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检索条件"任意字段=2013 IET Conference on Control and Automation: Uniting Problems and Solutions"

共 36 条记录，以下是21-30 订阅

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Altitude control of a Satellite Using a Feedback Linearization

Altitude Control of a Satellite Using a Feedback Linearizati...

引用

iet conference on control and automation

作者： M. Benenia H. Batatia F. Mora Camino M. Benslama Electromagnetic and telecommunications laboratory Constantine university Algeria IRIT INP/ENSEEIHT Toulouse France ENAC Toulouse France

ISBN: (纸本)9781629930824

This study is dedicated to the problem of non linear attitude control for a rigid large angle maneuver satellite. The non linear control method is based upon the linearization of the input-output of the system, also called feedback linearization, via state feedback. The output function is chosen amongst the attitude quaternion parameters.

关键词： Spacecraft attitude control Feedback linearization Quaternion Sliding mode control

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CONSTRAINED SYNCHRONIZATION control OF NETWORKED NONLINEAR EULER-LAGRANGE SYSTEMS

CONSTRAINED SYNCHRONIZATION CONTROL OF NETWORKED NONLINEAR E...

引用

iet conference on control and automation

作者： A. R. Mehrabian K. Khorasani S. Tafazoli Department of Electrical and Computer Engineering Faculty of Engineering and Computer Science Concordia University

ISBN: (纸本)9781629930824

In this paper two control algorithms for constrained synchronization control of networked Euler-Lagrange (EL) systems are developed. The first proposed distributed control law requires full state feedback where boundedness of the control efforts are guaranteed for all initial system conditions. The second proposed control law is based on output feedback and does not require velocity measurements. Simulation results for the state synchronization control of networked planar robots are reported to verify our theoretical analysis and to compare performance of our proposed synchronization controllers with other results that are available in the literature.

关键词： Multi-agent systems Nonlinear systems Robotics Distributed control

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Efficient Implementation of Iterative Inverse Kinematics in Real Time control Architecture

Efficient Implementation of Iterative Inverse Kinematics in ...

引用

iet conference on control and automation

作者： M. Indri I. Lazzero F. Romanelli Dipartimento di Automatica e Informatica Politecnico di Torino Research & Development group in Motion and Control of Comau Robotics SpA

ISBN: (纸本)9781629930824

The paper proposes a procedure for the iterative computation of a robot inverse kinematics that uses different algorithms in synergy, so to obtain a singularity-robust and rapidly convergent technique. The application of such a procedure allows the creation of a unified version of the executable code for large classes of industrial robots, with the possibility to introduce new kinematic chains or more complex structures without the need to entirely rewrite the code. The paper offers also some guidelines about the software implementation and optimization in the industrial environment, and it is completed by experimental results where the procedure is applied to real industrial robots.

关键词： Iterative inverse kinematics Real time implementation

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control of polyolefin production plants: Practical examples from nonlinear model predictive control to monitoring instrumentation

Control of polyolefin production plants: Practical examples ...

引用

iet conference on control and automation 2013: uniting problems and solutions

作者： Øivind Moen Universitetet i Sorost-Norge - Campus Vestfold Tonsberg NO

Polyolefin revolutionised life and also saved numerous ones. RADAR would not have been, electric cables would still use paper and gutta-percha insulation and supermarkets with their pre packed see- through wrapping would not exists; had it not been for polyolefin. The main raw materials, ethylene and propylene are typically coming from ethane or naphtha crackers. In such crackers, advanced process control (APC) such as model predictive control (MPC) and also real-time optimization (RTO) have been in common use for a long time. The situation is different in the production plants for polyolefin, APC technology has not been in so wide use as in the olefin production plants. Various factors can be contributed; amongst these is the need for coping with the nonlinearities observed in producing polyolefin. Examples of applying APC for the polyolefin industry will be drawn from proprietary developed controllers. Amongst these are the world's first nonlinear MPC based on physical models implemented in the industrial size polypropylene plant in Norway back in 1993 as well as a model based reactor controller also based on physical models for the high pressure polyethylene production operational from around 1990 also in Norway.

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Integrated navigation and control system for an uninhabited surface vehicle based on interval Kalman filtering and model predictive control

Integrated navigation and control system for an uninhabited ...

引用

iet conference on control and automation

作者： A. S. K. Annamalai A. Motwani R. Sutton C. Yang S. Sharma P. Culverhouse Faculty of Science and Technology Plymouth University

ISBN: (纸本)9781629930824

An integrated navigation, guidance and control system is designed for an uninhabited surface vehicle named Springer built at Plymouth University. Interval Kalman filtering is used for navigation. Line of sight is used for guidance. Model predictive control is utilised to build the control system, or autopilot. The performance of this innovative navigation, guidance and control system is benchmarked against a conventional optimal method based on a linear quadratic Gaussian controller which uses traditional Kalman filtering. The performance of the systems are compared and analysed in this paper.

关键词： Uninhabited surface vehicle Interval Kalman filtering Model predictive control Navigation Guidance and control

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Performance and implementability comparison of event-sampling based control schemes

Performance and implementability comparison of event-samplin...

引用

iet conference on control and automation

作者： J. Jugo M. Eguiraun I. Badillo University of the Basque Country UPV/EHU ESS-Bilbao Consortium and UPV/EHU

ISBN: (纸本)9781629930824

In the last years, several works have been presented that address the study of the stability, analysis and control design suitable for event-based control schemes. Those advances have driven an impulse to the application of these control strategies in real environments, allowing a control-action rate reduction, while system stability is ensured and performance specifications are met. In this work, the study of three different event-based control schemes is presented, with the aim of comparing obtained performances, design processes and the implementability in real world applications. This work evaluates the behavioural characteristics of the control schemes: control rate and mean sampling time, system error and sensitivity to small disturbances. In addition, the study includes the sticking problem and the issues related to the implementability of the different schemes considered.

关键词： Event-sampling based control Performance comparison Implementability

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Identification and control of a continuously variable transmission for bicycles

Identification and control of a continuously variable transm...

引用

iet conference on control and automation

作者： P. Giani M. Tanelli S. M. Savaresi Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano

ISBN: (纸本)9781629930824

With the advent of Electrically Pedal Assisted Cycles (EPACs), bicycles are becoming more and more technologically advanced, and active control systems are being developed to deal both with rideability enhancement and with energy management features. Within this context, this paper investigates the design of the control system for a continuously variable transmission, that allows a fine regulation of the transmission ratio and can thus improve the riding feeling with respect to a standard bicycle gear system. This control system is to be seen as the enabling step to design higher-level control systems that will allow to optimize the rider's effort in an EPAC, by designing a gear shifting policy which achieves the best trade-off between energy consumption and rideability. Experimental results are presented which witness the effectiveness of the proposed approach.

关键词： Electric bicycles Automatic transmission Continuously varying transmission (CVT) EPACs

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Modelling and Identification of a DC-DC Boost Converter Operating in Discontinuous Conduction Mode

Modelling and Identification of a DC-DC Boost Converter Oper...

引用

iet conference on control and automation

作者： T. Larkowski U. Hitzemann K. J. Burnham Control Theory and Applications Centre Coventry University

ISBN: (纸本)9781629930824

This paper proposes a grey-box modelling approach for a laboratory based DC-DC boost converter operating in discontinuous conduction mode, where use is made of recorded input-output data, rather than physical relationships. Because the nonlinear steady-state characteristic of the converter can be described by a static nonlinearity, whilst operating point dependent dynamics can be captured by a bilinear structure, it is proposed to use a Hammerstein-bilinear structure (HBS). A set of such HBS models at individual operating points is identified and combined into a single model through an interpolating Gaussian blending function that in effect allows for the entire range of operation to be covered. The proposed HBS approach is compared and validated against a state-dependent parameter model on an independent set of data.

关键词： DC-DC boost converter Nonlinear modelling Parameter estimation System Identification

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Closed loop identification of an uninhabited surface vehicle

Closed loop identification of an uninhabited surface vehicle

引用

iet conference on control and automation

作者： A. S. K. Annamalai C. Yang R. Sutton Faculty of Science and Technology Plymouth University

ISBN: (纸本)9781629930824

This paper explores the suitability of closed loop system identification (CLID) to construct a model of an uninhabited surface vehicle known as Springer. The process characteristics of Springer are analysed qualitatively. CLID reduces the costs of modelling and increases the safety of operations involved in comparison to open loop identification. There are three basic approaches: direct, indirect and joint input-output. Each of these approaches is briefly outlined and the joint input-output approach can be further classified as two-stage method, co-prime factor identification scheme and projection method. According to the studies in the past decades, it is deemed appropriate to utilise the two-stage method in this study. The CLID model of the Springer, constructed by the two stage method is presented here.

关键词： System identification Closed loop identification Navigation Guidance and control Uninhabited surface vehicle

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A case study on automating a hot forge for manual and robotic operation

A case study on automating a hot forge for manual and roboti...

引用

iet conference on control and automation

作者： C. S. Harrison School of Engineering and the Built Environment Glasgow Caledonian University

ISBN: (纸本)9781629930824

The following paper describes the planning and development of an Automated Robotic forging cell in the Advanced Forming Research Centre at University of Strathclyde. A key issue to be addressed in forge manufacturing is that of the variability introduced by manually controlled methods. Individual fore operators tend to use individualised technique which means that the output varies according to the speed of the operator, the amount of lubricant applied and leads to results which can be inconsistent. automation of this process, as well as leading to increases in production volume additionally gives improvements quality and especially in consistency of output. For the research investigator the latter feature (related to stabilisation of experimental conditions) - means that the automated process can then itself be used as a process debugging tool, without the confounding that tends to obscure the process improvements obtainable from any particular change. Therefore the automated system itself can be used to diagnose the process. Where manufacturing operations consist of both manual and automated processes improvements can be reflected back from the automated to the manual operations in terms of for example, the application of lubricant.

关键词： automation Robotics Forging Forming Press

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