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Trajectory Tracking Control for a Kinematic Bicycle Model 运动自行车模型的轨迹跟踪控制
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183161
A. Ailon, S. Arogeti
{"title":"Trajectory Tracking Control for a Kinematic Bicycle Model","authors":"A. Ailon, S. Arogeti","doi":"10.1109/MED48518.2020.9183161","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183161","url":null,"abstract":"This paper deals with the trajectory tracking control problem in the kinematic bicycle model. To avoid possible singular states in the control system for the model under consideration we apply a sigmoid function (hyperbolic tangent) in the feedback loop. We present an error function between the real and virtual vehicles that follows the required trajectory, and introduce a control law that stabilizes asymptotically the zero error state in the error dynamics. In addition, the proposed algorithm allows us to handle the control problem in cases where actuator saturations and state constraints exist. The paper is concluded with an example that demonstrate the characteristics of the control law and its performance.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"56 78 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":"131932748","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
Policy Gradient-based Integral Reinforcement Learning for Optimal Control Design of Nonaffine Morphing Aircraft Systems 基于策略梯度的积分强化学习非仿射变形飞机系统最优控制设计
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183024
Hanna Lee, Seong-hun Kim, Youdan Kim
{"title":"Policy Gradient-based Integral Reinforcement Learning for Optimal Control Design of Nonaffine Morphing Aircraft Systems","authors":"Hanna Lee, Seong-hun Kim, Youdan Kim","doi":"10.1109/MED48518.2020.9183024","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183024","url":null,"abstract":"An online model-free optimal control design strategy is proposed for general continuous-time nonlinear nonaffine systems using policy gradient-based integral reinforcement learning. In the case of the nonaffine system such as a morphing wing aircraft considering the morphing parameters as control effectors, general nonlinear control design method cannot be applied and solving the Hamilton-Jacobi-Bellman equation analytically is difficult. The proposed online optimal control algorithm is constructed based on the actor-critic structure using Q-function and policy gradient scheme and the integral reinforcement learning approach is used to develop the actor-critic parameter estimation for the continuous-time system. The closed-loop stability analysis for the designed method is presented. Through the proposed method, the optimal controller can be designed for the general nonaffine system, which has an advantage in terms of a computational issue for the complex system. Note that the entire dynamic model is not required. Simulation results demonstrate the effectiveness of the proposed scheme.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"47 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":"127872357","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
Charge sustaining hybrid electric bikes in free-floating sharing service 自由浮动共享服务中的充电式混合动力自行车
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182852
Alessandra Duz, M. Corno, S. Savaresi
{"title":"Charge sustaining hybrid electric bikes in free-floating sharing service","authors":"Alessandra Duz, M. Corno, S. Savaresi","doi":"10.1109/MED48518.2020.9182852","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182852","url":null,"abstract":"This paper proposes a hierarchical multilevel control strategy, adaptive on the cyclist characterization, for the energy management of a fleet of hybrid electric bikes (HEBs) in a free-floating sharing service. We pursuit the goals of independence from recharging stations and of cycling effort reduction by means of motor assistance. To achieve these goals we exploit the variability of cycling efficiency. The results are assessed in a simulation environment.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"13 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":"121289155","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
Application of Pareto Optimization in an Economic Model Predictive Controlled Microgrid Pareto优化在经济模型预测控制微电网中的应用
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182878
Thomas Schmitt, Jens Engel, Tobias Rodemann, J. Adamy
{"title":"Application of Pareto Optimization in an Economic Model Predictive Controlled Microgrid","authors":"Thomas Schmitt, Jens Engel, Tobias Rodemann, J. Adamy","doi":"10.1109/MED48518.2020.9182878","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182878","url":null,"abstract":"This paper presents an economic model predictive control approach for a linear microgrid model. The microgrid in grid-connected mode represents a medium-sized company building including storage systems, renewable energies and couplings between the electrical and heat energy system. Economic model predictive control together with Pareto optimization is applied to find suitable compromises between two competing objectives, i.e. monetary costs and thermal comfort. Using realworld data from 2018 and 2019, the model is simulated with auto-detection of the Pareto solution which is closest to the Utopia point. The results show that the Pareto optimization can either be used in real-time control of the microgrid, or to obtain suitable weights from long term simulations. Both approaches result in significant cost reductions.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"89 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":"129081257","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
Integrated multi-criteria velocity and semi-active suspension control based on look-ahead road information 基于前瞻道路信息的多准则速度与半主动悬架综合控制
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182953
Hakan Basargan, András Mihály, P. Gáspár, O. Sename
{"title":"Integrated multi-criteria velocity and semi-active suspension control based on look-ahead road information","authors":"Hakan Basargan, András Mihály, P. Gáspár, O. Sename","doi":"10.1109/MED48518.2020.9182953","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182953","url":null,"abstract":"Semi-active suspension control and vehicle cruise control systems have already been developed by researchers and adapted by automotive companies. Most of these systems react on actual road irregularities and terrain characteristics, and the control for each subsystem is designed separately. However, since oncoming road conditions can be known by using historic road information and GPS navigation system, the paper introduces a method to build in look-ahead road data in the control of the adaptive semi-active suspension, moreover, design the vehicle velocity for the cruise controller considering comfort and energy efficiency at the same time. The operation of the presented integrated suspension and velocity control system is validated by a real data simulation in TruckSim environment.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"21 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":"129293832","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
Run-to-Run Control of Thermal Atomic Layer Deposition 热原子层沉积的运行控制
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183059
Yichi Zhang, Yangyao Ding, Zhe Wu, P. Christofides
{"title":"Run-to-Run Control of Thermal Atomic Layer Deposition","authors":"Yichi Zhang, Yangyao Ding, Zhe Wu, P. Christofides","doi":"10.1109/MED48518.2020.9183059","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183059","url":null,"abstract":"This work focuses on the development of a computational fluid dynamic (CFD) model of a batch atomic layer deposition (ALD) process and an associated run-to-run control scheme. Specifically, a cylindrical furnace reactor is analyzed for a SiO2 thin-film ALD using BTBAS and ozone as precursors. First, a high-fidelity 2D axisymmetric multiscale CFD model for an industrial-scale furnace ALD system is developed in ANSYS Fluent to characterize the gas-phase development and the surface deposition, which is based on the previously constructed database using the kinetic Monte-Carlo (kMC) algorithm. After the validation of the multiscale CFD model, it is utilized to investigate a wide range of operating conditions, from which a regression model is developed to describe the input-output relationship between the inlet feed flow rate and the half-cycle time. Next, a run-to-run (r2r) control scheme is formulated, which uses the post-batch feedback information to adjust the operating conditions using the regression relationship and an exponentially weighted moving average (EWMA) algorithm. Finally, the multiscale CFD model and the r2r controller are integrated to generate a closed-loop system via a message-passing interface (MPI) and a data synchronization scheme to evaluate the performance of the r2r controller.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"26 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":"116069311","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
Robust $mathcal{L}_{2}$ Control for Uncertain T-S Descriptor Model with Input Saturation 鲁棒$mathcal{L}_{2}$控制的输入饱和不确定T-S描述符模型
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183083
Ines Righi, S. Aouaouda, M. Chadli, K. Khelil
{"title":"Robust $mathcal{L}_{2}$ Control for Uncertain T-S Descriptor Model with Input Saturation","authors":"Ines Righi, S. Aouaouda, M. Chadli, K. Khelil","doi":"10.1109/MED48518.2020.9183083","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183083","url":null,"abstract":"This paper concerned with the stabilization of uncertain discrete-time descriptor models subject to input saturation and external disturbances. The design control strategy is based on Takagi-Sugeno (T-S) approach and a non parallel distributed compensation control law. To synthesis the fuzzy controller, the stability conditions are derived using non-quadratic Lyapunov functions with respect to the given saturation constraint on the control input and achieving a guaranteed L2-gain performance. The optimization problem is formulated in terms of linear matrix inequalities (LMIs). Numerical example illustrates the efficiency of the proposed approaches.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"200 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":"116185599","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 Control of Omnidirectional Mobile Robots Considering Low-level Actuator Dynamics 考虑低阶执行器动力学的全向移动机器人轨迹控制
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183026
H. V. Phan, Hasan Ferdwosi, Nima Lotfi
{"title":"Trajectory Control of Omnidirectional Mobile Robots Considering Low-level Actuator Dynamics","authors":"H. V. Phan, Hasan Ferdwosi, Nima Lotfi","doi":"10.1109/MED48518.2020.9183026","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183026","url":null,"abstract":"High degree of maneuverability in omnidirectional mobile robots, which stems from their holonomic nature, has posed them as an attractive solution in a variety of applications. This paper studies the problem of trajectory control in omnidirectional robots based on practical observations. More specifically, the dynamics of the low-level motor drivers are explicitly incorporated during the development of a hierarchical controller. Lyapunov's stability theorem is then used to analytically derive the control law which could achieve seamless integration of different control structure hierarchies. The simulation results show the effectiveness of the proposed method compared to other commonly-used algorithms. Furthermore, the controller exhibits low sensitivity to model parameter variations despite its model-based nature, which would be a very beneficial feature in practical implementations as it would limit the need for extensive modeling and calibration.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"32 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":"114427483","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
Constrained Control Allocation for a Remotely Operated Vehicle with Collective Azimuth Thrusters 具有集体方位推进器的遥控飞行器约束控制分配
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183045
A. Baldini, R. Felicetti, F. Ferracuti, A. Freddi, S. Longhi, A. Monteriù
{"title":"Constrained Control Allocation for a Remotely Operated Vehicle with Collective Azimuth Thrusters","authors":"A. Baldini, R. Felicetti, F. Ferracuti, A. Freddi, S. Longhi, A. Monteriù","doi":"10.1109/MED48518.2020.9183045","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183045","url":null,"abstract":"Remotely operated vehicles commonly have propellers with fixed position and orientation. In this paper, we highlight the advantages of equipping remotely operated vehicles with azimuth thrusters. In particular, both energy saving and increased trajectory tracking performances can be achieved with respect to the fixed orientation case. On the other hand, managing thrusters' orientation represents a further computational burden: the constraints are characterized by the presence of trigonometric functions, thus they require, in general, the use of onerous nonlinear solvers. Our proposal is to steer collectively the thrusters, in order to simplify both the optimization algorithm and the mechanical structure of the ROV. The proposed control allocation algorithm calculates, at first, the orientation of the propeller to minimize the energy consumption while taking into account saturation and rate limits. Then, single thrusts are calculated using a quadratic programming framework. Simulation results show the relevance of energy savings and tracking improvements.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"27 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":"125434700","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
On Determining Shortest Path in Joint Space of a Cable-Driven Parallel Robot for Point-to-Point Motion 点对点运动索驱动并联机器人关节空间最短路径的确定
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183198
Utkarsh Aashu Mishra, Ishan Chawla, P. Pathak
{"title":"On Determining Shortest Path in Joint Space of a Cable-Driven Parallel Robot for Point-to-Point Motion","authors":"Utkarsh Aashu Mishra, Ishan Chawla, P. Pathak","doi":"10.1109/MED48518.2020.9183198","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183198","url":null,"abstract":"This paper presents a methodology to determine the shortest path in the joint space of a cable-driven parallel robot for point-to-point motions. The formulation is based on the joint space domain i.e., cable length and the shortest path in joint space is determined between the two points. The path is constrained by the 4th degree polynomial in the Cartesian space and the objective function representing the total path length in the joint space is formulated. The parameters of the path are obtained by minimizing the objective function using genetic algorithm while satisfying the non-negative cable tension constraints. The proposed methodology is validated using a 3-DOF planar and a 6-DOF spatial cable-driven robot. The obtained optimized shortest path is compared to a straight-line path and the results obtained shows a significant reduction in the joint space path length of a cable-driven parallel robot for the optimized path. The reduction will be even more significant for the large-scale cable-driven parallel robot.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"34 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":"125750589","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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