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Preserving the Physical Coupling in Teleoperation despite Time Delay through Observer-Based Gradient control 15th

Preserving the Physical Coupling in Teleoperation despite Ti...

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15th ifac Workshop on Time Delay systems (TDS) jointly held with the 7th ifac symposium on System Structure and control (SSSC)

作者： Singh, Harsimran Panzirsch, Michael Ryu, Jee-Hwan German Aerosp Ctr DLR Inst Robot & Mechatron Wessling Germany Korea Univ Technol & Educ Sch Mech Engn Cheonan South Korea

In recent past, a variety of control approaches were proposed that serve the stabilization of coupled network systems despite time delay. Especially in teleoperation setups, where the input device displays the interaction forces and torques of the remote coupled robot with its environment to a human operator. This force feedback should represent the physical behavior of a coupling at zero time delay. However, most control approaches aim to limit the force feedback for the sake of stability which does not necessarily lead to a reasonable presentation of the the remote side impedances. Recently, Singh et al. (2019) proposed an observer-based gradient controller to eliminate the force jittering on the master side. It rectified the delayed feedback force by removing the undesired increase in force which is generated by the delay in communication channel. The stability of the system was assured via the Time Domain Passivity Approach which leads to an undesired position drift. In this work the observer-based gradient approach is modified to increase it's force transparency and implemented to another recently developed position-drift free Time Domain Passivity Approach, Panzirsch et al. (2019). The new amalgamated approach is validated and compared to the state-of-the-art in experiments. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Delayed Coupled Network systems Teleoperation Transparency Time Delay

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PDG Pressure Estimation in Offshore Oil Well: Extended Kalman Filter vs. Artificial Neural Networks 12

PDG Pressure Estimation in Offshore Oil Well: Extended Kalma...

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12th International-Federation-of-Automatic-control (ifac) symposium on Dynamics and control of Process systems including Biosystems (DYCOPS-CAB)

作者： Apio, Andressa Dambros, Jonathan W., V Diehl, Fabio C. Farenzena, Marcelo Trierweiler, Jorge O. Fed Univ Rio Grande do Sul UFRGS GIMSCOP Chem Engn Dept R Engn Luiz Englert S-NCampus Cent Porto Alegre RS Brazil Univ Kaiserslautern Dept Comp Sci D-67663 Kaiserslautern Germany Res & Dev Ctr BR-21941915 Petrobras RJ Brazil

The Permanent Downhole Gauge (PDG) pressure measurement is of great importance for offshore oil well modeling and control since it is measured close to the bottom hole. The PDG is installed in a remote undersea environment, which makes expensive the maintenance in case of fault. For this reason, PDG measurements are frequently unavailable. To overcome this limitation, the PDG pressure can be estimated using other available measurements. The estimation is not a simple task since, depending on process operational conditions, the multiphase flow might present limit cycles. In this work, Artificial Neural Network (ANN) and Extended Kalman Filter (EKF) are proposed as potential techniques for the PDG pressure estimation. The comparison of the results shows that ANN returns precise estimation for a short-time window after the failure, but fails when a different process operating condition is applied, while EKF returns good estimation in all the cases. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： modelling and System Identification Data Analytics and Machine Learning Inferential sensing State Estimation and Sensor Development

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Bilateral Tele-Rehabilitation System using Electrical Stimulation applying Modulated Time-Domain Passivity control 8

Bilateral Tele-Rehabilitation System using Electrical Stimul...

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8th International-Federation-of-Automatic-control (ifac) symposium on Mechatronic systems (MECHATRONICS) / 11th International-Federation-of-Automatic-control (ifac) symposium on Nonlinear control systems (NOLCOS)

作者： Kawai, Yasunori Shibano, Koshiro Kawai, Hiroyuki Miyoshi, Takanori Fujita, Masayuki Ishikawa Coll Natl Inst Technol Dept Elect Engn Tsubata Ishikawa 9290392 Japan Kanazawa Inst Technol Dept Robot Kanazawa Ishikawa Japan Nagaoka Univ Technol Dept Syst Safety Niigata Japan Tokyo Inst Technol Dept Mech & Control Engn Tokyo Japan

This paper considers a bilateral tele-rehabilitation system by using an electrical stimulation based on a scattering matrix method by applying a modulated time-domain passivity control for a human lower limb. The scattering matrix method includes a scattering transformation, a phase control filter, and a wave filter. In our previous works, a nonpassive approach based on a scattering matrix method has been applied to the bilateral tele-rehabilitation system. However, variable long time delay affects the control performance in the experiment through the Internet. Because the feedforward control with the phase-lead filter is used in the patient side, the feedforward controller may provide the large control input force for the tired patient's lower limb. The main contribution of this paper is to apply the modulated time-domain passivity control to improve the control performance of the bilateral tele-rehabilitation system. In the previous bilateral tele-rehabilitation with the modulated time-domain passivity control, the velocity and the force are communicated between the therapist and the patient. In this paper, the position and the force are communicated in the proposed bilateral tele-rehabilitation system, and the improvement of the tracking performance is expected. The proposed bilateral tele-rehabilitation system is verified in the experiment with the variable time delay. It can be confirmed that the control performance is improved by using the modulated time-domain passivity control. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： control applications Teleoperation Telerobotics Human-machine interface biomedical control

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A novel intelligent model integrating PLSR with RBF-Kernel based Extreme Learning Machine: Application to modelling petrochemical process 12

A novel intelligent model integrating PLSR with RBF-Kernel b...

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12th International-Federation-of-Automatic-control (ifac) symposium on Dynamics and control of Process systems including Biosystems (DYCOPS)

作者： Zhu, Qun-Xiong Zhang, Xiao-Han Wang, Yanqing Xu, Yuan He, Yan-Lin Beijing Univ Chem Technol Coll Informat Sci & Technol Beijing 100029 Peoples R China Minist Educ China Engn Res Ctr Intelligent PSE Beijing 100029 Peoples R China

With the petrochemical process data getting complicated, building accurate and robust process analysis models has becoming a hot research In this study, a novel intelligent model integrating PLSR with RBF-Kernel based Extreme Learning Machine (PLSR-RBFKELM) is proposed for overcoming the difficulties found in the conventional extreme learning machine when dealing with collinearity. In the proposed model, radial basis function kernel is employed instead of activation functions in the ELM hidden layer to effectively deal with the high nonlinearity problem of modeling data, and partial least square regression is utilized to solve the collinearity problem. In order to verify the performance, the proposed PLSR-RBFKELM model is applied to modeling one real-world petrochemical process - high density polyethylene process in the steady state. Simulation results demonstrate that the proposed model can achieve good performance in terms of accuracy and stability for static process modeling. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Radial Basis function Kernel Partial least squares regression Extreme Learning Machine Modeling High Density Polyethylene process

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Robust lateral control of cars : Towards a reduction of pessimism and an easy trade-off between performance, comfort and robustness 9th

Robust lateral control of cars : Towards a reduction of pess...

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9th ifac International symposium on Advances in Automotive control (AAC)

作者： Mustaki, Simon Chevrel, Philippe Yagoubi, Mohamed Fauvel, Francois Kvieska, Pedro UBL LS2N Lab IMT Atlantique F-44307 Nantes France Renault SAS 1 Ave Golf F-78280 Guyancourt France

This paper presents a methodology to design a Lane Centering Assistance (LCA) system. It proposes an original approach to deal with the large parametric uncertainties encountered by automotive design engineers. Indeed, the same controller is supposed to be used for a specific vehicle regardless its configuration (tire, load, motorization, etc.). The methodology consists in a gradual insertion of the designers expertise in order to reduce as much as possible the inherent pessimism of a multi-model design approach. It also proposes some direct parameters to easily adjust the sought trade-off between performance (low lateral error) and driving feeling (jerks). The proposed design process is validated by high-fidelity simulations using complete nonlinear vehicle models. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Automotive control Active Safety and Driver Assistance systems Lane Centering Assistance Plant modelling and System Identification Model-based Calibration

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Water Hammer Stability in a Hydroelectric Plant with Surge Tank and Throttling 15th

Water Hammer Stability in a Hydroelectric Plant with Surge T...

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15th ifac Workshop on Time Delay systems (TDS) jointly held with the 7th ifac symposium on System Structure and control (SSSC)

作者： Danciu, Daniela Popescu, Dan Rasvan, Vladimir Univ Craiova Dept Automat Control & Elect AI Cuza 13 RO-200585 Craiova Romania

There is considered the dynamics of a hydroelectric power plant with two conduits - the tunnel and the hydraulic turbine penstock - and a surge tank with throttling. The water hammer phenomenon is considered under the assumption that the hydraulic turbine is shut down. Under the standard assumptions of water hammer computations, both the dynamic head and the Darcy-Weisbach losses are neglected. The consequence of all aforementioned assumptions is a model described by linear hyperbolic partial differential equations with linear non-standard boundary conditions. Further, considering the Riemann invariants of the problem along the characteristics, a system of functional differential equations with deviated argument of neutral type is associated to the basic model. This system displays two rationally independent delays. Its stability is studied using the Lyapunov functional approach and taking into account the dissipativeness of the boundary conditions. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Water hammer Neutral functional differential equations Stability Lyapunov functional

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Methodology Comparison for Designing a Decision-making Support System 14th

Methodology Comparison for Designing a Decision-making Suppo...

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14th International-Federation-of-Automatic-control (ifac) symposium on Analysis, Design, and Evaluation of Human Machine systems (HMS)

作者： Reitsma, Jelmer P. van Paassen, M. M. (Rene) Mulder, Max Delft Univ Technol Dept Control & Operat Control & Simulat Delft Netherlands

Designing interfaces for effective decision-making supports for complex, dynamic systems is a challenging task. Besides the already challenging task of determining the visual form, the task of defining the content of these supports can be even more demanding. Especially for an unstable and complex work domain with multiple stakeholders and multiple interrelated systems, e.g., commercial flight operations. Various methodologies for designing such supports have been introduced in the last decades. In this paper two methodologies, Ecological Interface Design (EID) and Applied Cognitive Work Analysis (ACWA) are compared to determine what methodology is best suited for the design of an in-flight decision support system. The methodologies are compared on two aspects, (1) development of the knowledge-based model and (2) the means to translate this model into requirements for the actual representation. The functional abstraction network (FAN), as part of the ACWA, is the preferred knowledge-based modelling method for capturing a complex multi-system work domain, like commercial flight operations. Mainly due to the increased flexibility in modeling and ease of extending the model. The ACWA is also found to the preferable method to translate the functional model into representation requirements due to its structured step-wise and system engineering inspired approach. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Human-machine interface decision support systems ecological interface design applied cognitive work analysis

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The Design of an H∞/LPV Active Braking control to Improve Vehicle Roll Stability 7

The Design of an H∞/LPV Active Braking Control to Improve V...

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7th ifac symposium on System Structure and control (SSSC) jointly held with the 15th ifac Workshop on Time Delay systems (TDS)

作者： Van Tan Vu Sename, Olivier Dugard, Luc Gaspar, Peter Univ Transport & Commun Dept Automot Mech Engn Hanoi Vietnam Univ Grenoble Alpes CNRS Grenoble INP GIPSA Lab F-38000 Grenoble France Univ Grenoble Alpes Inst Engn Grenoble France Hungarian Acad Sci Inst Comp Sci & Control Budapest Hungary

The active braking control system is an active safety system designed to prevent accidents and to stabilize dynamic manoeuvers of a vehicle by generating an artificial yaw moment using differential braking forces. In this paper, the yaw-roll model of a single unit heavy vehicle is used for studying the active braking system by using the longitudinal braking force at each wheel. The grid-based LPV approach is used to synthesize the H-infinity/LPV controller by considering the parameter dependant weighting function for the lateral acceleration. The braking monitor designs are proposed to allow the active braking system to react when the normalized load transfer at the rear axle reaches the criteria of rollover +/-1. The simulation results indicate that the active braking system satisfies the adaptation of vehicle rollover in an emergency situation, with low braking forces and improved handling performance of the vehicle. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Vehicle dynamics Active braking system Rollover H-infinity control LPV system

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Process Monitoring and Fault Detection using Empirical Mode Decomposition and Singular Spectrum Analysis 18th

Process Monitoring and Fault Detection using Empirical Mode ...

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18th ifac symposium on control, Optimization and Automation in Mining, Mineral and Metal Processing (MMM)

作者： Krishnannair, S. Aldrich, C. Univ Zululand Dept Math Sci ZA-3886 Kwa Dlangezwa South Africa Curtin Univ Dept Min & Met Engn Perth WA 6845 Australia

In this study, a new data-driven multivariate multiscale statistical process monitoring method based on singular spectrum analysis (SSA) and empirical mode decomposition (EMD) is proposed for fault detection in chemical process systems. SSA extracts the trends of process signals using the eigenvalues of trajectory matrices while EMD uses the intrinsic mode functions (IMFs) to capture the signal trends through sifting process. The results obtained from the industrial and simulated case studies showed that SSA and conventional multivariate statistical process monitoring technique such as principal component analysis (PCA) failed to extract the nonstationary and nonlinear trends in the signal effectively. As an alternative, in this study, SSA is combined with EMD decomposition prior to the process monitoring procedure using PCA. The efficiency of EMD in analyzing the nonstationary and nonlinear signals enhanced the performance of linear SSA techniques by combining the two techniques in this study. Experimental and simulation results also revealed that fault detection using EMD is comparable to the combined technique. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Process monitoring and fault detection Singular Spectrum Analysis Empirical Mode Decomposition Multivariate Statistical Process control

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Practical Guidelines for Tuning PD and PI Delay-Based controllers 15th

Practical Guidelines for Tuning PD and PI Delay-Based Contro...

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15th ifac Workshop on Time Delay systems (TDS) jointly held with the 7th ifac symposium on System Structure and control (SSSC)

作者： Hernandez-Diez, Jose-Enrique Mendez-Barrios, Cesar-Fernando Niculescu, Silviu-Iulian CNRS Supelec F-91192 Gif Sur Yvette France CNRS Supelec Lab Signaux & Syst L2S UMR CNRS 8506 3 Rue Joliot Curie F-91192 Gif Sur Yvette France Autonomous Univ San Luis Potosi UASLP Dr Manuel Nava 8 San Luis Potosi San Luis Potosi Mexico

This paper focuses on the design of two different delay-based control schemes. These two low-complexity controllers are proposed as alternatives for the classical PD and PI controllers. More precisely, first, we study a PD controller using the Euler approach for approximating the derivative action. Second, we analyze the implications of imposing a delay in the error signal on the integral action of the PI controller for closed-loop response manipulation purposes. Our main contribution lies in proposing some practical guidelines for the tuning of these delayed control schemes such that the closed-loop system is stable. To this end, the criteria developed in this work makes use of the well-known D-partition method, with the difference that we propose a simple criterion to detect stabilizing regions, avoiding in this way the crossing direction analysis. Several numerical examples illustrate the effectiveness of the proposed approach. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Delay-Based control Stability Crossing Curves PID controllers

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