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Trajectory tracking of AGVs by linear parameter-varying control: a case study

Trajectory tracking of AGVs by linear parameter-varying cont...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Jacobs, Laurens De Preter, Andreas Anthonis, Jan Swevers, Jan Pipeleers, Goele Katholieke Univ Leuven Dept Mech Engn MECO Res Team Leuven Belgium Flanders Make DMMS Lab Leuven Belgium Octin Bvba Leuven Belgium

This paper proposes a linear-parameter varying (LPV) controller design approach for trajectory tracking of an automated guided vehicle (AGV) based on a simple yet nonlinear kinematic model. By linearization of the model about a reference trajectory, an LPV model is readily obtained, which is then augmented with identified linear time-invariant actuator models. An appropriate parameter-dependent controller for the system is designed in an optimal way by specifying the control objectives in terms of H-infinity criteria. Its performance is assessed by means of experiments on the considered prototype of an autonomous platform. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： automated guided vehicles linear parameter-varying control feedback control computer-aided control system design experimental validation

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Finite-Time LPV Analysis of a Vision Based Landing System with Anti-Windup Augmentation

Finite-Time LPV Analysis of a Vision Based Landing System wi...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Biannic, Jean-Marc Burlion, Laurent Tarbouriech, Sophie Univ Toulouse ONERA Toulouse Toulouse France Univ Toulouse CNRS LAAS Toulouse France

In contrast to standard ILS-based landing control systems, vision-based strategies rely on specific measures that introduce non-linearities into the control laws. Moreover, during the landing phase high gains are often used to improve performances at the expense of stability which is then degraded. This is not much an issue since both final approach and flare segments are short-time maneuvers. However, high gains induce saturations which in turn lead to performances degradation. For these reasons, vision-based landing systems design and tuning require a specific attention which generally involves a time-consuming trial-and-error process. The latter could certainly be fasten and improved with the help of adapted analysis tools providing a reliable estimate of the finite-time performance level of the aforementioned saturated nonlinear closed-loop system. As observed in Biannic and Burlion (2017), it can be rewritten as a saturated Linear Parameter Varying (LPV) system for which many tools exist or can be extended. In this contribution, original discrete-time extensions are then proposed to characterize finite-time performance indexes for a vision-based landing system including an anti-windup device. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Saturated systems LPV systems Finite-time analysis vision-based control

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Robust H_∞ Switched State-feedback control of Uncertain Linear systems

Robust H∞ Switched State-feedback Control...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Tello, Ivan F. Y. Esteves, Lucas M. Cardim, Rodrigo Teixeira, Marcelo C. M. Assuncao, Edvaldo de Oliveira, Diogo R. Alves, Uiliam Nelson L. T. Univ Fed Santa Catarina Dept Automat & Syst BR-88040900 Florianopolis SC Brazil UNESP Sao Paulo State Univ Dept Elect Engn BR-15385000 Ilha Solteira SP Brazil IFMS Fed Inst Educ Sci & Technol Mato Grosso Sul BR-79641162 Tres Lagoas MS Brazil IFPR Fed Inst Educ Sci & Technol Parana BR-86400000 Jacarezinho PR Brazil

This paper addresses the issue of robust H-infinity control for a class of continuous time uncertain switched linear systems. A set of state-feedback gains and two switching rules are designed to render the closed-loop system globally stable and assuring a guaranteed H-infinity. cost. The corresponding parameters of the controller are obtained by solving an optimization problem given in terms of Linear Matrix Inequalities (LMIs). Finally, an example using an active suspension system illustrates the effectiveness of the proposed approach. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robust Switched control LMIs Uncertain Switched System H-infinity control Lyapunov-Metzler Inequalities

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Condition-based Monitoring Architecture for CNC Machine Tools based on Global Knowledge

Condition-based Monitoring Architecture for CNC Machine Tool...

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16th ifac symposium on Information control Problems in Manufacturing (INCOM)

作者： Villalonga, Alberto Beruvides, Gerardo Castano, Fernando Haber, Rodolfo E. Novo, Marcelino UM Res Ctr Adv & Sustainable Mfg Matanzas 44100 Cuba UPM Ctr Automat & Robot CSIC Arganda Del Rey 28500 Spain Fagor Automat AOTEK S Coop Arrasate Mondragon 20500 Spain

Nowadays, new challenges are arising in the multiple industrial sectors focused on the application or adaptation of the digitalized solution with a high grade of optimization in the process, traceability, information & knowledge generation, products personalization, connectivity, customer feedback, etc. The aim is to provide an excellent product or service, increasing your productivity, competitiveness and presence in the market. In particular, manufacturing processes adopt solution with higher sensor system levels based on Cyber-Physical System approaches to obtain process parameters and control machine tools, robots and industrial drives on the shop floor, plant or global production stations. The present article introduces a condition-based monitoring architecture to manage alarm and events based on global information captured by multiple sensors integrated a family of CNC machine tools. The architecture is divided in two modules: a local system embedded in each machine and a cloud as a service system to supervise the local accuracy based on global system knowledge. Finally, an industrial CPS study case based on a bearing benchmark is simulated, validating the local condition-based monitoring stability in function of the update provides by the global module. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Condition monitoring Knowledge modelling and knowledge based systems Service Engineering Applications Intelligent manufacturing systems modelling and decision making in complex systems

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Fixed-Time Homogeneous Integral controller

Fixed-Time Homogeneous Integral Controller

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Mercado-Uribe, Angel Moreno, Jaime A. Univ Nacl Autonoma Mexico Inst Ingn Mexico City 04510 DF Mexico

We propose a homogeneous integral controller with positive homogeneity degree, for systems with relative degree two and three. Its design and the convergence proof is achieved by the construction of an explicit homogenous Lyapunov function. A combination of this controller, with a discontinuous one developed by the authors in a previous work, allows to achieve: (i) fixed time convergence, that is that the maximal convergence time is a constant independent of the size of the initial conditions;(ii) insensitivity to Lipschitz (matched) perturbations, i.e. perturbations with bounded derivative;and (iii) providing a continuous control signal, and thus reducing the chattering effect of a discontinuous controller. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Lyapunov functions Homogeneity Higher Order Sliding modes Output Tracking Integral control

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H_∞ Static Output-Feedback Gain-Scheduled control for Discrete LPV Time-Delay systems

H∞ Static Output-Feedback Gain-Scheduled Control...

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Joint Meeting of the 2nd ifac Workshop on Linear Parameter Varying systems (LPVS) / 9th ifac symposium on Robust control Design (ROCOND)

作者： Rosa, Tabitha E. Frezzatto, Luciano Morais, Cecilia F. Oliveira, Ricardo C. L. F. Univ Groningen Fac Sci & Engn Groningen Netherlands Univ Fed Minas Gerais Dept Elect Engn Belo Horizonte MG Brazil Univ Estadual Campinas Sch Elect & Comp Engn Campinas SP Brazil

This paper proposes new synthesis conditions to design H-infinity, static output-feedback controllers for discrete-time linear systems affected by time-varying parameters and time-varying delays. The design conditions are provided in terms of sufficient parameter-dependent linear matrix inequalities with a scalar parameter, being capable of synthesizing either robust or gain-scheduled controllers. The main motivations to deal with such problem are that many real-world plants can be modeled in terms of discrete-time linear parameter-varying (LPV) time-delay models and the lack of methods to deal with such systems considering an output-feedback based approach. The technique presented in this paper is quite generalist, allowing an arbitrary structure for the measured output matrix. Numerical examples are provided to illustrate the effectiveness of the synthesis conditions, tractable in terms of LMI relaxations, for robust or gain-scheduled H-infinity output-feedback for LPV time-delayed systems. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： LPV systems Time-delay systems Discrete-time systems H-infinity control Output-feedback Gain-scheduling

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Sliding Mode Observers for Fault Detection in Linear Dynamic systems

Sliding Mode Observers for Fault Detection in Linear Dynamic...

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10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Zhirabok, Alexey N. Shumsky, Alexey E. Zuev, Alexander V. Far Eastern Fed Univ Dept Automat & Control Vladivostok 690950 Russia Far Eastern Fed Univ Dept Management Vladivostok 690950 Russia

The problem of fault diagnosis in technical systems described by linear dynamic models is considered. The approach allowing increase robustness of the diagnostic process under disturbances is suggested. The approach includes two stages: 1) synthesis of sliding mode observer, sensitive to the disturbance and invariant with respect to the fault;this observer estimates the value of disturbance, 2) synthesis of diagnostic observer, sensitive to the disturbance and fault, using the estimated value of disturbance;this observer provides fault detection. In the multi-fault case, a complex of diagnostic tools is constructed. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Linear systems fault diagnosis robustness sliding mode observer diagnostic observer

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Simulation modelling of Integrated systems in Marine Technology

Simulation Modelling of Integrated Systems in Marine Technol...

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16th ifac symposium on Information control Problems in Manufacturing (INCOM)

作者： Landryova, Lenka VSB TU Ostrava Dept Control Syst & Instrumentat Ostrava Czech Republic

This paper deals with simulation of a process highly monitored in a real time operation. It shows the reasons for process simulation and the control of the process under a simulation environment for developing control system strategies before they are implemented in real time operation algorithms and control. The marine technology in terms of the simulation of the functionalities for power management is specifically mentioned. It includes both the automatic control of the power management system of marine technologies and the description of the main functionalities of the control system used for the power generation and distribution for this system. These functionalities need to be supported by software for a power management system and by a simulation process with developed software libraries used at the operator work station interface. The improved operation conditions are simulated first and then added into specific features corresponding to real power management system needs. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： simulation system control operation function HMI

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Aiding Cascading Analysis modelling with High-performance-computing Technology

Aiding Cascading Analysis Modelling with High-performance-co...

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10th ifac symposium on control of Power and Energy systems (CPES)

作者： Chen, Yousu Glaesemann, Kurt Pacific Northwest Natl Lab Richland WA 99354 USA

Cascading outage analysis is important to minimize the risk of power system blackouts. To sustain power system reliability and manage the risk of blackouts requires simulation tools that are able to analyze and assess the consequence of cascading events quickly and efficiently. This paper presents a cascading analysis feature that was recently implemented upon an integrated state estimation and contingency analysis software package to utilize the power of high performance computing (HPC) techniques. The performance of the developed cascading analysis function, including the consequence analysis and scalability, is demonstrated through three test systems that represent small, medium, and large power systems. The package is able to perform cascading analysis with full N-1 contingency for a European open model within 20 seconds with 2,048 cores. A discussion of HPC implementation is also provided. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Energy Management systems (EMS) Situational Awareness High Performance Computing Contingency Analysis Cascading Failure

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Data-Driven Reachability Analysis for the Reconfiguration of Vehicle control systems

Data-Driven Reachability Analysis for the Reconfiguration of...

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10th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Fenyes, Daniel Nemeth, Balazs Gaspar, Peter Hungarian Acad Sci Syst & Control Lab Inst Comp Sci & Control Budapest Hungary

The paper presents a reconfigurable control strategy for the lateral stability of autonomous vehicles. The control strategy is based on the analysis of big data, which are provided by the sensor networks of autonomous vehicles. The core of the analysis method is a machine learning algorithm, with which the impacts of various vehicle signals on the lateral dynamics have been examined. In the analysis several scenarios with faults in the steering and in-wheel systems are considered using a high-fidelity simulation software. The results of the examination are built into the fault-tolerant reconfiguration strategy. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： reconfiguration strategy big data analysis autonomous vehicle systems

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