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Sensitivity analysis of models for high consistency refining process 高稠度精炼过程模型的灵敏度分析
2013 IEEE International Conference on Control Applications (CCA) Pub Date : 2013-11-14 DOI: 10.1109/CCA.2013.6662865
P. Hohn, W. Birk
{"title":"Sensitivity analysis of models for high consistency refining process","authors":"P. Hohn, W. Birk","doi":"10.1109/CCA.2013.6662865","DOIUrl":"https://doi.org/10.1109/CCA.2013.6662865","url":null,"abstract":"This paper deals with the sensitivity analysis of models for the high consistency refining process in the pulp and paper industry. Several models reported in literature are considered, which are screened for their potential use in the design of controllers for refiners or in the optimization of refiner operation. For the two most promising models a sensitivity analysis is conducted which suggests that the temperature profile inside the refiner and the inlet consistency are the most important process variables. It is further suggested that both variables variables are utilized to control the refining process based on these models. Moreover, computer simulations with constant, linear increasing and parabolic temperature profiles are performed, which confirm the importance of the temperature profile for the entropy based model.","PeriodicalId":379739,"journal":{"name":"2013 IEEE International Conference on Control Applications (CCA)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114414466","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
Balancing of a spherical inverted pendulum with an omni-directional mobile robot 球面倒立摆与全方位移动机器人的平衡
2013 IEEE International Conference on Control Applications (CCA) Pub Date : 2013-11-14 DOI: 10.1109/CCA.2013.6662841
Sho-Tsung Kao, W. Chiou, Ming-Tzu Ho
{"title":"Balancing of a spherical inverted pendulum with an omni-directional mobile robot","authors":"Sho-Tsung Kao, W. Chiou, Ming-Tzu Ho","doi":"10.1109/CCA.2013.6662841","DOIUrl":"https://doi.org/10.1109/CCA.2013.6662841","url":null,"abstract":"A spherical inverted pendulum is a rod connected to a universal joint, which is attached to a horizontal movable base. The movable base is free to move on the plane acted on by a planar control force. It is a two-dimensional inverted pendulum. An omni-directional mobile robot is a special type of wheeled mobile robot that can perform translational movement along any desired path combined with any rotational movement. In this paper, we consider the problems of balancing a spherical inverted pendulum that is driven by an omni-directional mobile robot. A detailed dynamic model of the system is given for the control design and simulation study. By retaining the predominant nonlinear terms and neglecting the high-order coupling terms, the spherical inverted pendulum system model is simplified to two decoupled one-dimensional inverted pendulum systems. A stabilizing controller based on sliding mode control is designed for each decoupled system. In addition, a linear-quadratic regulator controller based on a linearized system model is also designed for performance comparison. The performance of the two control strategies is investigated through experimental studies.","PeriodicalId":379739,"journal":{"name":"2013 IEEE International Conference on Control Applications (CCA)","volume":"138 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114441178","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
Path generation and integrated guidance and control of a micro air vehicle 微型飞行器路径生成与综合制导控制
2013 IEEE International Conference on Control Applications (CCA) Pub Date : 2013-11-14 DOI: 10.1109/CCA.2013.6662886
K. Harikumar, M. Bhat
{"title":"Path generation and integrated guidance and control of a micro air vehicle","authors":"K. Harikumar, M. Bhat","doi":"10.1109/CCA.2013.6662886","DOIUrl":"https://doi.org/10.1109/CCA.2013.6662886","url":null,"abstract":"In this paper, we consider the problem of generating a feasible path connecting two waypoints in a three dimensional space with specified heading and flight path angles for a fixed wing micro air vehicle (MAV). The algorithm is based on simple geometric construction and can be used for generating paths for in flight waypoints. The guidance law used here is a modified version of the PN guidance law. Due to the strong coupling between the lateral and longitudinal dynamics and low actuator bandwidth, an integrated framework for guidance and control is also developed.","PeriodicalId":379739,"journal":{"name":"2013 IEEE International Conference on Control Applications (CCA)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116862702","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
Trajectory planning for monocular SLAM systems 单目SLAM系统的轨迹规划
2013 IEEE International Conference on Control Applications (CCA) Pub Date : 2013-11-14 DOI: 10.1109/CCA.2013.6662820
Laxit Gavshinde, A. Singh, K. Krishna
{"title":"Trajectory planning for monocular SLAM systems","authors":"Laxit Gavshinde, A. Singh, K. Krishna","doi":"10.1109/CCA.2013.6662820","DOIUrl":"https://doi.org/10.1109/CCA.2013.6662820","url":null,"abstract":"This paper proposes a novel method of integrating planning with Monocular Simultaneous Localization and Mapping (SLAM) systems. Monocular SLAM, typically referred to as VSLAM systems in literature consists of recovering trajectory estimates of the camera and stationary world features from a single moving camera. Such VSLAM systems are significantly more difficult than SLAM performed with depth sensors, such as using an accurate Laser Range Finder (LRF). When the camera motion is subject to steep changes in orientation, tracked features over the previous instances are lost, making VSLAM estimates highly unreliable, erroneous that cannot be recovered. Most often a complete breakdown occurs, which entails a new sequence of images to be captured from a fresh camera trajectory. Herein we propose an optimization based path planning formulation for such VSLAM systems that reduces occurence of such errors through paths that are not subject to high orientation changes. Further we plan a velocity profile over the path that prevents features from getting significantly displaced over successive images, often considered a critical criteria for robust feature tracking. The velocity profile is computed using the novel concept of non linear time scaling proposed in our earlier work. The VSLAM system is also sufficiently innovated to provide for dense mapping over planar segments. The efficacy of the formulation is verified over real experiments on a camera mounted robot.","PeriodicalId":379739,"journal":{"name":"2013 IEEE International Conference on Control Applications (CCA)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116900120","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
A distributed control scheme for triangular formations with Markovian disturbances 具有马尔可夫扰动的三角形编队的分布式控制方案
2013 IEEE International Conference on Control Applications (CCA) Pub Date : 2013-11-14 DOI: 10.1109/CCA.2013.6662912
D. Nguyen, V. Krishnamurthy, A. Bishop
{"title":"A distributed control scheme for triangular formations with Markovian disturbances","authors":"D. Nguyen, V. Krishnamurthy, A. Bishop","doi":"10.1109/CCA.2013.6662912","DOIUrl":"https://doi.org/10.1109/CCA.2013.6662912","url":null,"abstract":"This work details a distributed control system for triangular formation control where the control actions applied by the agents can be chosen from a set of values during run-time (as opposed to a single value defined in a standard feedback controller). Such a control law is advantageous as it allows the individual agents freedom in choosing their individual headings and motion speeds (from the specified set) during execution. This offers greater flexibility and robustness than traditional distributed feedback formation control laws. An alternative interpretation of the results presented is that the control law presented is capable of handling measurements that may be corrupted by an unknown finite state Markov chain (which can model noisy sensors and/or communication channels). A strong convergence result is established which permits global exponential convergence of the formation to the desired shape.","PeriodicalId":379739,"journal":{"name":"2013 IEEE International Conference on Control Applications (CCA)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123722027","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
Gait sequence generation of a hybrid wheeled-legged robot for negotiating discontinuous terrain 非连续地形下轮腿混合机器人步态序列生成
2013 IEEE International Conference on Control Applications (CCA) Pub Date : 2013-11-14 DOI: 10.1109/CCA.2013.6662842
Sartaj Singh, K. Krishna
{"title":"Gait sequence generation of a hybrid wheeled-legged robot for negotiating discontinuous terrain","authors":"Sartaj Singh, K. Krishna","doi":"10.1109/CCA.2013.6662842","DOIUrl":"https://doi.org/10.1109/CCA.2013.6662842","url":null,"abstract":"In this paper we develop an algorithm to generate gait sequences to negotiate a discontinuous terrain for a hybrid 4-wheeled legged robot. The gait sequence comprises two main steps - normal force redistribution and hybrid position-force control. The robot climbs the discontinuity one leg at a time. This requires that the entire load of the robot is taken up by the other three legs so that the leg climbing the discontinuity is free. For this purpose a load redistribution methodology is used which makes the center of gravity of chassis coincide with the desired center of pressure (CoP). Subsequently the free leg moves in hybrid position and force control to climb the discontinuity. Force sensing ensures constant contact with the terrain and detection of stand and end of the discontinuity without using any perception sensor. The methodology is validated using multi-body dynamic simulation.","PeriodicalId":379739,"journal":{"name":"2013 IEEE International Conference on Control Applications (CCA)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122651774","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
An integral resonant controller approach to frequency locking an optical cavity 采用积分谐振控制器实现光腔的锁频
2013 IEEE International Conference on Control Applications (CCA) Pub Date : 2013-11-14 DOI: 10.1109/CCA.2013.6662783
A. Kallapur, M. Mabrok, I. Petersen
{"title":"An integral resonant controller approach to frequency locking an optical cavity","authors":"A. Kallapur, M. Mabrok, I. Petersen","doi":"10.1109/CCA.2013.6662783","DOIUrl":"https://doi.org/10.1109/CCA.2013.6662783","url":null,"abstract":"This paper presents the application of an integral resonant controller (IRC) to the problem of frequency locking an optical cavity. Such frequency locking is necessary to ensure maximum constructive interference inside the cavity. This is achieved by altering the resonant frequency of the optical cavity to match the frequency of the input laser. The optical cavity is characterized as a negative imaginary system in the desired frequency range and a strict negative imaginary IRC is designed for locking such a cavity. We show in simulation that the internal stability of the positive feedback interconnection of the plant and the IRC is guaranteed as long as a certain DC gain condition is satisfied, as mentioned in previous theoretical results. Experimental frequency response data for the plant, comprising of a three-mirror ring cavity and a piezoelectric actuator is used. This data is used to obtain a model for the plant using methods of system identification which is then used to design an IRC. A unit step response is obtained to check for the performance of the controller in closed-loop.","PeriodicalId":379739,"journal":{"name":"2013 IEEE International Conference on Control Applications (CCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129666831","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
Dual ground target monitoring with unmanned aerial vehicles 无人机双地面目标监测
2013 IEEE International Conference on Control Applications (CCA) Pub Date : 2013-11-14 DOI: 10.1109/CCA.2013.6662890
A. Babu, Debasish Ghose
{"title":"Dual ground target monitoring with unmanned aerial vehicles","authors":"A. Babu, Debasish Ghose","doi":"10.1109/CCA.2013.6662890","DOIUrl":"https://doi.org/10.1109/CCA.2013.6662890","url":null,"abstract":"This paper addresses the problem of path planning for fixed wing Unmanned Aerial Vehicles (UAVs) for monitoring two different ground targets simultaneously. The UAVs are modelled as Dubins vehicles that can move only in the forward direction and are constrained by a bound on the minimum turn radius. The problem is formulated as an optimal control problem with both control and state inequality constraints along with a terminal manifold constraint. Subsequently, time optimal paths for the UAVs are obtained using Pontryagin's minimum principle.","PeriodicalId":379739,"journal":{"name":"2013 IEEE International Conference on Control Applications (CCA)","volume":"1988 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125481683","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
Adaptive control of functional electrical stimulation for upper limb stroke rehabilitation 功能性电刺激对上肢脑卒中康复的自适应控制
2013 IEEE International Conference on Control Applications (CCA) Pub Date : 2013-11-14 DOI: 10.1109/CCA.2013.6662750
O. Brend, C. Freeman, M. French
{"title":"Adaptive control of functional electrical stimulation for upper limb stroke rehabilitation","authors":"O. Brend, C. Freeman, M. French","doi":"10.1109/CCA.2013.6662750","DOIUrl":"https://doi.org/10.1109/CCA.2013.6662750","url":null,"abstract":"In this paper a multiple model adaptive control scheme is designed and evaluated for the electrically stimulated isometric human arm. Experimental data are first used to identify models that represent various stages of muscular fatigue. The control scheme is then implemented on four unimpaired participants supplying zero voluntary effort. Results illustrate the ability of the scheme to track the time-variance of the true plant and provide improved torque tracking compared with a fixed controller. An advantage of the proposed method is the ability to achieve similar levels of performance across multiple participants without the need to perform identification tests.","PeriodicalId":379739,"journal":{"name":"2013 IEEE International Conference on Control Applications (CCA)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116289520","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
Gain scheduled steam drum level controller for Advanced Heavy Water Reactor 获得先进重水反应堆预定汽包液位控制器
2013 IEEE International Conference on Control Applications (CCA) Pub Date : 2013-11-14 DOI: 10.1109/CCA.2013.6662918
K. Sairam, T. U. Bhatt, A. Tiwari
{"title":"Gain scheduled steam drum level controller for Advanced Heavy Water Reactor","authors":"K. Sairam, T. U. Bhatt, A. Tiwari","doi":"10.1109/CCA.2013.6662918","DOIUrl":"https://doi.org/10.1109/CCA.2013.6662918","url":null,"abstract":"Gain scheduled P-I plus feed forward controller is designed for the steam drum level of Advanced Heavy Water Reactor(AHWR) by incorporating the coupling effects due to reactor power and steam pressure transients under Alternate and Normal mode of reactor operation. A simplified thermal hydraulics model is developed for the controller design which incorporates swell and shrink effects of steam drum level as well as varying plant dynamics.","PeriodicalId":379739,"journal":{"name":"2013 IEEE International Conference on Control Applications (CCA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126795307","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
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