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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

共 5313 条记录，以下是1761-1770 订阅

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Inferential Active Disturbance Rejection control of a Heat Integrated Distillation Column 14

Inferential Active Disturbance Rejection Control of a Heat I...

引用

14th international conference on control, automation, robotics and vision (ICARCV)

作者： Al Kalbani, Fahad Khamis Zhang, Jie Newcastle Univ Sch Chem Engn & Adv Mat Newcastle Upon Tyne NE1 7RU Tyne & Wear England

ISBN: (纸本)9781509035496

Heat integrated distillation columns (HIDiC) can save around 50% of energy consumption compared to conventional distillation columns. To reach this amount of energy saving, the HIDiC should be properly controlled. the high thermally coupled nature of HIDiC leads to high loop interactions making HIDiC difficult to control. In order to improve control performance, inferential active disturbance rejection control (ADRC) for HIDiC is proposed in this paper. the proposed control scheme integrates ADRC strategy with inferential feedback control. Tray temperatures are used as secondary measurements to estimate the product compositions. Due to the strong collinearity in tray temperatures, principal component regression (PCR) is used to build the soft sensor from process operation data. the proposed technique is applied to a simulated HIDiC for separating Benzene-Toluene mixture. Simulation results demonstrate the effectiveness of the proposed approach.

关键词： active disturbance rejection control inferential control heat integrated distillation column principal component regression

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Event-triggered Tracking control for Second-order Multi-agent Systems with Fixed and Switching Topologies 14

Event-triggered Tracking Control for Second-order Multi-agen...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Wang, Xiaoshuang Yu, Mei Liu, Shuai North China Elect Power Univ Sch Control & Comp Engn Beijing 102206 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

ISBN: (纸本)9781509035496

this paper mainly investigates event-triggered tracking control problem for second-order discrete-time multi-agent systems with directed fixed and switching topologies. Event-triggered sampling control strategies are designed to reduce the frequency of actuator updating for agents with limited energies when their measurement error exceeds a threshold. For the case of fixed topology, a necessary and sufficient condition is proposed based on Hurwitz stability theory to solve the tracking control bounded consensus problem under the assumption that the topology has a directed spanning tree rooted at the leader. For the case of switching topologies, a sufficient condition on asymptotic stability of the multi-agent system is presented by constructing a Lyapunov function under the assumption that each possible topology contains a directed spanning tree. Finally, numeral examples are given to illustrate the effectiveness of these results.

关键词： Event-triggered tracking control multi-agent systems discrete-time second-order dynamics

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Nonlinear Tracking control and Structural Vibration Suppression for Aircraft Using Synthetic Jet Actuators 14

Nonlinear Tracking Control and Structural Vibration Suppress...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Ramos-Pedroza, Natalie Kidambi, Krishna Bhavithavya MacKunis, William Reyhanoglu, Mahmut Embry Riddle Aeronaut Univ Dept Phys Sci Daytona Beach FL 32114 USA

ISBN: (纸本)9781509035496

A synthetic jet actuator (SJA)-based control method is developed, which is rigorously proven to achieve accurate aircraft trajectory tracking control while simultaneously regulating limit cycle oscillations (LCO) in aircraft wings. To achieve the result, innovative tracking error system development is utilized along with a robust-inverse control structure. the robust-inverse control structure is utilized to compensate for the parametric uncertainty and nonlinearity inherent in the SJA mathematical model without the use of adaptive parameter estimation or function approximation schemes. After recasting the dynamics in a form amenable to control design, a nonlinear control law is developed, which achieves asymptotic trajectory tracking in the presence of external disturbances and structural disturbances due to LCO. A Lyapunov-based stability analysis is utilized to prove semi-global asymptotic trajectory tracking in the presence of LCO disturbances and parametric uncertainty in the SJA actuator model. Numerical simulation results are provided to demonstrate the capability of the proposed SJA-based control method to achieve simultaneous trajectory tracking and LCO regulation.

关键词： Wings

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Data-Driven Model-Free Adaptive control based on a Novel Double Successive Projection Algorithm 14

Data-Driven Model-Free Adaptive Control based on a Novel Dou...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Liu, Shida Hou, Zhongsheng Li, Zhenxuan Beijing Jiaotong Univ Sch Elect & Informat Engn Beijing Peoples R China

ISBN: (纸本)9781509035496

In this work, a novel model free adaptive control method based on a mathematical algorithm named double successive projection (DSP-MFAC) is proposed, from which it can be inferred that conventional MFAC algorithm is only a special case of DSP-MFAC with the Cartesian product of the output and the input Hilbert space. For a general unknown nonlinear system, an innovative partial form dynamic linearization (PFDL) technique is first presented based on a new concept named pseudo gradient (PG). then, the controller for the system is designed based on the PG with the aid of a novel DSP algorithm modified from the conventional successive projection algorithm. Consequently, the structures of the controller and its parameters estimator are symmetric similar, which makes the control performance become stable. Meanwhile, the convergence of DSP-MFAC for a regulation problem of a class of nonlinear discrete systems are guaranteed by rigorous mathematical analysis under several reasonable assumptions. Furthermore, numerical simulation results show that DSP-MFAC is effective and applicable.

关键词： data-driven control model free adaptive control double successive projection

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control System based on Pressure Distribution for Wearable Assist Robot on Multi-Joint Body Part 14

Control System based on Pressure Distribution for Wearable A...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Uchiyama, Naoya Funahora, Yuki Doki, Shinji Doki, Kae Nagoya Univ Dept Elect Engn & Comp Sci Chikusa Ku Furo Cho Nagoya Aichi Japan Aichi Inst Technol Dept Elect & Elect Engn 1247 YachigusaYakusa Cho Toyota Aichi Japan

ISBN: (纸本)9781509035496

Wearable assist robots deliver power in form of direct contacts with the user, therefore, safety control is considered to be the prior requirement for wearable assist robots. To improve safety, the robot needs to be controlled based on the current contact state feedback. As a state estimation concept approach, a feedback control system based on joint torque has been proposed. the principle of this approach is that the physical contact forces appear as a certain change in measured joint torque. However, as the joint torque is the resultant of contact forces, the case of user is in danger contact state may not be detected. In this paper, a new control system based on pressure distribution is proposed. Utilizing the pressure sensors directly mounted on the robot's link surface, the robot is controlled to suppress excessive contact forces. On computer simulations, the proposed system was confirmed to be effective to improve safety.

关键词： Adaptive control systems

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Automatic Flight Path control of an Experimental DA42 General Aviation Aircraft 14

Automatic Flight Path Control of an Experimental DA42 Genera...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Karlsson, Erik Schatz, Simon P. Baier, thaddaeus Doerhoefer, Christoph Gabrys, Agnes Hochstrasser, Markus Krause, Christoph Lauffs, Patrick J. Mumm, Nils C. Nuernberger, Kajetan Peter, Lars Schneider, Volker Spiegel, Philip Steinert, Lukas Zollitsch, Alexander W. Holzapfel, Florian Tech Univ Munich Inst Flight Syst Dynam D-85748 Garching Germany

ISBN: (纸本)9781509035496

An automatic flight path controller, as part of a modular automatic flight guidance and control system, is presented, along with initial flight test results using a DA42 M-NG flying testbed. the basic principle for the flight path control is a reference model based dynamic inversion of the kinematic equations of motions, with pseudo-control hedging to account for inner loop dynamics and plant response deficits. the kinematic frame flight path commands are transformed into body-frame commands executed by inner loop and autothrust controllers for transverse and linear force control. Initial flight test results are presented, demonstrating the feasibility of the path control approach, with good tracking and disturbance performance already during early flight testing.

关键词： controllers

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Formation Forming Based Low-Complexity Swarms with Distributed Processing for Decision Making and Resource Allocation 14

Formation Forming Based Low-Complexity Swarms with Distribut...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Yang, Jian Wang, Xin Bauer, Peter Harbin Inst Technol ShenZhen Grad Sch Dept Mech & Automat Engn Shenzhen 518055 Peoples R China Univ Notre Dame Dept Elect Engn Notre Dame IN 46556 USA

ISBN: (纸本)9781509035496

this paper introduces a new paradigm that combines in-swarm sampling/processing together with formation forming methods. the introduced concept is capable of generating a regular sampling lattice through emergent behavior of swarm agents and, in a second step, exploits this formation using 2-D filtering and processing algorithms based on the so-called multidimensional Roesser model. the swarm system scales well and the low complexity approach requires minimal hardware. Formation control is achieved through artificial potential fields generated globally by a few higher tier agents and locally by the massive amount of lower tier agents. the paper illustrates the proposed methods by applying line forming to a swarm example that scans an unknown area while performing in-swarm distributed filtering with subsequent marking of potential target areas. For the first time in the literature, a modified distributed 2-D Roesser model is combined with formation forming in order to achieve the desired results.

关键词： Swarm robotics Pattern Formation Multidimensional System Roesser Model Visual Saliency

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Distributed Fault Diagnosis and Tolerant control for A Large-Scale Power Generator Network 14

Distributed Fault Diagnosis and Tolerant Control for A Large...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Feng, Zhi Hu, Guoqiang Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

ISBN: (纸本)9781509035496

this paper addresses a distributed fault diagnosis and fault-tolerant control problem for a multi-agent system modeling a large-scale power generator network. the goal is to enable all the agents to achieve the control objective of asymptotic stability without losing the system tracking performance. Before solving this DFTC problem, a distributed fault detection (DFD) method is provided for fault detection. Next, the designs focus on a DFTC scheme without estimating the upper bound of the coupled, nonlinear, state-dependent unknown input. A model-based distributed state estimator (DSE) together with a proportional-integral-like nonlinear distributed identifier (DI) is then developed to identify the unknown input. By exploiting the redundancies from the estimated states and unknown input information obtained from the DSE and DI, a novel continuous DFTC is designed to enable the agents to achieve asymptotic consensus tracking without losing the system tracking performance while achieving distributed unknown input identification. A power system example and numerical simulations are provided to illustrate the effectiveness of the proposed DFTC method.

关键词： Large-scale power generator network Distributed fault diagnosis Distributed fault-tolerant control Cooperative continuous control

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Synchronization control of Networked Robot Systems with Uncertain Frictions 14

Synchronization Control of Networked Robot Systems with Unce...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Zhang, Bin Meng, Deyuan Beijing Univ Posts & Telecommun Sch Automat Beijing 100876 Peoples R China Beihang Univ BUAA Res Div 7 Beijing 100191 Peoples R China

ISBN: (纸本)9781509035496

this paper addresses adaptive synchronization control problem of networked robot systems characterized by Lagrangian function, where exact dynamic models are unknown and velocity measurements are unavailable. A class of distributed observers, comprised of multiple dynamic variables and static variables, are established based on not imposing a priori restriction on the boundness of the observer states. the observer is compatible for different control schemes with or without structure uncertainties. Using the estimated states given by the observer, adaptive distributed control input is developed, and then closed-loop dynamic models for filtered vectors are established. It is proven that our proposed control scheme permits global exact state estimation and global asymptotic synchronization while compensating for structure uncertainties.

关键词： networked robot systems adaptive synchronization control distributed observer structure uncertainty auxiliary variable

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Hierarchical Predictive control for Multizone Building 14

Hierarchical Predictive Control for Multizone Building

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Elbaccouche, Nadia Boussaid, Boumedyen Abdelkrim, Naceur Aubrun, Christophe Univ Gabes Natl Sch Engn Gabes MACS Res Unit Omar Ibn Elkhattab St Gabes 6029 Tunisia Lorraine Univ CNRS CRAN BP 239 F-54506 Vandoeuvre Les Nancy France

ISBN: (纸本)9781509035496

this paper describes a dynamic modeling and control of a multizone building where the thermal exchange, the coupling between the areas and the human occupation energy are taken into account. the thermal regulation in the building is ensured by a HVAC (Heating, Ventilation and Air Conditioning) system in which many parameters are involved. the HVAC systems are the main equipment for human life, but they are sources of energy expenditure. the objectives of this research are to minimize energy consumption and keep users' convenience while aging on the HVAC control system. the whole management system is carried out in a distributed manner, by using a predictive controller. this latter must solve a problem for the local optimization with a partial knowledge of the behavior expected by the other controllers. then, we consider hierarchical structure to design the controller for the main thermal power supply in order to offer the suitable thermal power demand for each zone satisfy the users needs. After a theoretical formalization of the approach, the effectiveness of the proposed results is highlighted in particular through simulation on Matlab/Simulink software.

关键词： HVAC Energy in buildings Predictive control (MPC) Hierarchical control Optimisation Simulation

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