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检索条件"任意字段=20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015"

共 95 条记录，以下是81-90 订阅

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State-space representations for 2×2 hyperbolic systems with boundary inputs

State-space representations for 2×2 hyperbolic systems with...

引用

international conference on methods and models in automation and robotics (mmar)

作者： Krzysztof Bartecki Institute of Control and Computer Engineering Opole University of Technology Opole Poland

the paper discusses different abstract state-space representations for a class of linear distributed parameter systems of hyperbolic type defined on a one-dimensional spatial domain. It starts with the homogeneous state equation including the unbounded formal state operator. Based on the semigroup approach, some theoretical results of well-posedness and internal stability for the considered systems are given here. Next, the boundary and observation operators are introduced, taking a typical boundary inputs configuration as well as pointwise observations of the state variables. Consequently, the homogeneous state equation is extended to the so-called boundary control state/signal form. Finally, the most classical state-space representation involving typical (A, B, C)-triple of state, input and output operators is considered together with the definition of the Pritchard-Salamon class of infinite-dimensional systems.

关键词： Mathematical model Boundary conditions Heating Hilbert space Stability analysis Transmission line matrix methods Eigenvalues and eigenfunctions

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Application of subspace state-space identification methods on actuated multibody systems

Application of subspace state-space identification methods o...

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international conference on methods and models in automation and robotics (mmar)

作者： Mathias Marquardt Peter Dünow Sandra Baßler Frank Wobbe Business and Design Hochschule Wismar - University of Technology Wismar Germany Hochschule Wismar - University of Technology Business and Design Wismar Germany IAV GmbH - Ingenieurgesellschaft Auto und Verkehr Berlin Germany

In the last years subspace-based system identification methods have been developed for the application in open and even closed loop conditions. In this paper some of those methods are selected and applied to a nonlinear mechanical system in order to identify a local linear state space description of the underlying system. the considered plant is an actuated multibody system with two inputs and two outputs. the nonlinear nature of such a system leads to unstable behavior in some operating conditions so the system has to be operated in closed loop control during the identification procedure too. Considering these demands for the process of system identification the capability of subspace-based methods to identify stable and unstable MIMO systems using input-output data obtained from closed loop control experiments is investigated.

关键词： Mathematical model Technological innovation Eigenvalues and eigenfunctions MIMO Markov processes Robot kinematics

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A feedback model of evolutionary adaptation

A feedback model of evolutionary adaptation

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international conference on methods and models in automation and robotics (mmar)

作者： Daniele Casagrande Wiesław Krajewski Umberto Viaro Department of Electrical University of Udine Udine Italy Polish Academy of Sciences Systems Research Institute Warsaw Poland

Many aspects of human adaptation to changing environment remain unanswered, even if a substantial progress has been made towards a better understanding of populations evolution in recent years. this paper proposes an explanatory model of evolutionary adaptation that seems to account fairly well for certain qualitative dynamic patterns pointed out by geneticists. this model is characterised by the presence of feedback loops (in addition to feedforward channels that are certainly present, too). Although the importance of feedback in the evolution process is widely accepted today, no explicit representation of this phenomenon has been presented yet. this task is humbly undertaken from a control engineering perspective in this note which does not claim to be scientifically accurate, but simply to stimulate discussion among the experts in this delicate and manifold field. Specifically, the proposed model consists of four nested loops characterised by different time scales and embracing different spheres. On the basis of this simple model, some considerations on the system stability as well as on its transient and asymptotic behaviour are made.

关键词： Evolution (biology) Transfer functions Adaptation models Biological system modeling Organisms Delays Electronic mail

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Conflict detection and resolution model for low altitude flights

Conflict detection and resolution model for low altitude fli...

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international conference on methods and models in automation and robotics (mmar)

作者： Chin E. Lin Chia-Jung Lee Department of Aeronautics and Astronautics National Cheng Kung University Tainan Taiwan

General aviation has been promoted by Small Aircraft Transportation System (SATS) to broaden air transportation services. Under such development, the National Airspace System (NAS) will change dramatically in congested airspace. In this decade, the unmanned aerial vehicle (UAV) has rapidly growing into civilian applications. Low altitude airspace becomes more crowded. As a result, collision avoidance for low altitude flights will become a serious concern to aviation safety. Varieties of conflict detection and resolution (CD&R) were required under multiple maneuvering dimensions for GA and UAV. this paper focuses on efficient collision avoidance logic for GA and UAV based on ADS-R for NextGen. Heading change of horizontal resolution is more suitable for small GA or UAV flying in low altitude in the proposed CD&R model. Simulations using real ultralight flight data are tested to verify the performance of the proposed CD&R.

关键词： Aircraft Atmospheric modeling Turning Mathematical model Clocks Collision avoidance Data models

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Two-step model based adaptive controller for Dissolved Oxygen control in Sequencing Wastewater Batch Reactor

Two-step model based adaptive controller for Dissolved Oxyge...

引用

international conference on methods and models in automation and robotics (mmar)

作者： Piotr Hirsch Robert Piotrowski Kazimierz Duzinkiewicz Faculty of Electrical and Control Engineering Gdansk University of Technology Gdansk Poland

Dissolved Oxygen (DO) concentration is a crucial parameter for efficient operation of biological processes taking place in the activated sludge Wastewater Treatment Plant (WWTP). High-quality DO control is difficult to achieve because of complex nonlinear behavior of the plant and substantial influent disturbances. A method to improve the Direct Model Reference Adaptive Control (DMRAC) technology in application to DO tracking for a Sequencing Batch Reactor (SBR) is proposed. Classic DMRAC is ineffective when applied to the SBR operating with step-feed strategy in the presence of influent fluctuations. It has been shown that additional stepwise adaptation of DMRAC parameters (learning rates, anti-windup filter gains, and starting points) can improve the quality of DO control within a wide operating range. Simulations were done using validated SBR and aeration system models. the solution was validated by comparing with classic DMRAC. Reduction of the Integral Square Error (ISE) indicator by 75% on average was achieved for DO control, as compared to classic DMRAC.

关键词： Adaptation models Control systems Biological system modeling Mathematical model Inductors Pollution

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Application of Computer Aided Tools and methods for Unmanned Cargo Aircraft Design

Application of Computer Aided Tools and Methods for Unmanned...

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international conference on methods and models in automation and robotics

作者： Roman Czyba Michal Hecel Karol Jabloński Marcin Lemanowicz Krzysztof Platek Department of Automatic Control Faculty of Automatic Control Electronics and Computer Science Department of Chemical Engineering and Process Design Faculty of Chemistry Faculty of Mechanical Engineering Silesian University of Technology 16 Akademicka St. Gliwice 44-100 Poland

ISBN: (纸本)9781479987023

Nowadays, novel construction materials, more efficient power supplies and advanced artificial intelligence algorithms allow one to use unmanned aerial vehicles (UAV) in various fields of life. One of the biggest events promoting this idea is the Air Cargo Challenge (ACC) competition. In this paper the motivation for ACC participation and the overall procedure of CAD aided UAV design are presented. the nonlinear aircraft model as well as Computational Fluid Dynamic simulations are discussed. Finally, some details concerning designed UAV prototype are revealed.

关键词： UAV CAD CFD Rapid Prototyping

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Operational Safety and Efficiency - "Sail by Wire" - System In Unmanned Ship Perspective

Operational Safety and Efficiency - "Sail by Wire" - System ...

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international conference on methods and models in automation and robotics

作者： Jan Kruszewski Electrical Department Ship's Automation Chair Gdynia Maritime University 81-225 Gdynia Poland

ISBN: (纸本)9781479987023

the paper focuses on integration of data capture and total control of the whole main subsystems of the ship. the objective of "Sail by Wire" System is to create a Supervisory Control System based on artificial intelligence principles, which aim is to generate the feedback outputs to appropriate vital systems of the ship to provide the stable, efficient and safety performance of the whole passage of the ship. the main tasks of Supervisory "Sail by Wire" Control System is to provide the safety band of ship's stability area, to control the ship motion performance according to varying environment features and to warn and react against the future dangerous situations. the optimization process of the ship performance on sea is provided after the stability and safety functions of the ship are fulfilled.

关键词： "Sail by Wire" System ship propulsion plant shaft generator pitch propeller neural controller control system

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Model predictive control solution for magnetic levitation systems

Model predictive control solution for magnetic levitation sy...

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international conference on methods and models in automation and robotics (mmar)

作者： Claudia-Adina Bojan-Dragos Alexandra-Iulia Stinean Radu-Emil Precup Stefan Preitl Emil M. Petriu Department of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania School of Electrical Engineering and Computer Science University of Ottawa Ottawa Canada

the paper presents aspects related to the design and implementation of a cascade control solution (CCS), which is tested on laboratory equipment meant for the position control of a ferromagnetic sphere in a Magnetic Levitation System with Two Electromagnets (MLS2EM). the nonlinear mathematical model (MM) of the MLS2EM is derived on the basis of the first principles equations with experimentally identified parameters. this MM is next linearized at two operating points. the CCS includes a state feedback controller in the inner loop and a model predictive controller in the outer loop. Experimental results are given in order to validate the proposed CCS and to illustrate the performance of the position control system expressed as very good dynamics and zero steady-state control error.

关键词： Electromagnets State feedback Mathematical model Magnetic materials Photonic crystals Magnetic levitation

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Online motion planning for UAVs with multi-constraints using C/GMRES method

Online motion planning for UAVs with multi-constraints using...

引用

international conference on methods and models in automation and robotics (mmar)

作者： Yongchang Zhang Jie Li College of Mechatronics Engineering and Automation National University of Defense Technology Changsha China

this paper presents an online motion planning method based on Continuation/Generalized Minimum Residual (C/GMRES) to solve a receding horizon optimization problem for unmanned aerial vehicles (UAVs). Hard constraints, such as nonlinear state, input saturation constraints and obstacle constraint are included into the problem formulation by introducing the dummy factors. the optimal control problem model of motion planning for UAVs in Bolza form is constructed and the necessary optimality conditions are derived based on the Lagrange Multipliers method. the singularity that method may exist is avoided by adding a small penalty to the Lagrange function. Compared with conventional iterative methods, the proposed method requires much less computational burden, since the linear equation is solved only once at each sampling time and the product of a matrix and a vector is replaced with forward difference approximation, then GMRES is used to rapidly solve a large linear equation. Finally, the proposed method is applied to motion planning problem for a fixed-wing UAV in both obstacle-free and obstacle environment. Simulation results show that the method can generate a feasible trajectory from initial position to destination while satisfying all constraints and the real-time performance.

关键词： Planning Real-time systems Optimal control Approximation methods Iterative methods Mathematical model Trajectory

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New Control Scheme for a Lane-Keeping Evasive Maneuver Exploiting the Free Space Optimally

New Control Scheme for a Lane-Keeping Evasive Maneuver Explo...

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international conference on methods and models in automation and robotics

作者： Stefan Hahn Klaus Zindler Konrad Doll Ulrich Jumar University of Applied Sciences Aschaffenburg Würzburger Str. 45 63743 Aschaffenburg Germany ifak - Institute of Automation and Communication Werner-Heisenberg-Str. 1 39106 Magdeburg Germany

ISBN: (纸本)9781479987023

One focus of current vehicle research is on the development of evasive pedestrian protection systems. Such safety systems avoid an imminent collision with a pedestrian by performing an evasive maneuver autonomously within the lane. For this purpose, a new lateral control scheme is proposed in this paper. the main idea is to ensure a lane-keeping evasive maneuver exploiting the free space optimally within the lane by controlling the vehicle's front left corner on an evasive trajectory ending up on the center line. Hence, a nonlinear model beyond the state of the art describing the dynamics of a lateral displaced point at the vehicle front as well as its lateral deviation to a defined trajectory is developed. Based on this model, the method of input-output linearization is used to design a lateral control system to ensure a precise track guidance. Furthermore, experimental results are presented.

关键词： New Control Scheme Free Space Optimally One focus

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