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Application of Laser-based Angle Measurement Method in Positioning of Robotic End-Effector 激光角度测量方法在机器人末端执行器定位中的应用
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606544
Tianhua Gu, Yaqiong Fu, T. Zeng, Shengbin Wang, Gang Xu, Le Chen
{"title":"Application of Laser-based Angle Measurement Method in Positioning of Robotic End-Effector","authors":"Tianhua Gu, Yaqiong Fu, T. Zeng, Shengbin Wang, Gang Xu, Le Chen","doi":"10.1109/ANZCC.2018.8606544","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606544","url":null,"abstract":"A novel method for measuring the angle between the end surface of the robotic end-effector and the measured plane is proposed. The laser-based angle measurement method can accurately positions the robot end-effector. The technology combines the laser-based ranging principle with the motion control technology: By analyzing the ranging data of the ranging sensor under specific motion, we can find the corresponding change law to calculate the angle between the surface of the end-effector and the measured plane, which can improve the positioning accuracy of the inspection work. The experimental results show that the angular relationship between the two planes can be accurately measured by the method. Further, compared to other methods, this method has higher measurement accuracy when using the same ranging sensor.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117192160","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
Observer-Based Predictive Control for Networked Control Systems Via Event-Triggered Strategy 基于观测器的事件触发网络控制系统预测控制
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606598
Rongni Yang, W. Zheng
{"title":"Observer-Based Predictive Control for Networked Control Systems Via Event-Triggered Strategy","authors":"Rongni Yang, W. Zheng","doi":"10.1109/ANZCC.2018.8606598","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606598","url":null,"abstract":"In this paper, the observer-based predictive control problem for networked control systems (NCSs) subject to the time-delay is investigated based on the event-triggered strategy. Initially, the output-based event-triggered mechanism is introduced in order to reduce the transmission times effectively in the capacity-limited communication network. Then, the system states are reconstructed from the output measurements by utilizing a popular Luenberger observer. Next, the model-based networked predictive control (NPC) scheme is developed to actively compensate for the communication delay. Moreover, based on analysis of the augmented system, sufficient conditions that guarantee the asymptotic stability of the system are obtained. Finally, a simulation example is given to demonstrate the effectiveness in the reduction of network utilization and compensation for communication delay of the proposed controller design method in NCSs.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127127910","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
Distributed Recursive Filtering for a class of Discrete-time Stochastic Nonlinear Systems Subject to State Delays 一类具有状态时滞的离散随机非线性系统的分布递归滤波
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606586
Jingyang Mao, Derui Ding
{"title":"Distributed Recursive Filtering for a class of Discrete-time Stochastic Nonlinear Systems Subject to State Delays","authors":"Jingyang Mao, Derui Ding","doi":"10.1109/ANZCC.2018.8606586","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606586","url":null,"abstract":"This paper investigates the distributed recursive filtering problem for a type of discrete-time stochastic nonlinear systems subject to state delays as well as the communication topology of geographically distributed wireless sensors. The Takagi-Sugeno fuzzy model is introduced to deal with nonlinearities in system states and measurements. In the simultaneous consideration of system nonlinearities, state delays as well as topology, we aim to obtain a set of filter parameters over a finite-time horizon, minimizing the traces of permitted upper bounds for the filtering error covariance matrices. Via elaborate mathematical analysis, two sets of filter gains are derived in virtue of solving two Riccati-type difference equations, which are dependent on the latest estimation states and are with the online recursive form. In the end, the validity of the designed scheme is illustrated by an inverted pendulum system.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116733612","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
Event-triggered Sampled-data Control for Offshore Steel Jacket Platforms 海上钢套平台的事件触发采样数据控制
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606554
Hui-Min Wei, Baolin Zhang, Zhihui Cai, Yikang Wang, Jianming Sun
{"title":"Event-triggered Sampled-data Control for Offshore Steel Jacket Platforms","authors":"Hui-Min Wei, Baolin Zhang, Zhihui Cai, Yikang Wang, Jianming Sun","doi":"10.1109/ANZCC.2018.8606554","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606554","url":null,"abstract":"This paper is concerned with event-based sampled-data control for offshore steel jacket platforms. First, an event-based data processor is introduced between the sampler and the communication channel to determine whether the current data packet should be transmitted. Then, by applying the Lyapunov-Krasovskii functional approach, the sufficient conditions for the existence of sampling control laws are provided and event-triggered sampled-data controllers are designed. It is found through simulation results that the event-triggered sampled-data controller is capable of reducing the oscillation amplitudes of the offshore platforms significantly while the communication resources can be saved remarkably.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126786847","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
Recent Advance on Switched Model Predictive Control* 切换模型预测控制研究进展*
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606591
Ying Qin, Yang Song, Yongzhuang Liu, Feng Li, Taicheng Yang
{"title":"Recent Advance on Switched Model Predictive Control*","authors":"Ying Qin, Yang Song, Yongzhuang Liu, Feng Li, Taicheng Yang","doi":"10.1109/ANZCC.2018.8606591","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606591","url":null,"abstract":"For the switched model predictive control, this paper reviews the recent research advance. Based on the analysis tools of linear matrix inequality (LMI) and invariant set theory, this paper studies the principle of model predictive control combined with switched system theory, and introduces the related research literature and methods when research plants and performance indexes are switched. Based on the stability and robustness analysis methods of model predictive control and switched system theory, it studies how to ensure the stability and robustness of the system. At the same time, it points out the advantages of switching model predictive control and the challenges it faces in the future development.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114341945","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
[Front matter] (前页)
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/anzcc.2018.8606588
{"title":"[Front matter]","authors":"","doi":"10.1109/anzcc.2018.8606588","DOIUrl":"https://doi.org/10.1109/anzcc.2018.8606588","url":null,"abstract":"","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127663676","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
Stability of Grid-Connected Permanent Magnet Synchronous Generator-Based Wind Turbines 并网永磁同步风力发电机组稳定性研究
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606570
Phuong T. H. Nguyen, S. Stüdli, J. Braslavsky, R. Middleton
{"title":"Stability of Grid-Connected Permanent Magnet Synchronous Generator-Based Wind Turbines","authors":"Phuong T. H. Nguyen, S. Stüdli, J. Braslavsky, R. Middleton","doi":"10.1109/ANZCC.2018.8606570","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606570","url":null,"abstract":"This work studies the stability of a wind turbine with permanent magnet synchronous generator (PMSG) for wind energy conversion systems (WECSs) integrated to power grids using a proposed control strategy. The cascaded control structure uses PI controllers and feedback linearisation which takes the nonlinear relationship between the generator speed and DC-link voltage into account. The stability analysis given here concentrates on the small signal model and utilises eigenvalue analysis to achieve a result. The relation between different modes and state variables is determined by calculating participation factors, based on which effective controller parameters can be selected to improve control performance. Achievable performance is illustrated on numerical simulations performed on a 2MW PMSG WECS model.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127737339","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
Distributed cooperative control for frequency and voltage stability in isolated microgrid under event-triggered mechanism 事件触发机制下孤立微电网频率电压稳定的分布式协同控制
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606616
Shengxuan Weng
{"title":"Distributed cooperative control for frequency and voltage stability in isolated microgrid under event-triggered mechanism","authors":"Shengxuan Weng","doi":"10.1109/ANZCC.2018.8606616","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606616","url":null,"abstract":"Considering the limitation of communication network, the distributed event-triggered cooperative control for frequency and voltage stability in microgrid is studied in this paper. The event-triggered mechanism with distributed architecture is proposed to reduce the communication burdens among power source inverters. The constructed distributed event-triggered restoration mechanism is used to restore the frequency and voltage magnitude of microgrid and realize the fair utilization of all power sources. Simulation shows the effectiveness of the proposed method.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126462492","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
Convergence of full-order observers for the slow states of a singularly perturbed system (Part II: Applications) 奇异摄动系统慢态全阶观测器的收敛性(第二部分:应用)
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606545
Luis Cuevas, D. Nešić, C. Manzie
{"title":"Convergence of full-order observers for the slow states of a singularly perturbed system (Part II: Applications)","authors":"Luis Cuevas, D. Nešić, C. Manzie","doi":"10.1109/ANZCC.2018.8606545","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606545","url":null,"abstract":"Many natural and engineered systems exhibit a singularly perturbed structure where different time scales inherently lead to difficulties in the design of observers for the system. In our related work [1], we have shown that, under appropriate assumptions, an observer designed for the slow part of the system can be applied and results in semi-global practical asymptotical (SPA) stability of the estimation error. In this paper, we show that assumptions from [1] hold for two classes of plants and nonlinear observers. In fact, we show that the provided framework in [1] covers current results in the literature and also other cases that are not covered by existing results. Hence, we demonstrate that we generalise existing results in the literature.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126416211","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
A combination of analytical and model predictive optimal methods for adaptive cruise control problem 自适应巡航控制问题的分析与模型预测相结合的优化方法
2018 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2018-12-01 DOI: 10.1109/ANZCC.2018.8606602
A. Tran, N. Sakamoto, Tatsuya Suzuki
{"title":"A combination of analytical and model predictive optimal methods for adaptive cruise control problem","authors":"A. Tran, N. Sakamoto, Tatsuya Suzuki","doi":"10.1109/ANZCC.2018.8606602","DOIUrl":"https://doi.org/10.1109/ANZCC.2018.8606602","url":null,"abstract":"This research develops a control design methodology that combines the analytical method and randomized model predictive control one. By using the analytical approach, one can consider the optimization in the infinite time horizon and propose several nonlinear optimal control input candidates. Then, by using the randomized model predictive control method, one can determine the \"probably true\" optimal one. The effectiveness and robustness of the proposed method are verified in simulations.","PeriodicalId":358801,"journal":{"name":"2018 Australian & New Zealand Control Conference (ANZCC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125599428","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
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