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Convex Optimization-based Stiffness Control for Tensegrity Robotic Structures 基于凸优化的张拉整体机器人结构刚度控制
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182915
S. Savin, Oleg Balakhnov, A. Klimchik
{"title":"Convex Optimization-based Stiffness Control for Tensegrity Robotic Structures","authors":"S. Savin, Oleg Balakhnov, A. Klimchik","doi":"10.1109/MED48518.2020.9182915","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182915","url":null,"abstract":"In this paper, the problem of controlling compliance of a robotic tensegrity structure (finding the state of the structure which produces desired stiffness) is discussed. Tensegrity structures have a number of unique properties: they are well suited for uncertain environments, are easily deployed, impact resistant, foldable and light-weight and thus provide a desirable component for a number of robotics applications. They are currently being studied as a structural element of robotic extraterrestrial probes, crawling robots, swimming robots and others. The compliance control problem here is solved by a convex relaxation of the original nonconvex program, which in turn is done by introducing two linear models: one for the stiffness matrix and one for the elastic forces. Solution accuracy is controlled by introducing an iterative scheme, solving the convex problem on each iteration. Proposed algorithm converges providing accuracy better than 10−2 N/m in terms of stiffness using only 10 iterations of the algorithm, and the accuracy of force equilibrium is better than 1 N.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"139 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132979317","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
Whale Optimization Algorithm-Based Tuning of Low-Cost Fuzzy Controllers with Reduced Parametric Sensitivity 基于鲸鱼优化算法的低成本模糊控制器参数灵敏度降低整定
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182923
Radu-Codrut David, R. Precup, S. Preitl, E. Petriu, Alexandra-Iulia Szedlak-Stînean, Raul-Cristian Roman
{"title":"Whale Optimization Algorithm-Based Tuning of Low-Cost Fuzzy Controllers with Reduced Parametric Sensitivity","authors":"Radu-Codrut David, R. Precup, S. Preitl, E. Petriu, Alexandra-Iulia Szedlak-Stînean, Raul-Cristian Roman","doi":"10.1109/MED48518.2020.9182923","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182923","url":null,"abstract":"This paper proposes a novel application of Whale Optimization Algorithm (WOA) as solution for solving a complex control design and tuning problem concerning fuzzy control systems that control processes modeled as second-order servo systems with an integral component and variable parameters. The minimization of objective functions containing the error of the controlled process and the output sensitivity functions of the sensitivity models defined with respect to the parametric variations of the controlled process (the servo system) defines the optimization problem. WOA is integrated with the aim of obtaining optimal controller parameters therefore obtaining a new generation of Takagi-Sugeno-Kang proportional-integral fuzzy controllers. For this, a design method is defined and experimentally validated with the aid of a laboratory nonlinear servo system.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125243598","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
Tumor Growth Modeling: State Estimation with Maximum Likelihood and Particle Filtering 肿瘤生长建模:最大似然状态估计和粒子滤波
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183193
Spyridon Patmanidis, A. Charalampidis, G. Papavassilopoulos
{"title":"Tumor Growth Modeling: State Estimation with Maximum Likelihood and Particle Filtering","authors":"Spyridon Patmanidis, A. Charalampidis, G. Papavassilopoulos","doi":"10.1109/MED48518.2020.9183193","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183193","url":null,"abstract":"In this study, we combined the Maximum Likelihood Estimator from our previous works with a Sequential Importance Resampling (SIR) particle filter to estimate the states of the stochastic Gompertz tumor growth model. We also implemented a parallel version in CUDA for the SIR filter in order to reduce its execution time. Extensive simulations with synthetic data were run to examine whether the SIR filter can provide more accurate state estimates in respect to the Normalized Mean Squared Deviation criterion compared to those provided by the deterministic Gompertz model. Moreover, we monitored and compared the execution time of the SIR's parallel and sequential implementations for different numbers of particles. The results showed that the SIR filter can estimate the system's states very accurately, even at the early tumor growth stages. Additionally, the parallel implementation that ran on the GPU was way more efficient than the implementation that ran on the CPU. By combining the Maximum Likelihood Estimator (MLE) with an SIR filter, we were able to obtain very accurate estimates of the tumors' volume. Furthermore, the execution time for the SIR filter was significantly decreased by taking advantage of the GPUs ability to perform a very large number of computations in parallel.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131087782","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 Fuzzy Tracking Control For An Activated Sludge Process 活性污泥过程的鲁棒模糊跟踪控制
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183211
Abdelmounaim Khallouq, A. Karama, Mohamed Abyad
{"title":"Robust Fuzzy Tracking Control For An Activated Sludge Process","authors":"Abdelmounaim Khallouq, A. Karama, Mohamed Abyad","doi":"10.1109/MED48518.2020.9183211","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183211","url":null,"abstract":"In this work we are interested in a tracking problem with reference model. A robust fuzzy controller is designed for the regulation of the pollutant substrate and the dissolved oxygen concentrations inside an activated sludge process. The process is described by Takagie-Sugeno fuzzy model obtained from the nonlinear mass-balance model. An observer is considered for the on-line estimation of the unavailable biological states using the dissolved oxygen concentration as unique measurable. The control law is based on the Parallel Distributed Compensation formulation and is combined with a robust Takagie-Sugeno fuzzy observer. The stability of the entire system for both the observer and the controller is then discussed using Lyapunov theory to guarantee tracking performance of the closed loop system. Using the $H_{infty}$ norm, new sufficient conditions to develop the fuzzy controller is obtained and given in terms of linear matrix inequalities. The efficiency and the robustness of the control scheme is demonstrated via simulations.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133180950","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
Adaptive Control of a Linear, Scalar Hyperbolic PDE with Time-Varying Coefficients 具有时变系数的线性标量双曲偏微分方程的自适应控制
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183190
Henrik Anfinsen, O. Aamo
{"title":"Adaptive Control of a Linear, Scalar Hyperbolic PDE with Time-Varying Coefficients","authors":"Henrik Anfinsen, O. Aamo","doi":"10.1109/MED48518.2020.9183190","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183190","url":null,"abstract":"We extend a previous result regarding adaptive control of a linear hyperbolic partial differential equation (PDE) with time-varying in-domain source coefficient in two ways. Firstly, we introduce a parametrization of the uncertain time-varying in-domain source coefficient that allows for a broader class of systems compared to previous result. Secondly, and more importantly, we introduce an uncertain scaling factor in the input boundary condition which is present in most applications, but wasn't handled in the previous result. All system parameters except the transport speed are uncertain and time-varying, although parametrizable as a linear combination of uncertain constants and certain time-variance. Closed-loop convergence of the state to the origin is proven, and performance is demonstrated for a numerical example.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114538725","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
Singularity-Free Analytic Solution of Ballistic Trajectory with Quadratic Drag 二次阻力弹道的无奇异解析解
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182863
Dong-Yeon Lee, M. Tahk, Chang-hun Lee, Young-Won Kim
{"title":"Singularity-Free Analytic Solution of Ballistic Trajectory with Quadratic Drag","authors":"Dong-Yeon Lee, M. Tahk, Chang-hun Lee, Young-Won Kim","doi":"10.1109/MED48518.2020.9182863","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182863","url":null,"abstract":"In this study, an approximate analytic solution that represents the ballistic trajectory under the quadratic drag is studied. The analytic solution has the following assumptions: gravity is constant and drag is proportional to the square of velocity. The previous studies under these assumptions provide a closed-form solution of velocity as a function of flight path angle, but it is prone to a singularity problem that the denominator is zero under certain conditions. In this study, the derivation process of the previous solution is investigated to analyze the physical meaning of the singularity condition. The analysis shows that analytic derivation using altitude as the independent variable produces singularity conditions and affects the time and downrange calculations. New substitution variables are introduced to avoid these singularity conditions. Numerical simulations are conducted to find the new solution singularity free and accurate.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127088964","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
LPV control for autonomous vehicles using a machine learning-based tire pressure estimation 基于机器学习的轮胎压力估计的自动驾驶车辆LPV控制
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183106
Dániel Fényes, T. Hegedüs, B. Németh, P. Gáspár, D. Koenig, O. Sename
{"title":"LPV control for autonomous vehicles using a machine learning-based tire pressure estimation","authors":"Dániel Fényes, T. Hegedüs, B. Németh, P. Gáspár, D. Koenig, O. Sename","doi":"10.1109/MED48518.2020.9183106","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183106","url":null,"abstract":"The paper presents a data-driven method for tire pressure estimation and an LPV-based control design for autonomous vehicles. The motivation of the research is that the pressures of the tires have high impacts on the lateral dynamics of the vehicle, because the loss of tire pressure may result in degradation in the lateral vehicle motion. First, a machine learning-based estimation algorithm, which uses only signals of on-board sensors, is proposed. Second, an LPV-based lateral control design is proposed, which uses the estimated tire pressure as a scheduling variable. The control is able to handle situations, in which the tire pressure decreases. The efficiency and the operation of the control system is illustrated through a comprehensive simulation example using the high-fidelity simulation software CarMaker.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"239 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132879276","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
Deep Weed Detector/Classifier Network for Precision Agriculture 面向精准农业的深度杂草检测/分类网络
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183325
Mahmoud Abdulsalam, N. Aouf
{"title":"Deep Weed Detector/Classifier Network for Precision Agriculture","authors":"Mahmoud Abdulsalam, N. Aouf","doi":"10.1109/MED48518.2020.9183325","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183325","url":null,"abstract":"The productivity of crop farming keeps diminishing at an alarming rate due to infestation of weeds and pests. Deep learning is becoming as the approach for identifying weeds on farmlands. However, training weed data sets with deep learning classification alone trains the whole images consisting of the weed and its background (soil) without categorically telling which particular item in the image is a weed. This makes utilising this classification approach for precision agriculture difficult. We present an alternative approach, which involves incorporating a pre-trained network in this case ResNet-50 and YOLO v2 object detector for weed detection/classification on farmlands. Thus, weeds can precisely be located, identified (type), sprayed with the appropriate herbicide or removed with the appropriate mechanism. This sums up weeding process in precision agriculture.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130461340","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: 16
Synchronous causal digital control and stabilization of a linear periodic object using a generalized hold 基于广义保持的线性周期对象的同步因果数字控制与稳定
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183071
E. Rosenwasser, W. Drewelow, T. Jeinsch, Rudy Cepeda-Gomez, J. Ladisch
{"title":"Synchronous causal digital control and stabilization of a linear periodic object using a generalized hold","authors":"E. Rosenwasser, W. Drewelow, T. Jeinsch, Rudy Cepeda-Gomez, J. Ladisch","doi":"10.1109/MED48518.2020.9183071","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183071","url":null,"abstract":"This paper discusses the digital control of a linear periodic object when using a generalized hold element. The solution for the problems of causal modal control and stabilization based on a discrete backward model formulation is given on the basis of the discrete model of the system using the apparatus of determinant polynomial equations.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128866314","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
Stator Flux Finite-time Observer for Non-Salient Permanent Magnet Synchronous Motors 非凸极永磁同步电动机定子磁链有限时间观测器
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183036
A. Bobtsov, A. Pyrkin, S. Aranovskiy, N. Nikolaev, O. Slita, O. Kozachek
{"title":"Stator Flux Finite-time Observer for Non-Salient Permanent Magnet Synchronous Motors","authors":"A. Bobtsov, A. Pyrkin, S. Aranovskiy, N. Nikolaev, O. Slita, O. Kozachek","doi":"10.1109/MED48518.2020.9183036","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183036","url":null,"abstract":"In this paper a gradient observer and finite-time observer of stator flux are developed for non-salient permanent magnet synchronous motors. The methods described here are based on implementation of linear time-invariant (LTI) filters and the dynamic regression extension and mixing (DREM) techniques. The motor resistance and inductance are assumed to be known.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126366177","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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