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检索条件"任意字段=International Conference on Informatics in Control Automation and Robotics, ICINCO 2007"

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A comparative study of PID-PSO and fuzzy controller for path tracking control of autonomous ground vehicles 15

A comparative study of PID-PSO and fuzzy controller for path...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Allou, Sami Zennir, Youcef Automatic Laboratory of Skikda Université 20 août 1955 Skikda Skikda Algeria

ISBN: (纸本)9789897583216

The work presented in this paper focuses on platonning navigation control (train of vehicles) according to different trajectories. As a first step we based our study on two vehicles. an kinematic model of the two vehicles is described followed by a PID multi-controller control approach based on conventional PID, PID optimized by Particle Swarm Optimization (PSO) technique and fuzzy controller applied to the longitudinal and lateral control of each vehicle. controller parameters optimization is based on a fitness function time weight square error (ITSE). The communication between the two vehicles is ensured with the exchange of information, the speed and orientation angle, respecting the safety distance between the vehicles. To approve our approach we have use different reference trajectory in different simulations in matlab-simulink environment and v-rep 3D simulation. The simulation obtained results illustrate the efficiency of our control design and open the perspectives for future work. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： controllers

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Progression of electronic and communication system for motion control of modular snake-like-robot 15

Progression of electronic and communication system for motio...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Gómez, Daniel Armando Torres Vera, Javier Camilo León-Rodríguez, Hernando Electronic Department Faculty of Engineering El Bosque University Bogota Colombia

ISBN: (纸本)9789897583216

This Project consists of a development of an electronics system to manipulate a snake like robot in a modular way. The structure of this project is based on three topics;The Hardware and its Firmware, The Mathematical Analysis of the Serpenoid Curves and The Robotic Simulation. In regards to the first topic electronic cards were implemented in a master-slave relationship for joint control of each mechanical module, these cards are composed of a DSPIC30F4011, microchip 16-bit microcontroller that incorporates the CAN module, essential protocol for communication between cards, PWM outputs for motor control, analogue and digital ports;as well as a socket to connect to an external device through the UART. The firmware has been written in MikroC Pro. The mathematical analysis is based on the Hirose-Serpenoid curves, hence every microcontroller implements a characteristic equation from the Hirose curves to generate a serpentine movement and last but not least the snake like robot is simulated using ROS (Robotic Operating System) in Rviz. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Firmware

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Quadcopter control approaches and performance analysis 15

Quadcopter control approaches and performance analysis

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Brito, Vasco Brito, Alexandre Palma, Luis Brito Gil, Paulo Universidade Nova de Lisboa-FCT-DEE Caparica2829-516 Portugal Uninova-CTS Caparica2829-516 Portugal Universidade de Coimbra-CISUC Coimbra3030-290 Portugal

ISBN: (纸本)9789897583216

This article presents the kinematic and dynamic model of a X8 quadcopter, as well as control methodologies based on the PID controller and Sliding Mode controller. The main contributions are centered on the controllers tuning based on particle swarm optimization algorithm and on the controllers performance comparison for nominal operation and for faulty situations. In order to show the overall performance, simulation results for trajectory and orientation tracking control are presented. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Particle swarm optimization (PSO)

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Optimal time-sampling problem in a statistical control with a quadratic cost functional analytical and numerical approaches 15

Optimal time-sampling problem in a statistical control with ...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Glizer, Valery Y. Turetsky, Vladimir Department of Applied Mathematics ORT Braude College of Engineering P.O.B. 78 Karmiel2161002 Israel

ISBN: (纸本)9789897583216

We consider the problem of constructing an optimal time-sampling for a Statistical Process control (or, briefly, Statistical control (SC)). The aim of this time-sampling is to minimize the expected loss, caused by a delay in the detection of an undesirable process change. We study the case where this loss is a quadratic functional of the sampling time-interval. This problem is modeled by a nonstandard calculus of variations problem. We propose two approaches to the solution of this calculus of variations problem. The first approach is based on its equivalent transformation to an optimal control problem. The latter is solved by application of the Pontryagin’s Maximum Principle, yielding an analytical expression for the optimal time-sampling in the SC. The second approach uses a discretization of the calculus of variations problem, resulting in a finite dimensional quadratic optimization problem. Solution of the latter provides a suboptimal time-sampling in the SC. The time-samplings, obtained by these two approaches, are compared to each other in numerical examples. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Maximum principle

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A new device for hydrogen production on demand with application to electric assist bike: Description, production characteristics and basic control 15

A new device for hydrogen production on demand with applicat...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Sabatier, Jocelyn Mauvy, Fabrice Bobet, Jean-Louis Mohedano, Damien Faessel, Matthieu Bos, Frédéric Bordeaux University IMS Lab. UMR 5218 CNRS 351 Cours de la Libération Talence33405 France CNRS ICMCB Lab UPR 5026 87 Avenue du Dr Albert Schweitzer Pessac33600 France Bordeaux University TechnoShop Coh@bit platform Bordeaux Institute of Technology 15 Rue Naudet Gradignan33750 France

ISBN: (纸本)9789897583216

Using a magnesium-based hydrolysis reaction that spontaneously produces hydrogen with a high kinetic and a high efficiency, this paper proposes a solution to supply a PEM fuel cell that permits production on demand. This solution is an instrumented reactor that uses capsules with magnesium powder and that controls the hydrolysis reaction in order to maintain a constant pressure. The hydrogen produced by the reactor is used to feed a PEM fuel cell in which variable electric loads are applied. By solving both the hydrogen supply and storage problems, such a system is particularly suitable for light mobility applications. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Hydrolysis

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Conical tank level supervision using a fractional order model reference adaptive control strategy 15

Conical tank level supervision using a fractional order mode...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Balaska, Hanane Ladaci, Samir Zennir, Youcef Department of Science and Technology University Larbi Ben Mhidi Oum El-Bouaghi04000 Algeria Department of E.E.A. National Polytechnic School of Constantine BP 75 A Nouvelle ville Ali Mendjli Constantine25100 Algeria Department of Petrochemistry University of Skikda Route d’Elhadaiek BP 26 Skikda21000 Algeria

ISBN: (纸本)9789897583216

This paper proposes a fractional order model reference adaptive control (FO-MRAC) design in order to command the level of a conical tank system. The FO-MRAC is based on the choice of a fractional reference model which specifies the closed loop desired performances. Also, the control strategy adopted introduces fractional integration in the phase of corrector parameters updating. Model reference adaptive controller of integer order and of fractional order are applied to the non linear system and compared. From the simulation results, we concluded that FO-MRAC is the controller presenting the best performances, and especially in case of measurements noise, and parametric variations. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Nonlinear systems

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A novel big-data-based estimation method of side-slip angles for autonomous road vehicles 15

A novel big-data-based estimation method of side-slip angles...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Fényes, Dániel Németh, Balázs Gáspár, Péter Institute for Computer Science and Control Hungarian Academy of Sciences Kende u. 13-17 BudapestH-1111 Hungary

ISBN: (纸本)9789897583216

In the paper a novel side-slip estimation algorithm, which is based on big data approaches, is proposed. The idea of the estimation is based on the availability of a large amount of information of the autonomous vehicles, e.g. yaw-rate, accelerations and steering angles. The significant number of signals are processed through big data approaches to generate a simplified rule for the side-slip estimation using the onboard signals of the vehicles. Thus, a subset selection method for time-domain signals is proposed, by which the attributes are selected based on their relevance. Furthermore, a linear regression using the Ordinary Least Squares (OLS) method is applied to derive a relationship between the attributes and the estimated signal. The efficiency of the estimation is presented through several CarSim simulation examples, while the WEKA data-mining software is used for the OLS method. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Big data

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A procedure to generate discrete MIMO closed-loop benchmark via LFT with application to state space identification 15

A procedure to generate discrete MIMO closed-loop benchmark ...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Puerto Acosta, Jorge A. Bottura, Celso P. Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering University of Campinas/UNICAMP Cidade Universitria Zeferino Vaz Av. Albert Einstein 400 Campinas/SPCEP 13083-852 Brazil

ISBN: (纸本)9789897583216

In this paper we use the conformal transformation known as linear fractional transformation (LFT), with the purpose of generating a discrete multivariable closed-loop benchmark from continuous multivariable closed-loop control system, having in mind state space identification. To reach this objective we propose a procedure based on the general framework representation (GFR) and on the multi input multi output (MIMO) LFT bilin-ear discretization process. We first use the LFT tool to obtain the continuous joint control-output (augmented) system form for representing the canonical closed-loop continuous system. Afterwards, we discretize the augmented continuous closed-loop system in order to obtain an augmented discrete model, then, we calculate the discrete plant and controller in the state space form. An application to the multivariable control of a continuous chemical reactor is presented and also we use the discrete benchmark generated to identify a state space model an example of the potential of the our proposal. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Closed loop control systems

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Active haptic control for a biologically inspired gripper in reconfigurable assembly systems testing: Active haptic control through force feedback 15

Active haptic control for a biologically inspired gripper in...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Basson, Christian Ivan Bright, Glen Discipline of Mechanical Engineering University of KwaZulu-Natal King George V Ave Durban South Africa

ISBN: (纸本)9789897583216

Haptic feedback for flexible grippers enhances control over human-machine interaction and object manipulation. Force feedback control through a haptic sensory system enables gripping sensitivity for the grasping of fragile components. The development of intelligent gripping systems has the potential to be implemented in Reconfigurable Assembly Systems, (RAS), for on-demand production lines. Advancements in object control and successful object handling for assembling systems were investigated. An active haptic control system was developed to assess the adaptability of gripper appendage grip force through a dynamic pick and place movement. The aim was to determine the force output from a self-adjusting grasping procedure using a haptic feedback control sensory system. The force output data was empirically collected and plotted on a signal verse time graph. The voltage signal representing the actual grasp force throughout a gripping procedure. The testing was performed on a previously manufactured gripper based on a biologically inspired phenomenon called the Fin Ray Effect®. Conclusions and recommendations were made in relation to effective grip force control. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Grippers

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A framework for fault-tolerant control for an interacting and non-interacting level control system using AI 15

A framework for fault-tolerant control for an interacting an...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Patel, Himanshukumar R. Shah, Vipul A. Instrumentation and Control Dept. Dharmsinh Desai University College Road Nadiad India

ISBN: (纸本)9789897583216

In chemical and process industries, interacting and non-interacting level control systems are often used for material storage and processing. The level control parameter is very vital for dealing with faults in a system (leak), actuator or sensor. System and actuator faults occurring in a system may decrease the performance or cause instability and unsafe accidents. As observed from practice, when the control performance of the interacting and non-interacting systems decreases due to occurrence of faults, a fault-tolerant control strategy (FTC) is required. This paper presents a framework for passive fault tolerant control (PFTC) using a neural network (NN) and it is designed in order to ensure the stability robustness of the system in the presence of the faults. In fact, FTC is the potential strategy which is justified by its ability to preserve an acceptable performance in the presence of faults and process disturbances. To check the effectiveness of the proposed framework single-tank and two-tank level control experimental setup are used with system and sensor faults. Simulation and experiment results are presented to demonstrate the capability of the proposed framework of PFTC using NN to counteract the effect of the system, sensor and actuator faults. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Level control

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