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

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On the Averaging in the Multi-Blade Coordinate Transformations for Wind Turbines: An H∞Model Matching Approach 风电机组多叶片坐标变换中的平均问题:一种H∞模型匹配方法
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511417
S. Mulders, J. Wingerden
{"title":"On the Averaging in the Multi-Blade Coordinate Transformations for Wind Turbines: An H∞Model Matching Approach","authors":"S. Mulders, J. Wingerden","doi":"10.1109/CCTA.2018.8511417","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511417","url":null,"abstract":"The blade dynamics of a wind turbine are periodic with the angular position of the rotor. For analysis of these dynamics it is common practice to use the so-called Multi-Blade Coordinate (MBC) transformation in combination with a system matrix averaging technique to obtain a linear time-invariant model. The MBC transformation eliminates the periodicity over a rotation of the rotor, while retaining important blade dynamics. However, in the averaging step the inevitable residual periodic dynamics can result in an inaccurate linear representation. This paper shows the inaccuracy of the state-of-the-art averaging technique using a high fidelity two-bladed wind turbine model. The state-of-the-art technique is compared to two novel averaging methods. Results show a close resemblance of the computed models from the proposed methods to the frequency response average, whereas the conventional method shows erroneous results.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"19 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":"121919370","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
Path-Following Control of Rigid Body Attitude by Using Minimum Projection Method 基于最小投影法的刚体姿态路径跟踪控制
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511603
Seiya Nomura, Yasuyuki Satoh, Hisakazu Nakamura, Kiyotaka Kato
{"title":"Path-Following Control of Rigid Body Attitude by Using Minimum Projection Method","authors":"Seiya Nomura, Yasuyuki Satoh, Hisakazu Nakamura, Kiyotaka Kato","doi":"10.1109/CCTA.2018.8511603","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511603","url":null,"abstract":"In this paper, we propose a novel path-following controller design method for the rigid body attitude dynamics. We first consider a trajectory-tracking problem and design a tracking control Lyapunov function (T-CLF). Then we design a path-following control Lyapunov function (PF-CLF) based on the minimum projection method and the designed T-CLF. Moreover, we construct a discontinuous state feedback controller for the path-following problem based on the PF-CLF. The effectiveness of the proposed method is confirmed by a numerical example of a multicopter.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"157 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":"126901210","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 Synchronization of Motion in Wafer Scanners Using Particle Swarm Optimization 基于粒子群优化的晶圆扫描仪运动鲁棒同步
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511380
Vincent A. Looijen, M. Heertjes
{"title":"Robust Synchronization of Motion in Wafer Scanners Using Particle Swarm Optimization","authors":"Vincent A. Looijen, M. Heertjes","doi":"10.1109/CCTA.2018.8511380","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511380","url":null,"abstract":"For synchronization of high-precision motion stages, in particular a wafer and a reticle stage combination of an industrial wafer scanner, a centralized controller is optimized using both time- and frequency-domain data. The resulting multi-variable controller, which is designed using a sequential loop closing approach, transmits both the error from wafer-to-reticle as well as from reticle-to-wafer stage. The controller is designed to minimize the synchronization error occurring between the otherwise decentralized control loops of both stage systems. The controller tuning is performed using off-line particle swarm optimization and combines time-domain performance specifications with frequency-domain robustness constraints. The optimized controller demonstrates improved synchronization performance which follows from measurement results obtained from an industrial wafer scanner.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"1 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":"125843459","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 State and Parameter Estimation for a Gas-Liquid Cylindrical Cyclone 气液圆柱旋风分离器的非线性状态及参数估计
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511331
Torstein Thode Kristoffersen, C. Holden
{"title":"Nonlinear State and Parameter Estimation for a Gas-Liquid Cylindrical Cyclone","authors":"Torstein Thode Kristoffersen, C. Holden","doi":"10.1109/CCTA.2018.8511331","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511331","url":null,"abstract":"New offshore oil and gas discoveries are located at deep waters with long tie-back distances. Development of such fields require compact gas-liquid separation technologies. Efficient operation of such separators require multiple sensors and advanced controllers. However, the number of available sensors at the seabed is often limited due to low reliability (failures and low sampling frequency), lack of suitable sensor technology and/or high cost. Therefore, this paper develops a nonlinear MHE and UKF for estimation of indirectly measured and unmeasured variables. The estimates are used as state feedback to a linear MPC to study their estimation performance in simulations.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"30 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":"125990758","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
NMPC for Multicopter's Trajectory Tracking Using Modified Rodrigues Parameters 基于修改Rodrigues参数的多直升机轨迹跟踪NMPC
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511643
Barza Nisar, Mina Kamel, R. Siegwart
{"title":"NMPC for Multicopter's Trajectory Tracking Using Modified Rodrigues Parameters","authors":"Barza Nisar, Mina Kamel, R. Siegwart","doi":"10.1109/CCTA.2018.8511643","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511643","url":null,"abstract":"Unit quaternion has become a favourite singularity-free attitude representation in the attitude control problem of multicopters, enabling them to perform large and complex maneuvers. This paper studies the challenge of implementing Nonlinear Model Predictive Control (NMPC) of a multicopter's pose, using unit quaternion. Alternatively, it proposes representing attitude minimally with Modified Rodrigues Parameters (MRPs) and their shadow set. NMPC is formulated based on the dynamics of a multicopter, with the aim to regulate its position, velocity, error in attitude and error in angular velocity to their desired values. The proposed controller is implemented on-board a hexacopter and verified in simulations and real experiments. The resulting closed loop system is shown to track large set points and perform 360 degree flips without running into a singularity, while demonstrating similar controller performance and computational costs as compared to the one using unit quaternion. Finally, the trajectory tracking capability is demonstrated by implementing 8-shaped trajectory tracking.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"123 14 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":"123777060","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
Closed-Loop Data-Driven Attitude Control Design for a Multirotor UAV 多旋翼无人机闭环数据驱动姿态控制设计
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511377
Stefano Capocchiano, P. Panizza, D. Invernizzi, M. Lovera
{"title":"Closed-Loop Data-Driven Attitude Control Design for a Multirotor UAV","authors":"Stefano Capocchiano, P. Panizza, D. Invernizzi, M. Lovera","doi":"10.1109/CCTA.2018.8511377","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511377","url":null,"abstract":"Data-driven controller design methods allow a fast tuning of controller parameters directly from data, relying on limited prior knowledge of the plant dynamics. In this paper, the problem of tuning the attitude control system of a multirotor UAV is tackled and a data-driven approach is proposed. With respect to previous work, in which open-loop experiments were carried out on a test bench allowing only a single attitude degree of freedom of the vehicle, in this paper data collected in flight, during closed-loop experiments, is used to tune the controller gains. The results, based on experimental work carried out on a small-scale quadrotor, show that a performance level comparable to that of model-based methods can be achieved.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"8 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":"123790125","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
Remarks on Feedforward-Feedback Controller Using Simple Recurrent Quaternion Neural Network 基于简单递归四元数神经网络的前馈-反馈控制器评述
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511593
Kazuhiko Takahashi
{"title":"Remarks on Feedforward-Feedback Controller Using Simple Recurrent Quaternion Neural Network","authors":"Kazuhiko Takahashi","doi":"10.1109/CCTA.2018.8511593","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511593","url":null,"abstract":"In this study, a simple recurrent neural network is designed for controlling nonlinear systems. All signals and parameters of the network are quaternion numbers, and the network is trained with a real-time recurrent learning algorithm. The control system is composed of a feedforward-feedback controller based on a recurrent quaternion neural network and a feedback controller to reconcile the plant output with the desired output. A feedback error learning method is used for the online training of the feedforward-feedback controller. The numerical simulations of controlling discrete-time nonlinear plants are conducted to evaluate the characteristics of the recurrent quaternion neural network-based controller. Simulation results show the feasibility and the effectiveness of the proposed controller.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"3 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":"126857195","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
Receding Horizon Synthesis and Dynamic Allocation of UAVs to Fight Fires 无人机灭火的后退视界综合与动态分配
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511569
Joshua A. Shaffer, Estefany Carrillo, Huan Xu
{"title":"Receding Horizon Synthesis and Dynamic Allocation of UAVs to Fight Fires","authors":"Joshua A. Shaffer, Estefany Carrillo, Huan Xu","doi":"10.1109/CCTA.2018.8511569","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511569","url":null,"abstract":"This paper explores the design of a high-level mission planner and controller for managing UAVs fighting a wildfire through the utilization of reactive synthesis and dynamic allocation of the UAVs as resources to the fires. Reactive synthesis provides a formal means of guaranteeing the UAVs transition to areas of fire, refill on water, and emergency land as defined by linear temporal logic specifications. Dynamic allocation coordinates the behavior of multiple UAVs through assignments to regions of fire based on a cost function that takes into effect the fire locations, fire intensities and other UAV locations. For six fire scenarios, this paper determines the minimum number of UAVs required to eliminate all fires and prevent the burning of more than a set amount of fuel (i.e. forestry or shrubbery). Lastly, our results and successful application expand discussion on the utilization of reactive synthesis in larger task spaces and the implications of abstracting UAV transitions for use in formal methods.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"177 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":"124391402","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
Real-Time Distributed Motion Planning with Submodular Minimization 实时分布式运动规划与子模块最小化
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511426
H. Jaleel, Mohamed Abdelkader, J. Shamma
{"title":"Real-Time Distributed Motion Planning with Submodular Minimization","authors":"H. Jaleel, Mohamed Abdelkader, J. Shamma","doi":"10.1109/CCTA.2018.8511426","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511426","url":null,"abstract":"We present a real-time implementation of a distributed motion planning framework that is based on model predictive control with one step prediction horizon and submodular function minimization. In particular, our focus is to evaluate the real-time performance of this distributed motion coordination framework. For performance evaluation, we develop a realistic simulation environment for the challenging setup of capture the flag game, which is played between two teams. We consider a scenario in which each team has four quadcopters and the game is played in an arena with multiple obstacles. We develop the simulation setup primarily in Gazebo with software in the loop. The software in the loop is the autopilot software, which is used to stabilize and control the motion of each quadcopter. The motion plan for the defense team is computed by minimizing submodular potential functions using the distributed and online algorithm presented in our previous work. Based on extensive simulations under various conditions, we verify that the proposed approach can be used effectively for real-time distributed control of multiagent systems over discrete input space.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"65 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":"127401747","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
Autonomous Flight Control for Multirotors by a Simple Input-Output Linearization with Nested Saturation 基于嵌套饱和简单输入输出线性化的多旋翼自主飞行控制
2018 IEEE Conference on Control Technology and Applications (CCTA) Pub Date : 2018-08-01 DOI: 10.1109/CCTA.2018.8511557
Y. Yoon, Eric N. Johnson, L. Ren
{"title":"Autonomous Flight Control for Multirotors by a Simple Input-Output Linearization with Nested Saturation","authors":"Y. Yoon, Eric N. Johnson, L. Ren","doi":"10.1109/CCTA.2018.8511557","DOIUrl":"https://doi.org/10.1109/CCTA.2018.8511557","url":null,"abstract":"Multirotors are one of the most popular types of small unmanned aircraft systems today with applications in many areas including but not limited to aerial photography, transport, military, surveillance, agriculture, and leisure. Autonomous flight controls is one of the key enabler technologies for their popularity and growing applications. Many studies about the flight controls for multirotors have enhanced the control performance, but we still have rooms to improve in tracking accuracy and efficiency. This paper presents an autonomous flight control method for multirotors based on a simple input-output linearization coupled with nested saturation. We choose an unconventional, alternative output of the multirotor flight control system, which leads to reducing computational cost regarding Lie algebra when we linearize the system dynamics. Then we stabilize the linearized system with nested saturation with real poles of our own choice. Given the desired output through the outer loop PID controller, the results of the simulations show that the error dynamics regarding the outputs are stabilized exponentially fast.","PeriodicalId":358360,"journal":{"name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","volume":"15 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":"129070993","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
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