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Program-based and model-based PLC design environment for multicore FPGA architectures

Program-based and model-based PLC design environment for mul...

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international conference on informatics in control, automation and robotics (icinco)

作者： Christoforos Economakos Michael Skarpetis George Economakos Technological Educational Institution of Sterea Ellada Department of Automation Engineering GR34400 Psahna Evia Greece National Technical University of Athens School of Electrical and Computer Engineering Microprocessors and Digital Systems Laboratory Heroon Polytechniou 9 GR15780 Zografou Greece

Digital design has been growing rapidly during the last years, offering advanced implementation solutions for a diversity of appliances and instruments, integrating different sensors and actuators. This has a great impact on embedded automation, where traditional Programmable Logic controllers (PLCs) have been gradually replaced by high performance Embedded controllers, Digital Signal Processor (DSP) chips and, more recently, power efficient Field Programmable Gate Arrays (FPGAs). Such new implementation platforms bring together efficient design methodologies, like model-based design and high-level or C level program-based design. In their turn, new design methodologies are accompanied by new design technologies like Intellectual Property (IP) based design and High-Level Synthesis (HLS). This paper presents a design environment that utilizes program-based and model-based design, for the development of PLC applications. Specifically, a tool flow is constructed that supports either the design of new control algorithms or the translation of existing algorithms into C. Then, HLS and FPGA implementation tools are adopted, to implement the selected algorithms as multicore, embedded designs, offering performance improvements and hardware utilization efficiency. Overall, the proposed methodology and underlying tool flow support a novel high productivity prototyping platform for digital control applications, with very promising future extension capabilities.

关键词： Field programmable gate arrays Algorithm design and analysis Hardware Digital signal processing Signal processing algorithms Microcontrollers Hardware design languages

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Passivity-based control design and experiments for a rolling-balancing system 13th

Passivity-based control design and experiments for a rolling...

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13th international conference on informatics in control, automation and robotics, icinco 2016

作者： Donaire, Alejandro Crespo, Martin Ruggiero, Fabio Lippiello, Vincenzo Siciliano, Bruno PRISMA Lab Dipartimento di Ingegneria Elettrica e Tecnologie dell’Informazione Università di Napoli Federico II Via Claudio 21 Napoli80125 Italy Departamento de Control FCEIA Universidad Nacional de Rosario and CONICET Riobamba 245 bis RosarioS2000EKE Argentina

ISBN: (纸本)9783319550107

In this chapter we present the design and implementation of a robust passivity-based controller for a rolling-balancing system known as the disk-on-disk. The control design aims to asymptotically stabilize the desired equilibrium of the disk-on-disk by shaping the energy function of the system and injecting damping. This first design is further augmented by the addition of a nonlinear PID controller to compensate for disturbances. We incorporate in the nonlinear PID the possibility of stabilizing either a set-point of angular positions of the disks or their angular velocities while keeping the balance of the system. Although the underactuation feature of the system and the disturbances hamper the control design, we show that the passivity-based framework offers the necessary tools to prove the desired stability properties of the close loop. Finally, we evaluate the practical applicability of the control design by implementing the controller on a real hardware for the disk-on-disk system and asses the performance of the control system. © Springer international Publishing AG 2018.

关键词： Three term control systems

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MAS2CAR architecture: Multi-agent system to control and coordinate teAmworking Robots

MAS2CAR architecture: Multi-agent system to control and coor...

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作者： Mouad, Mehdi Adouane, Lounis Schmitt, Pierre Khadraoui, Djamel Martinet, Philippe Centre de Rechere Public Henri Tudor Luxembourg Luxembourg Laboratoire des Sciences et Matériaux pour l'Electronique et d'Automatique Université Blaise Pascal Clermont-Ferrand France

ISBN: (纸本)9789898425751

This paper aims to present the Multi-Agent System to control and Coordinate teAmworking Robots (MAS2CAR), a new architecture to control a group of coordinated autonomous robots in unstructured environments. MAS2CAR covers two main layers: (i) the control Layer and we focus on (ii) the Coordination Layer. The control module is responsible for a part of the decision making process while taking into account robot's structural constraints. Despite this autonomy possibility, the Coordination Layer manages the robots in order to bring cooperative behavior and to allow team-work. In this paper we present a scenario validating our approach based upon the multi-agent systems (MAS). Thanks to its reliability we have chosen the M OISEInst organizational model and we will present how it can be used for this use-case. Moreover, regarding to the implementation part, we have retained u TOPIA, a framework which automatically build a MAS thanks to a M OISEInst specification.

关键词： Multi agent systems

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Passivity-based nonlinear stabilizing control for a mobile inverted pendulum

Passivity-based nonlinear stabilizing control for a mobile i...

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作者： Yokoyama, Kazuto Takahashi, Masaki Keio University 3-14-1 Hiyoshi Kohoku-ku 223-8522 Yokohama Japan

ISBN: (纸本)9789898425751

Mobile inverted pendulums (MIPs) need to be stabilized at all times using a reliable control method. Previous studies were based on a linearized model or feedback linearization. In this study, interconnection and damping assignment passivity-based control (IDA-PBC) is applied. The IDA-PBC is a nonlinear control method which has been shown to be powerful in stabilizing underactuated mechanical systems. Although partial differential equations (PDEs) must be solved to derive the IDA-PBC controller and this is a difficult task in general, we show that the IDA-PBC controller for the MIP can be derived solving the PDEs. We also formulate conditions which must be satisfied to guarantee asymptotic stability and show a procedure to estimate the domain of attraction. Simulation results indicate that the IDA-PBC controller achieves fast performance theoretically ensuring a large domain of attraction. We also verify its effectiveness in experiments. In particular control performance under an impulsive disturbance to the MIP are verified. The IDA-PBC achieves as fast transient performance as a linear-quadratic regulator (LQR). In addition, we show that even when the pendulum declines quickly and largely because of the disturbance, the IDA-PBC controller is able to stabilize it whereas the LQR can not.

关键词： controllers

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Longitudinal and Lateral control with a Global Estimation for a Convoy of Autonomous Vehicles in Urban Transport Areas 1

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17th international conference on informatics in control, automation and robotics, icinco 2020

作者： Mohamed-Ahmed, M.-M. Naamane, Aziz Aix Marseille University University of Toulon CNRS LIS UMR Marseille France

ISBN: (数字)9783030924423

ISBN: (纸本)9783030924416

In this paper, we propose a longitudinal and lateral control of a convoy of autonomous vehicles to follow a desired trajectory and maintain an inter-distance between them to avoid collisions and realize its missions in the required condition. The control approach belongs to the decentralized global family and is based on the states estimated By different sliding mode approaches, which allow speed and position states estimations (longitudinal, lateral and yaw angle) by using position sensors, in order to calculate the dynamics of each vehicle. The convoy treated in this paper is composed of four vehicles in which a first-order sliding mode observer (FOSM) is used for the 1st vehicle, and a first-order sliding mode observer with a linear correction term (FOSML) for the 2nd vehicle. The 3rd and 4th vehicle use successively a second-order sliding mode observer without and with a linear correction term (SOSM, SOSML). The law of control is calculated by using a linearized control by inverse dynamics for the longitudinal movement and a first-order sliding mode control for the lateral movement. The performance and efficiency of the proposed approaches were tested and validated in two different trajectory scenarios and with low and high speeds in the SCANeRTM -Studio platform. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： State estimation

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Genetic algorithm based X-ray diffraction analysis for chemical control of aluminium smelters baths

Genetic algorithm based X-ray diffraction analysis for chemi...

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international conference on informatics in control, automation and robotics (icinco)

作者： Shakhnaz Akhmedova Igor Yakimov Aleksandr Zaloga Sergey Burakov Eugene Semenkin Petr Dubinin Oksana Piksina Eugene Andryushenko Siberian State Aerospace University Krasnoyarsk Russia Siberian Federal University Krasnoyarsk Russia

Aluminium production is based on the high-temperature electrolysis of alumina in molten fluoride salts. Part of the fluoride compounds continuously evaporates, which violates the optimal composition of the electrolyte in the electrolytic baths. It causes a technological necessity for regular adjustment of the electrolyte composition by the addition of fluorides according to results of automatic express analysis of the electrolyte. control of the main composition characteristics is performed automatically by XRD phase analysis of crystallized electrolyte samples. The XRD method, usually used on aluminium smelters, requires periodic calibration with reference samples, whose phase composition is exactly known. The preparation of such samples is a rather complicated problem because samples include 5–6 different phases with variable microcrystalline structure. An alternative diffraction method is the Rietveld method, which does not require reference samples to be used. The method is based on the modelling of the experimental powder patterns of electrolyte samples as the sum of the phase of component powder patterns, calculated from their atomic crystal structure. The simulation includes a refinement of the profile parameters and crystal structure of phases by the nonlinear least squares method (LSM). The problem with the automation of this approach is the need to install a set of initial values of the parameters that can and should be automatically refined by LSM to exact values. To solve this problem, the article proposed an optimization method based on an evolutionary choice of initial values of profile and structural parameters using a genetic algorithm. The criterion of the evolution is the minimization of the profile R-factor, which represents the weighted discrepancy between the experimental and model powder patterns of the electrolyte sample. It is shown that this approach provides the necessary accuracy and complete automation of the electrolyte composition contr

关键词： Genetic algorithms Crystals X-ray diffraction X-ray scattering Diffraction Aluminum Powders

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Enhanced Physical Interaction Performance for Compliant Joint Manipulators using Proxy-based Sliding Mode control

Enhanced Physical Interaction Performance for Compliant Join...

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international conference on informatics in control, automation and robotics

作者： Navvab Kashiri Nikos G. Tsagarakis Michael Van Damme Bram Vanderborght Darwin G. Caldwell Department of Advanced Robotics Istituto Italiano di Tecnologia Department of Mechanical Engineering Vrije Universiteit Brussel

ISBN: (纸本)9781479979202

The use of typical position controllers for robots working around humans can involve some risks when unintended physical human-robot interactions occur. In order to benefit from a proper tracking performance during normal operations, and a smooth and damped recovery from position errors due to contacts with external objects/agents, Proxy-based Sliding Mode control was proposed. While the efficacy of this controller in fully actuated manipulators was discussed, the employment of this controller in underactuated systems has not been studied so far. This paper introduces a control scheme to implement this controller in a class of underactuated systems. Specifically, the control of flexible joint manipulators possessing passive elastic elements in series with motors is studied. The formulation of Proxy-based Sliding Mode control is adopted according to the stability requirements of this type of dynamic systems, and a torque controller required for the regulation of the output torque of actuation units is designed using the Feedback Linearization and the Linear Quadratic optimal control approach. The performance of the proposed scheme is demonstrated in dynamic simulation of an anthropomorphic compliant arm.

关键词： Proxy-based Sliding Mode control Physical Human-robot Interaction Flexible Joint Manipulators Torque control Compliant Joints Linear-quadratic Optimal control Position control Underactuated Systems

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Velocity and orientation control in an electrical wheelchair on an inclined and slippery surface

Velocity and orientation control in an electrical wheelchair...

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作者： Onyango, S.O. Hamam, Y. Djouani, K. F'SATI Tshwane University of Technology Pretoria South Africa ESIEE-Paris Paris Est University Noisy-le-Grand France LISV Laboratory UVSQ Velizy Versailles France LISSI Laboratory Paris Est University Val de Marné France

ISBN: (纸本)9789898425751

People with disability increase everyday due to accidents, poor health care and aging of the population. While some of these disabled people are strong enough and can comfortably use manual wheelchairs to move, others are too weak and may find it extremely difficult to drive powered wheelchairs with basic functionalities. Wheelchairs adaptable to various specialized functionalities may therefore be important if mobility of the severely disabled persons is to be ensured. control parameters adaptable to hand, tongue or even head joysticks may consequently be necessary. Authors of this paper considered linear velocity and angular position for control. With such control parameters the wheelchair user may navigate and reach every desired location. To mimic real outdoor situations, slippery, inclined and flat surfaces are also considered. The dynamic modelling procedure used in this paper is based on the Euler-Lagrange formalism. The wheelchair platform considered in this paper is a differential drive platform with two passive front caster wheels and two active rear wheels.

关键词： Wheelchairs

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Adaptive Neural Network Based Fractional Order control of Unmanned Aerial Vehicle 18th

Adaptive Neural Network Based Fractional Order Control of U...

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18th international conference on informatics in control, automation and robotics, icinco 2021

作者： Maurya, Heera Lal Singh, Padmini Yogi, Subhash Chand Behera, Laxmidhar Verma, Nishchal K. Department of Electrical Engineering Indian Institute of Technology Kanpur Uttar Pradesh Kanpur208016 India

ISBN: (纸本)9783031264733

An unmanned Aerial Vehicle (UAV) is a highly non-linear unstable system. In this work using fractional order calculus, a novel fractional order dynamics of UAV is proposed. The concept of fractional order depicts the more realistic behavior of UAVs. For proposed fractional order model, a fractional order sliding mode controller (SMC) is designed such that the desired path can be achieved by the UAV in finite-time. In addition to this an adaptive neural network (ANN) based approximation function is attached to the controller having the quality of optimal hidden nodes. The weight associated to the hidden nodes achieves the optimal values. The integration of ANN based function with fractional order SMC achieves better results compared to fractional order SMC alone. Stability analysis is given for the fractional order SMC using fractional Lyapunov method. The same Lyapunov function has been used for finding the adaptive law for estimating the unknown dynamics of the system. Simulations have been done for position and attitude tracking of UAV using ANN based fractional order SMC to demonstrate the advantage of the proposed method. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Lyapunov methods

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Simulation Study of Electric Vehicles at Fuzzy PID control of Braking Torque 1

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17th international conference on informatics in control, automation and robotics, icinco 2020

作者： Vodovozov, Valery Petlenkov, Eduard Aksjonov, Andrei Raud, Zoja Tallinn University of Technology Ehitajate tee 5 Tallinn Estonia Aalto University Espoo Finland

ISBN: (数字)9783030924423

ISBN: (纸本)9783030924416

The paper is devoted to intelligent control of road electric vehicles, aiming at reducing energy losses at braking in traffic jams, changing velocity, and frequent start-stop modes of driving. A proposed gradient control method provides fuzzy adjustment and stabilisation of the braking torque with its allocation between electric and friction brakes, which allows integrating the advantages of both friction and electric braking. In the offered system, multiple factors are addressed, such as air resistance, road slope, and variable friction. Detailed motor and energy source models reflect the state of charge and electric current/voltage restrictions of the hybrid energy storage. Various driving scenarios are recognised, including gradual deceleration and emergency stop. Using the designed fuzzy logic and fuzzy PID controllers, consistently high braking quality can be realised, regardless of the road surface and slope uncertainty, vehicle initial velocity, and air resistance. The best results are obtained by connecting a master fuzzy logic controller with a slave PID controller. This kind of the intelligent controller successfully adjusts and stabilises the requested braking torque without overshoot, within a short settling time. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Fuzzy control

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