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2020 28th Mediterranean Conference on Control and Automation (MED)最新文献

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Design and Modeling of Unconventional Quadrotors 非常规四旋翼飞行器的设计与建模
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183002
S. H. Derrouaoui, Y. Bouzid, M. Guiatni, I. Dib, N. Moudjari
{"title":"Design and Modeling of Unconventional Quadrotors","authors":"S. H. Derrouaoui, Y. Bouzid, M. Guiatni, I. Dib, N. Moudjari","doi":"10.1109/MED48518.2020.9183002","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183002","url":null,"abstract":"In this paper, we propose a new design of unconventional quadrotors with simple mechanisms. They are able to change the orientation and the length of their arms independently thanks to their adaptive morphologies, these quadrotors can be used for specific missions and in more congested spaces. Thus, the usefulness of certain configurations that our quadrotors can make will be shown. In addition, a detailed and generic model is proposed for three possible cases: 1) the extension of the arms, 2) the rotation of the arms, 3) the hybridization between the extension and rotation of the arms. We stress that the modeling of these unconventional quadrotors is more challenging compared to the standard quadrotors, because of the geometrical asymmetry of the quadrotor structures and the constant change of the inertia and the center of gravity during the flight. In this work, a preliminary prototype of our quadrotor with rotating arms is presented with the electronic architecture.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"45 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":"127992972","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: 11
Using genetic algorithm for optimizing fuzzy logic controller for mode-based control algorithms of building automation systems 利用遗传算法对模糊控制器进行优化，实现基于模式的楼宇自动化控制算法
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183363
Xiaoye Cai, Yue-Feng Cen, M. Baranski, D. Müller
{"title":"Using genetic algorithm for optimizing fuzzy logic controller for mode-based control algorithms of building automation systems","authors":"Xiaoye Cai, Yue-Feng Cen, M. Baranski, D. Müller","doi":"10.1109/MED48518.2020.9183363","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183363","url":null,"abstract":"The growing integration of renewable energy into building energy systems causes increasing complexity of energy conversion and distribution systems. This development creates the need for appropriate control algorithms implemented in building automation systems. We previously introduced the MODI-method to support structured development of mode-based control algorithms and allow simulation-based testing in early phases of the planning process. However, the control design concerns different aspects, such as efficiency and system lifetime. It is therefore challenging to determine the conditions of the transitions between operating modes. Furthermore, the control design process lacks an optimization approach for the generated control algorithms. In this paper, we investigate the application of a fuzzy logic controller to generate conditions for mode transition of control algorithms and transfer approximate human knowledge into the control design. We perform optimization based on genetic algorithm to improve the performance of the control system, considering several aspects. The case study presents structured development of a mode-based control algorithm for a cooling supply system and the functionality of a fuzzy logic controller implemented into the control algorithm. The optimization of the fuzzy logic controller is performed using genetic algorithm. As a result, the optimized parameters of the fuzzy logic controller are gathered, leading to improvement of the performance of the system.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"82 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":"129424338","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
Frequency-shaping observer-based controller design for actuator degradation: Application to suspension system 基于频率整形观测器的致动器退化控制器设计:在悬架系统中的应用
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183316
M. Do, D. Koenig, D. Theilliol, P. Gáspár
{"title":"Frequency-shaping observer-based controller design for actuator degradation: Application to suspension system","authors":"M. Do, D. Koenig, D. Theilliol, P. Gáspár","doi":"10.1109/MED48518.2020.9183316","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183316","url":null,"abstract":"The main contribution of this paper is a methodology, derived from $mathscr{H}_{2}$ cost functional, Parseval's Theorem in controller design and the principle of unknown input observer, for the estimation and accommodation of polynomial actuator degradation. In this design, the observer-based controller, integrated with a frequency-shaping filter and a state-feedback compensator, attenuates the disturbance influence on observer estimation and maintains the system stability. Furthermore, due to its simplicity, industrial engineers and readers can easily apply the proposed method to health maintenance system. Finally, an application to suspension system is illustrated to highlight the performance of the proposed method.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"73 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120819610","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
Fault-Tolerant Distributed and Switchable PI Slip Control Architecture in Four In-Wheel Motor Drive Electric Vehicles 四轮电机驱动电动汽车的容错分布式可切换PI滑移控制体系
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183067
Gerardo Amato, R. Marino
{"title":"Fault-Tolerant Distributed and Switchable PI Slip Control Architecture in Four In-Wheel Motor Drive Electric Vehicles","authors":"Gerardo Amato, R. Marino","doi":"10.1109/MED48518.2020.9183067","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183067","url":null,"abstract":"A fault-tolerant feedback architecture is presented and simulated for chassis motion control of both longitudinal and lateral dynamics in Four In-Wheel Motors (4-IWMs) drive Electric Vehicles (EVs), in the presence of mechanical failures. The control architecture is capable of a quick Fault Detection and Isolation (FDI) by making a sensor fusion between the measured chassis-acceleration vector angle and its estimate determined by distributed torque loads estimation. The fault is isolated by comparing online left and right torque load estimates. The proposed architecture can switch smoothly from 4-IWMs to 2-IWMs configuration, by excluding the whole faulted axle to preserve the torque balancing.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"31 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":"115057808","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
Effect of Reduced Model Order on Accuracy of Trajectory Piecewise Linear Approximations for a Class of Nonlinear Circuits 一类非线性电路模型降阶对轨迹分段线性逼近精度的影响
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182989
Shifali Kalra, M. Nabi
{"title":"Effect of Reduced Model Order on Accuracy of Trajectory Piecewise Linear Approximations for a Class of Nonlinear Circuits","authors":"Shifali Kalra, M. Nabi","doi":"10.1109/MED48518.2020.9182989","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182989","url":null,"abstract":"Model order reduction of input affine nonlinear systems via trajectory piecewise linear approximation is a well known practice. This method along with its variants is known to generate efficient and accurate reduced models of large order nonlinear systems. The selection of the order of the reduced model is however a heuristic choice that comes with experience. There is no concrete measure of an optimum selection of the reduced order that would lead to approximations with high accuracy and least computational cost. This paper provides a study of few variants of trajectory piecewise linear method and effect of the choice of reduced order on the accuracy of the approximations and the computational cost. The results have been studied on a nonlinear transmission line circuit. This study provides a performance analysis that exhibits a range of acceptable values of reduced order that may be preferred for generating accurate trajectory piecewise approximations of circuits similar to that discussed in this paper.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"39 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132497577","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
BlockNet: a new flexible control architecture 区块网:一个新的灵活的控制架构
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183039
L. Calacci, D. Carnevale, D. Abruzzese
{"title":"BlockNet: a new flexible control architecture","authors":"L. Calacci, D. Carnevale, D. Abruzzese","doi":"10.1109/MED48518.2020.9183039","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183039","url":null,"abstract":"A novel multiplatform control framework named BlockNet is introduced. It can be used either for simulations, soft real-time control in real experiments and integration of complex technologies (e.g neural networks, vision sensors etc.). BlockNet has been developed to provide an easy to use unique tool for local or distributed applications able to guarantee the correct execution order of block codes based on their dependencies, maintaining dynamism and portability. To the best of our knowledge such features are not currently provided at once in other frameworks. We discuss the features of BlockNet, its main structures and functionalities, providing also its effectiveness in a real control application: an earthquake simulation platform.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"99 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":"131003418","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
Hybrid Sensor Network for Monitoring Environmental Parameters 环境参数监测的混合传感器网络
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183165
D. Popescu, Emilian Vlasceanu, M. Dima, F. Stoican, L. Ichim
{"title":"Hybrid Sensor Network for Monitoring Environmental Parameters","authors":"D. Popescu, Emilian Vlasceanu, M. Dima, F. Stoican, L. Ichim","doi":"10.1109/MED48518.2020.9183165","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183165","url":null,"abstract":"The paper proposes a cheap hybrid ground-air sensor network for environmental parameter measurements. The ground sensors are grouped into clusters, each cluster having several sensory nodes connected to a cluster head that sends the relevant data to the aerial, mobile nodes - unmanned aerial vehicles (UAVs). Thus, using optimal trajectories, the UAVs are used both for measuring directly environmental parameters, as well as for collecting data from ground sensors. The authors present the modules' implementation of the hybrid system: ordinary sensory nodes, cluster heads, ground control stations, communication modems and UAV platforms. Finally, the performances of the realized hybrid network are analyzed from multiple points of view: energy consumption, time, and data acquisition efficiency.","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":"114474310","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
A new measles epidemic model: analysis, identification and prediction 一种新的麻疹流行模型:分析、识别与预测
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9182861
P. D. Giamberardino, D. Iacoviello
{"title":"A new measles epidemic model: analysis, identification and prediction","authors":"P. D. Giamberardino, D. Iacoviello","doi":"10.1109/MED48518.2020.9182861","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9182861","url":null,"abstract":"A new measles epidemic model is proposed and identified by using real data relative to the number of confirmed infected patients in Italy in the period 1970–2018. The possibility of predicting the number of new infection is important for an efficient resource scheduling. Only in the last years great attention has been devoted to reliable data collection; therefore, in general, the model parameters identification is not an easy task. Moreover, the available data are “corrupted” by human intervention, such as prevention campaign, or, whenever possible, vaccination. In this paper, the measles model parameters are identified referring to the data of the period in which there wasn't a significant vaccination coverage; successively, the vaccination action has been identified. The results obtained appear encouraging, confirming the importance of available consistent data.","PeriodicalId":418518,"journal":{"name":"2020 28th Mediterranean Conference on Control and Automation (MED)","volume":"53 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":"115880494","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
Hexacopter Flight Performance Comparison with CCA vs. WCA Control Allocation 六旋翼飞机CCA与WCA控制分配的飞行性能比较
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183324
G. Ducard, Philipp Kryenbühl
{"title":"Hexacopter Flight Performance Comparison with CCA vs. WCA Control Allocation","authors":"G. Ducard, Philipp Kryenbühl","doi":"10.1109/MED48518.2020.9183324","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183324","url":null,"abstract":"This paper presents an extensive discussion between two control allocation methods for hexacopters. The first one is the so-called classical control allocation (CCA) based on a pseudo-inverse matrix, and the second one is the weighted control allocation (WCA) based on a weighted pseudo-inverse matrix. Control allocation is about mapping the virtual control vector $nu=[T, L, M, N]^{top}$ made of thrust and roll, pitch and yaw torque, respectively, to the individual motors' speed. The CCA method is studied under motor saturation circumstances, in which CCA can lead to a crash. The WCA method on the other hand displays better performance than CCA for: a) motor saturation, b) vehicle's mass changes, 3) flight-controller poorly-tuned parameters, and 4) motor-fault tolerance. The performance comparison between these two control allocation techniques is made through simulations and real-flight tests.","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":"114895183","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
User-aware centralized resource allocation in heterogeneous networks 异构网络中用户感知的集中资源分配
2020 28th Mediterranean Conference on Control and Automation (MED) Pub Date : 2020-09-01 DOI: 10.1109/MED48518.2020.9183080
A. Ornatelli, A. Giuseppi, V. Suraci, A. Tortorelli
{"title":"User-aware centralized resource allocation in heterogeneous networks","authors":"A. Ornatelli, A. Giuseppi, V. Suraci, A. Tortorelli","doi":"10.1109/MED48518.2020.9183080","DOIUrl":"https://doi.org/10.1109/MED48518.2020.9183080","url":null,"abstract":"In the last two years, in Europe, 5G networks and services proliferated. The integration of 5G networks with other radio access networks is considered one of the key enablers for matching the challenging 5G Quality of Service requirements. In particular, the integration with high throughput satellites promises to increase the network performances in terms of resilience and Quality of Service. The present work addresses this problem and presents a user-aware resource allocation methodology for heterogeneous networks. Said methodology is articulated in two-steps: at first, the Analytical Hierarchy Process is used for deciding the network over which traffic is steered and, then, a Cooperative Game for allocating resources within the network is set up. Simulations are presented for validating the proposed approach.","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":"124333396","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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