IEEE 68 bus network is simulated under a change of the load demand and tested under both the proposed and the conventional distributed integral control with saturation.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"597 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134423793","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
Output Feedback Control of Nondeterministic Finite–State Systems with Reach–Avoid Specifications 具有到达-避免规范的不确定有限状态系统的输出反馈控制
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837288
Daniel Ajedamola Ajeleye, Tommaso Masciulli, G. Pola
{"title":"Output Feedback Control of Nondeterministic Finite–State Systems with Reach–Avoid Specifications","authors":"Daniel Ajedamola Ajeleye, Tommaso Masciulli, G. Pola","doi":"10.1109/MED54222.2022.9837288","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837288","url":null,"abstract":"In this paper we address control design of nondeterministic finite state systems with reach–avoid specifications. A general class of controllers is considered, which combines feedforward and output feedback schemes. Results proposed here extend those of [1] in two directions: first, here we consider reach avoid–specifications instead of simply reachability specifications; second, we propose algorithms exhibiting better time computational complexity than those given in [1].","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"33 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132972661","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
Sensitivity Analysis of Impedance Measurement Algorithms Implemented in Intelligent Electronic Devices 智能电子器件阻抗测量算法的灵敏度分析
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837121
N. Rohadi, R. Zivanovic
{"title":"Sensitivity Analysis of Impedance Measurement Algorithms Implemented in Intelligent Electronic Devices","authors":"N. Rohadi, R. Zivanovic","doi":"10.1109/MED54222.2022.9837121","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837121","url":null,"abstract":"In this paper a global sensitivity analysis technique for testing impedance measurement algorithms is described. The technique is based on the Analysis of Variance (ANOVA) statistical method. Accuracy of impedance measurement algorithms, when influenced by uncertainties, can be systematically analyzed. This technique divides variance of a measurement algorithm output into components related to uncertain parameters (factors) and interactions between factors. As an application example, we simulate transmission line faults with varying values of fault parameters (factors) according to the Sobol’s quasi-random sampling. The algorithm for automating this task was developed via DIgSILENT Programming Language (DPL). The SIMLAB software is used for generating samples in a factor space according to the Sobol’s quasi-Monte Carlo technique.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132448446","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
Robust Path-following Control with Anti-Windup for HALE Aircraft HALE飞机抗卷绕鲁棒路径跟踪控制
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837232
C. Weiser, D. Ossmann, H. Pfifer
{"title":"Robust Path-following Control with Anti-Windup for HALE Aircraft","authors":"C. Weiser, D. Ossmann, H. Pfifer","doi":"10.1109/MED54222.2022.9837232","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837232","url":null,"abstract":"In this paper, a robust path-tracking controller for a High Altitude Long Endurance (HALE) aircraft is presented. The main control paradigm for operating a HALE aircraft consists of a basic path following control, i.e. tracking a reference flight path and airspeed while dealing with very limited thrust. The priority lies in keeping airspeed inside the small flight envelope of HALE aircraft even during saturated thrust. For the basic path following objective, a mixed sensitivity approach is proposed which can easily deal with decoupled tracking and robustness requirements. To deal with saturated control inputs, an anti-windup scheme is incorporated in the control design. A novel observer-based mixed sensitivity design is used which allows directly using classical anti-windup methods based on back-calculation. The control design is verified in nonlinear simulation and compared to a classical total energy control based controller.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125773696","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
Real-Time Path Planning for Fully Actuated Autonomous Surface Vehicles* 全驱动自动驾驶地面车辆的实时路径规划*
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837178
R. Damerius, T. Jeinsch
{"title":"Real-Time Path Planning for Fully Actuated Autonomous Surface Vehicles*","authors":"R. Damerius, T. Jeinsch","doi":"10.1109/MED54222.2022.9837178","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837178","url":null,"abstract":"This paper presents a method for real-time path planning for fully actuated autonomous surface vehicles in confined waters. The goal is to continuously generate a collision-free path from a given initial pose to a given final pose. Both the own vehicle and static obstacles are represented as convex polygons. As soon as the environment changes, or other initial or final poses are specified, a warm start is performed, in which the results of previous solutions are reused. An optimal sampling-based approach is used to explore the search space. In a cost function, the length of the path is weighted together with the distance to all obstacles. Some parts of the cost function are calculated in advance and stored in look-up tables to reduce the computation time. The result is an optimal path from an initial pose to a final pose that avoids collisions of the vehicle with static obstacles. The proposed warm start procedure is tested by real-time experiments using different scenarios.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124050429","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
Smooth attitude stabilisation in prescribed time of a rigid body despite uncertainties in inertia and additive disturbances 不考虑惯性和附加扰动的刚体在规定时间内的平滑姿态稳定
2022 30th Mediterranean Conference on Control and Automation (MED) Pub Date : 2022-06-28 DOI: 10.1109/MED54222.2022.9837187
I. Sarras
{"title":"Smooth attitude stabilisation in prescribed time of a rigid body despite uncertainties in inertia and additive disturbances","authors":"I. Sarras","doi":"10.1109/MED54222.2022.9837187","DOIUrl":"https://doi.org/10.1109/MED54222.2022.9837187","url":null,"abstract":"We consider the problem of stabilisation in predefined, finite time of the attitude of a rigid body. Inspired by classical laws in missile guidance, the proposed control law is time-varying but smooth as opposed to classical sliding-mode-based laws that are generally discontinuous, or continuous at best, and suffer from robustness issues. Through a backstepping design, and the explicit construction of a strict Lyapunov function, we are able to ensure stabilisation to a desired attitude even in the presence of uncertainties in the inertia matrix and under the effect of additive disturbances. Numerical simulations show the efficiency of the proposed controller.","PeriodicalId":354557,"journal":{"name":"2022 30th Mediterranean Conference on Control and Automation (MED)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127785206","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
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