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The design of robust fractional order PI controller for liquid level control of a spherical tank 球形罐液位控制的分数阶PI鲁棒控制器设计
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912812
M. Yousefi, T. Binazadeh, M. Shafiei
{"title":"The design of robust fractional order PI controller for liquid level control of a spherical tank","authors":"M. Yousefi, T. Binazadeh, M. Shafiei","doi":"10.1109/ICCIAUTOM.2013.6912812","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912812","url":null,"abstract":"In this paper, robust stabilization of liquid level for a spherical tank is considered. This system is a First Order plus Time Delay (FOPTD) system, and the goal is to design a fractional order proportional integral (FOPI) controller. FOPI controller has three free parameters to achieve the desired performance. For this purpose, a stable region is obtained based on these free parameters which satisfy the desired phase and gain margins and flat phase constraints. And the proper parameters are selected based on this region. The main advantage of FOPI in comparison with traditional PID is its robustness. Computers simulations verify the robustness property and also show the effectiveness of the proposed FOPI controller.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114436667","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
Adaptive sliding mode controller design for power converters of fuel cell system 燃料电池系统功率变换器的自适应滑模控制器设计
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912821
T. Erfanmanesh, M. Dehghani
{"title":"Adaptive sliding mode controller design for power converters of fuel cell system","authors":"T. Erfanmanesh, M. Dehghani","doi":"10.1109/ICCIAUTOM.2013.6912821","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912821","url":null,"abstract":"This paper presents adaptive sliding mode control design for power electronic interface of fuel cell system to follow the desired reference values. The output voltage of fuel cell stack, the output load of boost converter and in grid-connected case, the line impedance are assumed as unknown parameters and they are adaptively estimated. High efficiency of proposed controllers is investigated through simulation results. A comparison study is carried out with conventional PI controller for grid-connected FC DGs.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116871181","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 distributed adaptive algorithm for speeding up consensus in networked multi-agent systems 一种加速网络多智能体系统共识的分布式自适应算法
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912857
E. Omidi, F. Abdollahi
{"title":"A distributed adaptive algorithm for speeding up consensus in networked multi-agent systems","authors":"E. Omidi, F. Abdollahi","doi":"10.1109/ICCIAUTOM.2013.6912857","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912857","url":null,"abstract":"In this paper we provide a distributed scheme for updating the weight links in a weighted graph in order to improve the process of reaching an agreement in multi-agent systems. This concept of reaching an agreement based on local information, known as Consensus, has several quantitative aspects that can characterize the whole network behaviour. Among them, one of the pivotal features, is the consensus time - the time that it takes for the network to reach the agreement. Therefore a distributed adaptive scheme that can improve available consensus protocols in the case of consensus time is suggested.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122518195","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
Model predictive based dynamic path planning for single target tracking and formation 基于模型预测的单目标跟踪与编队动态路径规划
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912860
Hossein Moradi Pari, Mohammad Khosravi, M. Haeri
{"title":"Model predictive based dynamic path planning for single target tracking and formation","authors":"Hossein Moradi Pari, Mohammad Khosravi, M. Haeri","doi":"10.1109/ICCIAUTOM.2013.6912860","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912860","url":null,"abstract":"In this paper, a new algorithm is presented to guide a set of robots, modeled as vehicles, toward a moving object and dynamically decide whether to track the object or search in entire mission region for future objects. The trajectory of object is unknown and vehicles are supposed to determine their movements, based on the predicted object trajectory. To meet the goals of algorithm, a new cost function is designed to satisfy the goal of the algorithm. Model predictive control has been used to provide this feature. Each robot's path planning would be based on solving a sequential optimization problem which determines that which of them follows the searcher and which of them position at most probable points.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127669301","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
Comparison of H∞ and GIPC control methods for attitude control of rigid spacecrafts 刚性航天器姿态控制的H∞与GIPC控制方法比较
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912816
Sayed Kazem Mousaviyanfard Dehkordi, A. Kashaninia, M. Nasirian
{"title":"Comparison of H∞ and GIPC control methods for attitude control of rigid spacecrafts","authors":"Sayed Kazem Mousaviyanfard Dehkordi, A. Kashaninia, M. Nasirian","doi":"10.1109/ICCIAUTOM.2013.6912816","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912816","url":null,"abstract":"In this paper, two methods of H∞ robust control and generalized incremental predictive control (GIPC) are designed and compared for three axis attitude control of a rigid spacecraft. These designs are performed with consideration of environmental disturbances, limitations of available torques and moments of inertia uncertainties. Three reaction wheels are used to produce required torques. Benefits of using generalized incremental predictive control (GIPC) comparing to H∞ robust control is shown by simulation. These advantages are such as considering input constraints, improving some dynamic performance features, and obtaining more applicable controller.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126064490","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
Design and manufacturing of resonance frequency detector for actuating resonant sensors 驱动谐振传感器的谐振频率检测器的设计与制造
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912826
Mohammad Reza Nayeri, Yaser Shirmohamadi, H. Khaloozadeh
{"title":"Design and manufacturing of resonance frequency detector for actuating resonant sensors","authors":"Mohammad Reza Nayeri, Yaser Shirmohamadi, H. Khaloozadeh","doi":"10.1109/ICCIAUTOM.2013.6912826","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912826","url":null,"abstract":"Nowadays, different sensors are widely used in many industrial purposes. Many types of sensors are changing the capacitance or the inductance of a circuit when a parameter such as distance, pressure, temperature, mass, humidity and so on is changed. Any change in inductance and capacitance also leads to change the resonance frequency of the designed proposed circuit. In this paper a circuit is designed and manufactured which can be able to find the resonance frequency of the circuit via an algorithm with high accuracy and fast response.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125414427","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 two axis gimbal system using modified error 基于修正误差的二轴框架系统自适应控制
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912799
M. Khayatian, P. Aghaee
{"title":"Adaptive control of a two axis gimbal system using modified error","authors":"M. Khayatian, P. Aghaee","doi":"10.1109/ICCIAUTOM.2013.6912799","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912799","url":null,"abstract":"In this article, a two axis gimbal system which can rotate over azimuth and elevation axes is considered. The dynamic parameters of the system are assumed to be unknown and it is desired that the line of sight of gimbal system tracks a reference input. Mechanical system is modeled in Adams-View software which simulates the exact behavior of gimbal system. The controller design is based on inverse dynamics approach which results in a non-SPR error model. To overcome the problem of non-SPR error model, an adaptive controller with modified error structure for updating the controller parameters is implemented. Simulation results on the gimbal system show superior performance of controller design in comparison to a classical PD controller.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115739135","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
BIBO stability of shift-varying 2-D systems using wave model 用波动模型研究二维位移系统的BIBO稳定性
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912824
Reza Babaloo, M. Rezvani, M. Shafiee
{"title":"BIBO stability of shift-varying 2-D systems using wave model","authors":"Reza Babaloo, M. Rezvani, M. Shafiee","doi":"10.1109/ICCIAUTOM.2013.6912824","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912824","url":null,"abstract":"Stability condition for two dimensional (2-D) shift-varying systems is presented. The form considered in this paper is the Givone-Roesser (G-R) model, which is discrete 2-D state space system. The sufficient condition for BIBO stability is proved. For this proof, Wave model is used. Frist, G-R model is transformed into Wave model and then applied 1-D results on this model.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123904268","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
Dynamic obstacle avoidance and target tracking for a swarm of robots using distributed Kalman filter 基于分布式卡尔曼滤波的机器人群动态避障与目标跟踪
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912844
G. Radian, Yahya Kheiri Ghazijahani, Ahmadreza Saadatkhah, V. J. Majd
{"title":"Dynamic obstacle avoidance and target tracking for a swarm of robots using distributed Kalman filter","authors":"G. Radian, Yahya Kheiri Ghazijahani, Ahmadreza Saadatkhah, V. J. Majd","doi":"10.1109/ICCIAUTOM.2013.6912844","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912844","url":null,"abstract":"In this this paper we have proposed a novel way for avoiding dynamic stochastic obstacles through estimating the position and velocity of the obstacles using Kalman consensus filter which is also known as distributed Kalman filter while seeking to track a stochastic target and keeping the connectivity of the swarm. Estimation algorithms enables the agents to propagate their measurements of the target or obstacles to the entire swarm. Simulation results shows the efficiency of the proposed method.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120918686","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
Robust μ-modification output feedback adaptive control for systems with input saturation 输入饱和系统的鲁棒μ修正输出反馈自适应控制
The 3rd International Conference on Control, Instrumentation, and Automation Pub Date : 2013-12-01 DOI: 10.1109/ICCIAUTOM.2013.6912820
Babak Ebrahimi Lame, H. Khaloozadeh, A. Sedigh
{"title":"Robust μ-modification output feedback adaptive control for systems with input saturation","authors":"Babak Ebrahimi Lame, H. Khaloozadeh, A. Sedigh","doi":"10.1109/ICCIAUTOM.2013.6912820","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2013.6912820","url":null,"abstract":"In this paper, for a class of linear systems with unknown parameters, a direct model reference adaptive control scheme in output feedback form has been presented, which assures stable adaptation in the presence of input saturation. Also, under certain assumptions one can guarantee that the adaptive control signal will avoid input saturation. In addition, by considering that the error model is in a parametric model form, robust adaptive control is used to improve robustness of systems in the presence of bounded disturbances. This is achieved by using the a-modification method. Simulation of an output feedback system with relative degree 2 verifies the results given in the paper.","PeriodicalId":444883,"journal":{"name":"The 3rd International Conference on Control, Instrumentation, and Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115984935","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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