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Mobile Robot Navigation using State-Constrained Sliding Mode Control 基于状态约束滑模控制的移动机器人导航
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703148
J. V. Karthik, Arunkumar Gk, M. Thomas, Leena Vacchani
{"title":"Mobile Robot Navigation using State-Constrained Sliding Mode Control","authors":"J. V. Karthik, Arunkumar Gk, M. Thomas, Leena Vacchani","doi":"10.1109/ICC54714.2021.9703148","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703148","url":null,"abstract":"The mobile robot navigation from a given source to destination needs to address collision with nearby obstacles as well as motion constraints. This work attempts to integrate the planning and control of navigation using robust controller designed to cater for state constraints. When a navigation query is presented, we propose to generate intermediate waypoints by exploring the state constraining properties of the controller. The state constraints are described to avoid collisions on course to the destination point and motion constraints of the unicycle model of mobile robot. The approach addresses methods to stabilize the mobile robot with a desired orientation at a target point. The proposed algorithm then allows us to perform multiple waypoint traversal manoeuvres through the intermediate target waypoints that are generated based on the navigation query that is presented. The proposed technique is validated through numerical simulation results.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126735176","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
Fully Distributed Extended-State-Observer Design for Time-Varying Formation Control of Multi-Agent System with Constant Input Delay 恒输入时滞多智能体系统时变编队控制的全分布扩展状态观测器设计
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703167
Arnab Pal, A. K. Naskar
{"title":"Fully Distributed Extended-State-Observer Design for Time-Varying Formation Control of Multi-Agent System with Constant Input Delay","authors":"Arnab Pal, A. K. Naskar","doi":"10.1109/ICC54714.2021.9703167","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703167","url":null,"abstract":"Main focus of this paper is to design an extended state observer (ESO) based fully distributed leaderless control protocol for time-varying formation of multi-agent system (MAS). A linear model of multi-agent system with constant input delay is considered. A predictor based adaptive observer is designed for each agent using the relative state information of the neighbouring agents, which compensate the input delay. A Lyapunov candidate function is presented for the stability analysis of proposed methodology and sufficient conditions are derived in terms of linear matrix inequality (LMI). Finally, a numerical example is presented to demostrate the effectivness of the proposed idea.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115307150","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
Planar Bearing-Only Formation Control of Heterogeneous Multi-agent Systems 异构多智能体系统的平面方位编队控制
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703116
A. Pampatwar, Dwaipayan Mukherjee
{"title":"Planar Bearing-Only Formation Control of Heterogeneous Multi-agent Systems","authors":"A. Pampatwar, Dwaipayan Mukherjee","doi":"10.1109/ICC54714.2021.9703116","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703116","url":null,"abstract":"This paper studies the problem of bearing-only formation control of heterogeneous multi-agent systems com-prised of agents modeled as single and double integrators, and unicycles. Stability of such a system is proved, using Lyapunov theory, for distributed control laws that use relative bearing as the sensed variable. Two approaches are proposed for formation control. The first approach provides a sufficient condition on the heading of unicycles during the evolution of the formation, while the second approach provides sufficient conditions based on the set of neighbors for different types of agents. Simulations are presented to vindicate the theoretical results.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116357012","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
Second-Level Adaptation and Optimization for Multiple Model Adaptive Iterative Learning Control 多模型自适应迭代学习控制的二级自适应与优化
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703125
Ram Padmanabhan, Mahima Bhushan, Kaushal K. Hebbar, R. Makam, Koshy George
{"title":"Second-Level Adaptation and Optimization for Multiple Model Adaptive Iterative Learning Control","authors":"Ram Padmanabhan, Mahima Bhushan, Kaushal K. Hebbar, R. Makam, Koshy George","doi":"10.1109/ICC54714.2021.9703125","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703125","url":null,"abstract":"In this paper, we present a two-tier approach to achieve faster convergence in the presence of parameter uncertainties for discrete-time Iterative Learning Control (ILC) systems. The Multiple-Models with Second-Level Adaptation (MM-SLA) methodology is presented to minimize the time taken for tracking error to converge. The advantages of such an approach have not been exploited thus far in the context of adaptive ILC (AILC). We show here that AILC with MM-SLA leads to a significant reduction in the control energy besides faster convergence in the tracking error. Using simulation examples, we demonstrate the efficacy of the proposed strategies.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130180550","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
Trajectory Planning and Soft Landing of RLV Using Non-Linear Model Predictive Control 基于非线性模型预测控制的RLV轨迹规划与软着陆
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703177
S. A. Vignesh, Irfan Habeeb Apm, A. Vp, Anaswara P, Mathew P. Abraham, Irfan Habeeb
{"title":"Trajectory Planning and Soft Landing of RLV Using Non-Linear Model Predictive Control","authors":"S. A. Vignesh, Irfan Habeeb Apm, A. Vp, Anaswara P, Mathew P. Abraham, Irfan Habeeb","doi":"10.1109/ICC54714.2021.9703177","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703177","url":null,"abstract":"The idea of the reusability of launch vehicles has revolutionized the space industry drastically by saving the cost. But, the technological complexities make it challenging to implement. This paper studies control and guidance of vertical takeoff and vertical landing (VTVL) reusable launch vehicles, with fuel optimal path planning and optimal controller design. Modelled RLV has three degrees of freedom with thrust vector control and upper cold gas thrusters as actuators. The system's multiple-input multiple-output (MIMO) nature has added complexity due to the coupling and nonlinearity of governing equations. Non-linear model predictive control is employed for Fuel optimal path planning and feedback controller design. Model predictive control, optimization, symbolic math toolboxes are used along with Matlab and Simulink for modelling, design and analysis purpose.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124297794","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
Reinforcement Learning of Whole-Body Control Strategies to Balance a Dynamically Stable Mobile Manipulator 动态稳定移动机械臂平衡的全身强化学习控制策略
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703140
Vighnesh Vatsal, B. Purushothaman
{"title":"Reinforcement Learning of Whole-Body Control Strategies to Balance a Dynamically Stable Mobile Manipulator","authors":"Vighnesh Vatsal, B. Purushothaman","doi":"10.1109/ICC54714.2021.9703140","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703140","url":null,"abstract":"Mobile manipulators consist of a ground robot base and a mounted robotic arm, with the two components typically controlled as separate subsystems. This is enabled by the fact that most mobile bases with three or four-wheeled designs are inherently stable, though lacking in maneuverability. In contrast, dynamically stable mobile bases offer greater agility and safety in crowded human interaction scenarios, though requiring active balancing. In this work, we consider the balancing problem for a Two-Wheeled Inverted Pendulum Mobile Manipulator (TWIP-MM), designed for retail shelf inspection. Using deep reinforcement learning methods (PPO and SAC), we can generate whole-body control strategies that leverage the motion of the robotic arm for in-place stabilization of the base, through a completely model-free approach. In contrast, tuning a standard PID controller requires a model of the robot, and is considered here as a baseline. Compared to PID control in simulation, the RL-based controllers are found to be more robust against changes in initial conditions, variations in inertial parameters, and disturbances applied to the robot.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126509230","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
Performance Comparison Between Direct and Indirect Adaptive Inverse Control Based on FIR Filter for Non-Minimum Phase Plant 基于FIR滤波器的非最小相位对象直接与间接自适应逆控制性能比较
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703163
Rodrigo Possidônio Noronha
{"title":"Performance Comparison Between Direct and Indirect Adaptive Inverse Control Based on FIR Filter for Non-Minimum Phase Plant","authors":"Rodrigo Possidônio Noronha","doi":"10.1109/ICC54714.2021.9703163","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703163","url":null,"abstract":"This paper aims to compare the performance of Direct Adaptive Inverse Control (DAIC) and Indirect Adaptive Inverse Control (IAIC) applied to a non-minimum phase plant in the presence of a periodic disturbance signal added to the control signal. Besides the structural differences, the performance of DAIC and IAIC is influenced, during the update of the estimate of the controller weights vector, by the convergence speed and steady-state Mean Square Error (MSE). Thus, in this work a new adaptive algorithm based on stochastic gradient, entitled Fuzzy Variable Step Size Normalized Least Mean Square (FVSS-NLMS), is proposed. In the FVSS-NLMS algorithm, a Mamdani Fuzzy Inference System (MFIS) is used to adapt the step size of NLMS algorithm, with the objective of obtain a good performance in terms of convergence speed and steady-state MSE. The results obtained by the DAIC and IAC designed by the FVSS-NLMS algorithm were compared with versions of NLMS algorithm with fixed and variable step size.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126365552","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
Model-based Control Development of a Tier 4 Locomotive Engine with Exhaust Gas Re-circulation 带废气再循环的四级机车发动机模型控制研究
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703127
Sanketh Bhat, Manthram Sivasubramaniam, R. Mischler, Manish Gupta, Satadru Dey
{"title":"Model-based Control Development of a Tier 4 Locomotive Engine with Exhaust Gas Re-circulation","authors":"Sanketh Bhat, Manthram Sivasubramaniam, R. Mischler, Manish Gupta, Satadru Dey","doi":"10.1109/ICC54714.2021.9703127","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703127","url":null,"abstract":"The Tier 4 emission standards for heavy duty diesel engines have a reduction of $> 70%$ in nitrous oxide (NOx) & particulate matter (PM) as compared to the Tier 3. Technology changes need to be introduced to meet these stringent norms. The paper discusses the model-based control development for a Tier 4 locomotive engine using Exhaust gas recirculation (EGR) wherein part of the exhaust gas is re-circulated into the cylinder to reduce NOx formation. Since emissions are predominantly functions of how good combustion takes place inside the cylinder and how the engine breathes i.e. the conditions of the air and fuel entering and exiting the cylinder, control of oxygen-based indicators like the oxygen fraction in the intake manifold will be critical to identify the emission. The oxygen-based metrics can in turn be mapped to the flows & pressures in the air handling path. To accurately control these parameters advanced control techniques, need to be developed. The aforementioned controls problem is a complex and intellectually challenging one for the following reasons: (i) multi-input multi-output system dynamics with coupled control loops, (ii) non-minimum phase behavior, and (iii) limited sensor measurements etc. This paper describes the details of the controls development process. Specifically, we discuss (i) single input single output control scheme keeping in mind simplicity for real-time implementation, (ii) decoupling technique to minimize the coupling between the interacting loops, (iii) virtual actuator coupling to aid in control design, and (iv) scheduling the control gains for optimal performance throughout the operating range.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131691405","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
A magnitude optimum approach for tuning Reduced-order ADRC with FOPDT models 基于FOPDT模型的降阶自抗扰控制器调优方法
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703133
M. Srikanth, N. Yadaiah
{"title":"A magnitude optimum approach for tuning Reduced-order ADRC with FOPDT models","authors":"M. Srikanth, N. Yadaiah","doi":"10.1109/ICC54714.2021.9703133","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703133","url":null,"abstract":"In this paper, the Reduced-order Active Disturbance Rejection Control (RADRC) is tuned with a new set of tuning rules based on the First Order Plus Dead-time plant models. The tuning rules are developed to achieve the desired robustness $(M_{s})$ level. The tuning process is carried out in two stages. In the first stage, a set of non-linear equations is formulated using the magnitude optimum method and are solved with the desired settling time requirement resulting in controller bandwidth $(omega_{c})$, observer bandwidth $(omega_{0})$ and high-frequency gain $(b_{0})$. The parameter $b_{0}$ is further adjusted to meet the robustness $(M_{s})$ and stability requirements. The data collected from stage-I is used as input to the next stage. In stage-II, tuning rules for $omega_{0}$ and $b_{0}$ are formulated in the form of a polynomial model. Finally, the proposed tuning rules are tested on standard benchmark systems and experimentally verified to control a DC motor.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"55 30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126128889","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
Minimum-time Path Convergence for UAVs in Wind Using Vector Field Guidance 基于矢量场制导的无人机风场最小时间路径收敛
2021 Seventh Indian Control Conference (ICC) Pub Date : 2021-12-20 DOI: 10.1109/ICC54714.2021.9703128
Atharva Navsalkar, Sikha Hota
{"title":"Minimum-time Path Convergence for UAVs in Wind Using Vector Field Guidance","authors":"Atharva Navsalkar, Sikha Hota","doi":"10.1109/ICC54714.2021.9703128","DOIUrl":"https://doi.org/10.1109/ICC54714.2021.9703128","url":null,"abstract":"We present a novel guidance algorithm for unmanned aircraft to converge to a smooth path optimising time in the presence of wind. A Lyapunov vector field based method is used to achieve convergence and tracking. The proposed framework performs better in comparison with the similar work existing in literature. The presented approach modifies the vector field according to the velocity of the wind, facilitating faster convergence. A customised optimisation algorithm is then used to find a suitable design parameter for vector fields. To demonstrate the efficacy of the proposed approach, numerical simulations are shown and the results are compared with the optimal time paths obtained using optimal control theory.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126012112","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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