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检索条件"任意字段=25th International Conference on Methods and Models in Automation and Robotics, MMAR 2021"

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Continuous-Time Model Predictive Control with Disturbances Compensation for a Glass Forehearth 25

Continuous-Time Model Predictive Control with Disturbances C...

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25th international conference on methods and models in automation and robotics

作者： Drapala, Michal Byrski, Witold AGH Univ Sci & Technol Dept Automat Control & Robot Al Mickiewicza 30 PL-30059 Krakow Poland

ISBN: (纸本)9781728173818;9781728173801

Model Predictive Control (MPC) is an advanced method of process control. Despite its usefulness, it is applied mostly for large industrial processes. In the paper, a model predictive algorithm for a glass forehearth is presented. the problem of molten glass temperature stabilisation under external disturbances is especially important during the glass conditioning, so the use of an adaptive predictive controller seems to be reasonable. the controller tuning utilizes linear models of the process, that can be obtained on-line. Modifications of the known continuous-time MPC approach are described. the most important difference is the original method of measurable disturbances compensation and its implementation in the algorithm. the developed controller was tested using the process model with distributed parameters (Partial Differential Equation). the experimental results are presented in the paper.

关键词： model predictive control adaptive control continuous-time models linear models glass forehearth

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Reference trajectory tracking for second order dynamical systems 25

Reference trajectory tracking for second order dynamical sys...

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25th international conference on methods and models in automation and robotics

作者： Latosinski, Pawel Bartoszewicz, Andrzej Lodz Univ Technol Inst Automat Control 18-22 B Stefanowskiego St PL-90924 Lodz Poland

ISBN: (纸本)9781728173818;9781728173801

Sliding mode control strategies are an excellent method of ensuring stability of plants subject to disturbance and model uncertainties. However, even though such strategies guarantee at least asymptotic stability of the controlled plant, they have no direct way of providing a specific state trajectory. this is particularly significant when the controlled system is operating under practical constraints, which typically cannot be enforced in sliding mode control. To remedy this issue, in this paper we propose a new approach to sliding mode controller design. the new method involves defining a reference trajectory, which can be tracked by all system states with minimal control effort. In particular, a reference trajectory based on the cosine function has been designed for a class of second order dynamical systems. It has been demonstrated that the sliding mode controller using this reference trajectory can satisfy the given state and input constraints.

关键词： Asymptotic stability Uncertainty automation Trajectory tracking Stability analysis Trajectory Dynamical systems

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Research on effective analysis and forecasting of demand in ERP systems - case studies 25

Research on effective analysis and forecasting of demand in ...

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25th international conference on methods and models in automation and robotics

作者： Grobler-Debska, Katarzyna Zak, Bartlomiej Baranowski, Jerzy Kucharska, Edyta Domagala, Adam AGH Univ Sci & Technol Dept Automat Control & Robot Krakow Poland InfoConsulting Sp Zoo Dept Prod & Serv Dev Krakow Poland InfoConsulting Sp Zoo Dept ERP Implementat Katowice Poland

ISBN: (纸本)9781728173818;9781728173801

Supply chain planning, and especially demand forecasting in companies, is a difficult task for organizations and both crucial for their profits and for market penetration. the main difficulty is that there is a lack of analysts in manufacturing companies and the lack of an adequate forecasting method. Although science provides many methods for forecasting, business cannot apply them. the main software supporting management in companies are ERP systems. ERP support decision-making at the strategic, tactical and operational level. It must also have an intuitive forecasting tool. the paper presents the results of the InfoConsulting research and development project related to the adaptation of the forecasting tool based on IFS Application so that it meets the requirements of Polish companies from mass customization and pharmacy industry and the development of a quick implementation method.

关键词： ERP systems forecasting methods supply chain planning case studies

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Model Predictive Control as an Industrially Applicable Approach for Power Control of Solid Oxide Fuel Cells 25

Model Predictive Control as an Industrially Applicable Appro...

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25th international conference on methods and models in automation and robotics

作者： Frenkel, Wiebke Kersten, Julia Aschemann, Harald Rauh, Andreas Univ Rostock Chair Mechatron D-18059 Rostock Germany ENSTA Bretagne Lab STICC F-29806 Brest France

ISBN: (纸本)9781728173818;9781728173801

In this paper, a model predictive control (MPC) combined with a discrete-time stationary Kalman filter as an observer for non-measureable states and input disturbances is presented as a simple and industrially applicable approach for controlling the electric power of a solid oxide fuel cell (SOFC). the developed controller was tested in a simulation in terms of its robustness under consideration of model uncertainties and measurement noise. the results were compared with a PI output-feedback controller combined with a feedforward control and an internal model control (IMC). For the MPC the framework conditions are equal to the PI controller and the IMC. Since these conditions can be reproduced by simulations, we can omit a rerun of the experiments. As a result, the MPC provides comparable results and presents as the better of the two alternative controllers.

关键词： Solid modeling Uncertainty Service robots Power control Fuel cells Predictive models Solids

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On Assignment of the Upper Bohl Exponent for Linear Discrete-Time Systems in Infinite-Dimensional Spaces 25

On Assignment of the Upper Bohl Exponent for Linear Discrete...

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25th international conference on methods and models in automation and robotics

作者： Makarov, Evgenii Niezabitowski, Michal Popova, Svetlana Zaitsev, Vasilii Zhuravleva, Marina Natl Acad Sci Belarus Inst Math Minsk 220072 BELARUS Silesian Tech Univ Fac Automat Control Elect & Comp Sci PL-44100 Gliwice Poland Udmurt State Univ Izhevsk 426034 Russia

ISBN: (纸本)9781728173818;9781728173801

In this paper we study linear discrete-time control systems in infinite-dimensional spaces with periodically time-varying bounded input and output operators. For such systems we consider a problem of arbitrary assignability of the upper Bohl exponent by non-stationary linear static state feedback and by non-stationary linear dynamic output feedback. this is a generalization of the stabilization problem, which has been well studied for systems of various types. the main results present sufficient conditions for considered types of assignability.

关键词： Discrete-time systems Sufficient conditions State feedback automation Aerospace electronics Control systems Time-varying systems

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Game Against Nature Based Control of an Intelligent Wheelchair with Adaptation to Pedestrians' Behaviour 25

Game Against Nature Based Control of an Intelligent Wheelcha...

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25th international conference on methods and models in automation and robotics

作者： Skrzypczyk, Krzysztof Silesian Tech Univ Dept Automat Control & Robot Gliwice Poland

ISBN: (纸本)9781728173818;9781728173801

this paper addresses the problem of synthesis of the control law for intelligent wheelchair navigation assistant, intended to support the navigation in dynamic and populated areas. the method presented in this paper uses a deterministic, model-based prediction strategy to generate the wheelchair motion. the motion has the feature that is acceptable by the patient being transported on the wheelchair. Using the long-term pedestrians motion prediction the minimal collision risk control strategy is applied. While concerning the wheelchair navigation and its environmental interactions, an issue arises which is related to the pedestrians' empathy towards a disabled person being carried by the wheelchair. In this work we propose to use this phenomena for designing adaptive, driving strategy of the intelligent wheelchair. An intelligent motion controller proposed in this paper, generates collision free trajectory based on safe distance policy and evaluation of the environmental response. By comparing the predicted pedestrians behaviour to the real one, the system adapts control strategy coming from game against nature formalism and Hurwicz criterion based solution. the method performance was evaluated in a simulated environment. Relevant simulation scenarios are presented and discussed.

关键词： Space vehicles Adaptation models Uncertainty Navigation Wheelchairs Games Predictive models

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Evaluation of Hybrid Particle Swarm Optimization in the Multi-door Cross-docking Problem 25

Evaluation of Hybrid Particle Swarm Optimization in the Mult...

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25th international conference on methods and models in automation and robotics, mmar 2021

作者： Pasko, Kamil Kucharska, Edyta Baranowski, Jerzy AGH University of Science and Technology Department of Automatic Control and Robotics Krakow30-059 Poland

ISBN: (纸本)9781728173801

the paper deals with a cross-docking problem which is an example of real-word logistics problem and belongs to the class of NP-hard optimization problems. Cross-docking is a transshipment platform, where products from suppliers to several destinations are deconsolidated, sorted, consolidated based on the customer's orders, and shipped out to the end customers using outbound trucks. In particular, multiple inbound and outbound doors cross-docking is under consideration. the aim is to optimize the sequence of inbound and outbound trucks and truck dock assignment in cross-docking systems with multiple inbound and outbound dock doors. A particle swarm optimization hybridized with simulated annealing is proposed to solve this problem. the paper also presents the results of computational experiments. © 2021 IEEE.

关键词： Trucks

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Stability Investigation of PLL-Based Grid Synchronization 25

Stability Investigation of PLL-Based Grid Synchronization

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25th international conference on methods and models in automation and robotics

作者： Schoeley, Alexander Jeinsch, Torsten Univ Rostock Fac Elect Engn & Comp Sci Inst Automat Rostock Germany

ISBN: (纸本)9781728173818;9781728173801

this contribution investigates the grid synchronization procedure of grid-side inverters, i.e. the correct determination of the grid voltage frequency. A phase-locked loop (PLL) can be seen as the standard method for grid synchronization. Due to the grid impedance, the grid voltage cannot be measured directly and the measured voltage is a superposition of the grid voltage and the inverter voltage. therefore it is possible that the PLL loses synchronism with the grid and tracks the inverter voltage instead. In stiff grid scenarios this effect may be neglected, but in the case of a weak grid, a failure of the PLL to synchronize with the grid is likely. Since the grid synchronization procedure depends not only on the grid impedance but also on the filter impedance of the inverter as well as on the point of operation, a comprehensive analysis under what circumstances the loss of synchronism occurs is needed. In this paper the described scenario is studied and a necessary condition for a successful grid synchronization in the stationary case is derived. the condition depends on all parameters of the system model and is verified in numerical simulations.

关键词： Voltage measurement Impedance measurement Inverters Stability analysis Numerical models Synchronization Impedance

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Method for Road Occlusions Handling in Generic Sensor models 25

Method for Road Occlusions Handling in Generic Sensor Models

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25th international conference on methods and models in automation and robotics

作者： Jasiriski, Michal AGH Univ Sci & Technol Dept Automat & Biomed Engn Al A Mickiewicza 30 PL-30059 Krakow Poland APTIV Serv Poland SA Ul Podgorki Tynieckie 2 PL-30399 Krakow Poland

ISBN: (纸本)9781728173818;9781728173801

Due to the increasing complexity of Advanced Safety systems, a strong endeavor is required to acquire realistic and real-time capable simulations, in order to enable robust and easily reproducible system verification in virtual environments. To make simulations reliable, high-fidelity sensor models are required. One of the approaches is to implement a generic sensor model that explicitly emulates the output of an object detection algorithm, based on high-level simulation data. However, such a model has to accurately handle object-based occlusions, to assure that shadowed objects are not detected. Various generic sensor models available in the literature already solve the problem of how to estimate occlusions, given a set of objects. Nevertheless, none of the models takes into account a road profile, i.e. hills. the method proposed in this paper provides an accurate and easy to implement road profile estimation using a set of bounding boxes. thanks to the generated structures, a road-based shadowing can be enabled in any of the object-based generic sensor models. the obtained results clearly show the robustness and usefulness of the proposed methodology.

关键词： sensor models simulation virtual validation occlusions estimation

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Understanding the passengers’ behaviour as a key element of multimodal transport design

Understanding the passengers’ behaviour as a key element of...

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

作者： Edyta Brzychczy Barbara Kowal Wiktoria Konop Elżbieta Nowak Ewelina Markowska Dominik Witkowski Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Krakow Kraków Poland Department of Economics and Management in Industry Faculty of Civil Engineering and Resource Management AGH University of Krakow Krakżw Poland Faculty of Civil Engineering and Resource Management AGH University of Krakow Krakżw Poland Product Management Department Lodz Agglomeration Railway Łódź Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

Designing multimodal transportation requires understanding passenger behavior, habits, and needs. the article presents the results of a study aimed at distinguishingthe most frequent combinations of selected modes of transportation from the place of residence to the destination point with an intermediate means such as rail *** data used in the analysis refers to $\mathbf{1 1 0 2}$ passengers of the Lodz Agglomeration Railway (“Łódzka Kolej Aglomeracyjna” sp. z.o.o.), which surveyed passengers in 2021. the survey made it possible to distinguish the most common behaviors among passengers and to identify differences in the choice of means of transportation among the identified groups of passengers. the results can support decision-making in the development of multimodal transportation modes taking into account different passenger behaviors.

关键词： Surveys Legged locomotion Rails Pandemics Urban areas Transportation Motorcycles

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