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2018 IEEE Conference on Control Technology and Applications (CCTA)最新文献

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Shape and Orientation Control of Moving Formation with Local Measurements in Three-Dimensional Space 三维空间局部测量移动编队的形状和方向控制
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511602
Sung-Mo Kang, Jae-Gyeong Lee, H. Ahn
{"title":"Shape and Orientation Control of Moving Formation with Local Measurements in Three-Dimensional Space","authors":"Sung-Mo Kang, Jae-Gyeong Lee, H. Ahn","doi":"10.1109/CCTA.2018.8511602","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511602","url":null,"abstract":"This paper proposes a distributed formation con-trol law for the multi-agent systems in three-dimensional space. The first agent (leader) moves with the reference velocity and the reference velocity is unknown to the other agents. The local coordinate systems are not aligned and not shared with each other. Furthermore, it is supposed that each agent measures only the relative position of its neighbors. To design the distributed control law, the distance-based formation control method and velocity estimation are utilized. Consequently, using only local information, the shape and orientation of the moving formation is controlled to asymptotically converge into the desired states. The stability and convergence of the system are mathematically analyzed and the numerical simulation is also performed to verify the analytic results.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125039764","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
Near Time-Optimal Flexible-Joint Trajectory Planning Algorithm for Robotic Manipulators 机械臂近时间最优柔性关节轨迹规划算法
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511567
M. Ruf
{"title":"Near Time-Optimal Flexible-Joint Trajectory Planning Algorithm for Robotic Manipulators","authors":"M. Ruf","doi":"10.1109/CCTA.2018.8511567","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511567","url":null,"abstract":"In this paper, a new hybrid time-optimal flexible-joint trajectory planning algorithm is introduced. Time-optimal rigid-body trajectories contain sudden changes of acceleration, which can result in violation of constraints when applied to flexible robotic manipulators. The abrupt acceleration changes are replaced by a smooth time-optimal switching strategy, which is based on the solution of a two-mass oscillator two-point boundary-value problem. It is designed such that the two-mass oscillator's flexible modes are not excited. In between the transitions, a multi-axis rigid-body model is used. This combination of flexible and rigid-body models allows to design a computationally very efficient trajectory planning algorithm, which considers multi-axis dynamics as well as some important inherent flexibilities.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123109065","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
Learning Control in Practice: Novel Paradigms for Industrial Applications 实践中的学习控制:工业应用的新范例
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511491
Jeroen Willems, E. Hostens, B. Depraetere, A. Steinhauser, J. Swevers
{"title":"Learning Control in Practice: Novel Paradigms for Industrial Applications","authors":"Jeroen Willems, E. Hostens, B. Depraetere, A. Steinhauser, J. Swevers","doi":"10.1109/CCTA.2018.8511491","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511491","url":null,"abstract":"This paper presents a number of solutions to issues with learning control in practice. We use RoFALT, a freely-available, model-based iterative learning control (ILC) tool for nonlinear systems, which implements an optimization-based two-step approach. We augment it with concepts to improve robustness, convergence speed, and avoid high computational loads online. These concepts are illustrated on an electromechanical set-up with slider-crank mechanism.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121954815","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
Decentralized Proportional-Integral Extremum Seeking Control for Heating, Ventilation and Air Conditioning (HVAC) Systems 暖通空调(HVAC)系统的分散比例积分极值寻求控制
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511534
J. Ebegbulem, M. Guay, J. House, T. Salsbury
{"title":"Decentralized Proportional-Integral Extremum Seeking Control for Heating, Ventilation and Air Conditioning (HVAC) Systems","authors":"J. Ebegbulem, M. Guay, J. House, T. Salsbury","doi":"10.1109/CCTA.2018.8511534","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511534","url":null,"abstract":"This paper considers the application of decentralized extremum seeking control to heating, ventilation and air conditioning (HVAC) systems in residential, commercial and industrial buildings. The HVAC system considered comprises two rooftop units that each provide cool air to two zones. The compressor, fan and expansion valve of each rooftop unit are controlled by three inner loop proportional-integral (PI) controllers to meet specified control requirements. The objective is to determine the optimal supply air temperature setpoint for each rooftop unit that minimizes the overall power consumption of the units. In addition, each setpoint must satisfy the control objectives of the three inner loop PI controllers. To tackle this problem, a decentralized proportional-integral extremum seeking control technique that avoids the need for communication between the units is employed. A simulation result is included to show the effectiveness of this technique.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122175500","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 Control of an Industrial Charger 工业充电器的非线性控制
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511431
Ion Ghita, P. Kvieska, E. Godoy, D. Beauvois
{"title":"Nonlinear Control of an Industrial Charger","authors":"Ion Ghita, P. Kvieska, E. Godoy, D. Beauvois","doi":"10.1109/CCTA.2018.8511431","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511431","url":null,"abstract":"The charging of electric cars is an open field of innovation for power converters control. Different hardware (e.g active filters) and software solutions (e.g. non-linear control law) are used to mitigate on the one hand the constrains of the connection to the electric distribution network and on the other hand the power demands of the battery. In this paper a non-linear back-stepping based control is proposed for an industrial charger. A comparative study of the performances for the proposed control architecture is presented in respect with the existing control strategy currently integrated in the electric cars. The comparison is realised for imperfect charging conditions: presence of inductive line impedance and harmonic disturbed network voltage.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122899466","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
Fault Analysis of Aging McKibben Pneumatic Artificial Muscle in Terms of its Model Parameters 老化McKibben气动人工肌肉模型参数的故障分析
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511330
T. Ishikawa, K. Kogiso, K. Hamamoto
{"title":"Fault Analysis of Aging McKibben Pneumatic Artificial Muscle in Terms of its Model Parameters","authors":"T. Ishikawa, K. Kogiso, K. Hamamoto","doi":"10.1109/CCTA.2018.8511330","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511330","url":null,"abstract":"The study analyzes a fault of McKibben Pneumatic Artificial Muscles (PAMs) focusing on unknown parameters used in nonlinear models of the PAMs. In the analysis, a change in dynamics, such as the steady-state responses to increasing the number of contraction movements, was measured through experiments and was subsequently associated with a change in model parameters. Subsequently, the fault state, which involves making a hole in the rubber tube of the PAM, and the normal state were classified by using a support vector machine (SVM) based on the change in model parameters. Furthermore, a few model parameters that can characterize the state of the PAM were extracted in terms of generalization performance. The results can be applied to other systems, such as hydraulic systems of a construction machine, and used to improve control performance by designing control systems to alleviate the influence of changing dynamics.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123824478","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
Using a Linear Quadratic Regulator to Attenuate Cell-to-Cell Heterogeneity within a Lithium-Ion Battery Pack 使用线性二次型调节器衰减锂离子电池组内电池间的非均匀性
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511090
Donald J. Docimo, H. Fathy
{"title":"Using a Linear Quadratic Regulator to Attenuate Cell-to-Cell Heterogeneity within a Lithium-Ion Battery Pack","authors":"Donald J. Docimo, H. Fathy","doi":"10.1109/CCTA.2018.8511090","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511090","url":null,"abstract":"This paper develops a balancing algorithm capable of attenuating charge, temperature, and other types of heterogeneity between cells within a lithium-ion battery pack. Cell-to-cell heterogeneity is known to negatively impact pack performance and reduce pack lifespan, and several balancing algorithms exist to mitigate this impact. These algorithms control cell currents and remove state of charge (SOC), state of health (SOH) and temperature imbalances, extending pack lifespan. However, the literature currently lacks a formalized method for removal of multiple types of heterogeneity that is scalable for different pack sizes. This paper addresses this gap by developing a balancing algorithm which is (i) general with respect to battery model selection and heterogeneity types and (ii) easily scalable to different pack sizes without increasing computational complexity. To design the algorithm, a linear time-varying (LTV) model representative of heterogeneity within the battery pack is presented. A linear quadratic regulator (LQR) is applied to this heterogeneity model, providing a systematic method to determine controller gains for the balancing currents. The block diagonal matrices of the LTV model prove advantageous, and allow the LQR problem's solution to be independent of the pack size. The novel balancing algorithm is validated through simulation using a realistic electro-thermal model with heterogeneity in charge, temperature, and other electrochemical states. This case study exemplifies the effectiveness of the balancing algorithm to eliminate multiple types of heterogeneity.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125126182","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
Model Predictive Control of Multi-Mirror Adaptive Optics Systems 多镜自适应光学系统的模型预测控制
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511551
M. Glück, J. Pott, O. Sawodny
{"title":"Model Predictive Control of Multi-Mirror Adaptive Optics Systems","authors":"M. Glück, J. Pott, O. Sawodny","doi":"10.1109/CCTA.2018.8511551","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511551","url":null,"abstract":"In the last decades, large telescopes have been planned and built to explore the universe for fainter objects than ever before. Presently, the largest telescope for optical wavelengths, the Extremely Large Telescope (ELT), is constructed with a primary mirror of 39 m diameter. In order to reduce the total weight of the telescope and due to the enormous size, the optics are mounted on lightweight constructions, which are very sensitive to wind excitations. Therefore, telescope optics and their control have to be considered in the design of the next generation ELT's, where a good vibration compensation is required. To achieve the diffraction limit of the ELT, its optical path is equipped with a deformable mirror and a plane tiptilt mirror for correction. Due to the atmospheric turbulences and structural vibrations, the compensation mirrors can reach their stroke and frequency limitations. Without considering these limitations in the control system the telescope instruments cannot fully reach its optimal performance. Therefore, we propose a solution based on Model Predictive Control (MPC), which can control the mirrors in an optimal way under given constraints. In this paper a model of the Adaptive Optics system, the MPC controller design and an integral control concept for comparison are presented. As a result the residual tip-tilt error can be reduced over a larger frequency range with an MPC controller when considering input constraints.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"s3-22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130098841","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
A Two-Layer Control Architecture for Islanded AC Microgrids with Storage Devices 带存储设备的孤岛交流微电网的两层控制体系结构
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511375
A. L. Bella, S. Negri, R. Scattolini, E. Tironi
{"title":"A Two-Layer Control Architecture for Islanded AC Microgrids with Storage Devices","authors":"A. L. Bella, S. Negri, R. Scattolini, E. Tironi","doi":"10.1109/CCTA.2018.8511375","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511375","url":null,"abstract":"Microgrids are considered of particular interest when it is necessary to integrate renewable energy sources and storage devices; furthermore, islanded operation is considered a possible solution to ensure power supply continuity for specific portions of distributions networks. In this paper a two-layer control architecture for islanded microgrids is proposed to take care of electrical variables regulation and of the resources optimization-based management. Simulation results are presented to validate the proposed control approach.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"123 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129521734","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: 8
Experimental Verification of the Hydro-Elastic Model of a Scaled Floating Offshore Wind Turbine 海上浮式风电机组水弹性模型的实验验证
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511565
Signe M. Mortensen, K. Laugesen, J. K. Jensen, Kasper Jessen, M. Soltani
{"title":"Experimental Verification of the Hydro-Elastic Model of a Scaled Floating Offshore Wind Turbine","authors":"Signe M. Mortensen, K. Laugesen, J. K. Jensen, Kasper Jessen, M. Soltani","doi":"10.1109/CCTA.2018.8511565","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511565","url":null,"abstract":"Modeling is essential for designing control and making prediction. For the case of floating offshore wind turbine, providing a model that is validated is a challenging task as testing prototypes in the field are expensive and difficult and it may cause loss of turbine. For this reason, wind turbines are scaled down to be tested at a wind and wave laboratory where deep sea environment is realized after scaling. In this paper, theoretical hydro-elastic model of a floating offshore wind turbine is presented. The hydro-elastic model that is simulated both by a Simulink model and by high fidelity wind turbine simulation tool, FAST, is then verified by laboratory experiments. A comparison is performed to show the model dynamics compared with the experimental results. Presented results show that the model of the laboratory-scale wind turbine correctly represents the main dynamic behavior of the theoretical model.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121915795","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
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