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Nonlinear control structure design using grammatical evolution and lyapunov equation based optimization 15

Nonlinear control structure design using grammatical evoluti...

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

作者： Reichensdörfer, Elias Odenthal, Dirk Wollherr, Dirk BMW Group Knorrstr. 147 Munich80788 Germany Department of Electrical and Computer Engineering Depart of Automatic Control Engineering Technical University of Munich Theresienstr. 90 Munich80333 Germany BMW M GmbH Daimlerstr. 19 Garching near Munich85748 Germany Department of Electrical and Computer Engineering Depart of Automatic Control Engineering Technical University of Munich Theresienstr. 90 Munich80333 Germany

ISBN: (纸本)9789897583216

A new method for the automated synthesis of nonlinear control laws for nonlinear control systems using grammatical evolution is presented. The controller structure, its parameterization and a quadratic Lyapunov function are the result of a nonlinear, nonconvex optimization process. Evolutionary algorithms based on grammatical evolution are used to find candidates for the control law. These are evaluated using a fitness function incorporating eigenvalue specifications on the linearized closed loop system and bounds on the control input signals. The guaranteed domain of attraction subject to the closed loop performance and stability specifications is maximized by evaluating the solution of the Lyapunov equation on the nonlinear system. The method is tested on two different control systems that contain different types of nonlinearities. The results show that the proposed approach is capable of outperforming state of the art methods by providing stronger stability guarantees and/or better closed loop performance while making less restrictive assumptions. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Nonlinear equations

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Robust tube for tracking normal function pattern of lower urinary tract dysfunction subject to parameter variations and bounded disturbance 15

Robust tube for tracking normal function pattern of lower ur...

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

作者： Thomas, Jean Electrical Dep. Faculty of Engineering Beni-Suef University Beni-Suef Egypt

ISBN: (纸本)9789897583216

In (Thomas and Gomma, 2017) a treatment of neurologic Lower Urinary Tract (LUT) dysfunction is developed, where a closed-loop controller using Model Predictive control (MPC) is proposed. The proposed controller shows its ability in controlling the micturition process and bringing the bladder behavior to its normal function pattern. Moreover, the obtained results in (Thomas and Gomma, 2017) demonstrate the controller robustness against limited system uncertainties. However, especially, considering the human body uncertainties, the question is till which limit the controller is robust? And does the controller guarantee the reference tracking in coexist of model mismatch and/or external disturbances. In this paper a robust tube centered around the reference trajectory is proposed using a polyhedral approach. The LUT model is assumed to be affected by parameter variations and bounded disturbances. A polyhedral approach is developed for which a robust control is assured to keep the system response within the robust tube despite the possible disturbance and the parameter variations. At each step, the maximal set in the output space from which output signals can be driven to the target region while taking into account the system uncertainties and the system constraints is computed using a geometrical approach. These computed sets and regions can be included into MPC constraints to guarantee the system evolution within the robust tube. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Model predictive control

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Nonlinear model predictive control based particle swarm optimization for treating lower uniray tract dysfunction 15

Nonlinear model predictive control based particle swarm opti...

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

作者： Thomas, Jean Electrical Dep. Faculty of Engineering Beni-Suef University Beni-Suef Egypt

ISBN: (纸本)9789897583216

Finding a treatment of neurologic Lower Urinary Tract (LUT) has received a good attention by the medical society. Neurologic LUT is a disease that affects the urinary bladder due to mostly central nervous system or peripheral nerves malfunctions. Many treatment approaches have already been introduced to patients and many others are still under investigation. Examples of the existing ones are different types of medications, surgery approaches and open loop Electrical-stimulatory therapies while example of the under research is closed loop controlled LUT. In this paper a new Nonlinear Model Predictive controller (NMPC) based on Particle Swarm Optimization (PSO) technique is proposed as a closed-loop approach for treating this disease. The proposed controller deals directly with the nonlinearity of the LUT, thus no need to use a linearized model or to represent it in a Piecewise Affine (PWA) framework. Besides, the proposed controller respects the given constraints over control signals and control signals variation. The obtained simulation results show the controller ability in controlling the micturition process and bringing the bladder behaviour to its normal function pattern. The proposed controller shows a good robustness against parameter variations. Meanwhile, the new developed technique is not considered as a computation burden, and on-line application is possible. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： controllers

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Finite-time altitude and attitude tracking of a Tri-Rotor UAV using modified super-twisting second order sliding mode 15

Finite-time altitude and attitude tracking of a Tri-Rotor UA...

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

作者： Kali, Yassine Rodas, Jorge Saad, Maarouf Benjelloun, Khalid Ayala, Magno Gregor, Raul École de Technologie Supérieure Quebec University MontrealQCH3C 1K3 Canada Laboratory of Power and Control Systems Facultad de Ingeniería Universidad Nacional de Asunción Paraguay A2I Laboratory Ecole Mohammadia d’Ingénieurs Mohammed V University Rabat Morocco

ISBN: (纸本)9789897583216

This paper presents the problem of robust altitude and attitude trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV) based on a finite-time second order sliding mode control algorithm. The chosen algorithm is a modified super-twisting control with double closed-loop feedback regulation that provides fast finite-time convergence even when the system trajectories are far from the sliding surface, robustness against a wide class of uncertainties and disturbances. Moreover, this algorithm eliminates the major disadvantage of the classical sliding mode, the well-known chattering phenomenon. The stability analysis of the closed-loop system and the convergence time are given based on a strong Lyapunov function. To show the effectiveness of the used method, simulation results of different scenarios are presented for the considered tri-rotor UAV. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Closed loop systems

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CILAp-architecture for simultaneous position- And force-control in constrained manufacturing tasks 15

CILAp-architecture for simultaneous position- And force-cont...

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

作者： Klecker, Sophie Hichri, Bassem Plapper, Peter Faculty of Science Technology and Communication University of Luxembourg 6 rue Richard Coudenhove-Kalergi LuxembourgL-1359 Luxembourg

ISBN: (纸本)9789897583216

This paper presents a parallel control concept for automated constrained manufacturing tasks, i.e. for simultaneous position- and force-control of industrial robotic manipulators. The manipulator’s interaction with its environment results in a constrained non-linear switched system. In combination with internal and external uncertainties and in the presence of friction, the stable system performance is impaired. The aim is to mimic a human worker’s behaviour encoded as lists of successive desired positions and forces obtained from the records of a human performing the considered task operating the lightweight robot arm in gravity compensation mode. The suggested parallel control concept combines a model-free position- and a model-free torque-controller. These separate controllers combine conventional PID- and PI-control with adaptive neuro-inspired algorithms. The latter use concepts of a reward-like incentive, a learning system and an actuator-inhibitor-interplay. The elements Conventional controller, Incentive, Learning system and Actuator-Preventer interaction form the CILAP-concept. The main contribution of this work is a biologically inspired parallel control architecture for simultaneous position- and force-control of continuous in contrast to discrete manufacturing tasks without having recourse to visual inputs. The proposed control-method is validated on a surface finishing process-simulation. It is shown that it outperforms a conventional combination of PID- and PI-controllers. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： controllers

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Initial tuning procedure for attitude and vertical movement controllers in multirotor aerial vehicles with heterogeneous propulsion units 15

Initial tuning procedure for attitude and vertical movement ...

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

作者： Gasior, Przemyslaw Bondyra, Adam Gardecki, Stanislaw Institute of Control Robotics and Information Engineering Poznan University of Technology Piotrowo 3A Poznan Poland

ISBN: (纸本)9789897583216

In this paper, a hybrid procedure of tuning the control structure of a newly developed multirotor aerial platform is presented. Such situation presents a demanding task because there are no initial parameters of PID controllers ensuring safe flight conditions. Most methods base on full mathematical models which can be divergent from the real plant and require a process of detailed system’s identification. The second area of solutions utilises different types of test benches to perform trial and error tuning in safe conditions. A method presented in this article comprises a hybrid approach connecting both practices. The key element in this solution is a model of the implemented propulsion system and physical parameters of the airframe itself obtained from the CAD software. System noise variances are gathered from experiments on the test bench and implemented in appropriate simulations. Next, the optimisation can be executed to gather parameters for every constituent controller. Finally, verification in real conditions is performed. The presented method was used for the development of two significantly different multirotor UAVs during the pre-flight PID control tuning phase. An approach is versatile for both symmetrical and unsymmetrical heterogeneous airframes. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Unmanned aerial vehicles (UAV)

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A comparative study on the performance of MOPSO and MOCS as auto-tuning methods of PID controllers for robot manipulators 15

A comparative study on the performance of MOPSO and MOCS as ...

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

作者： Zidan, Ahmed Tappe, Svenja Ortmaier, Tobias Institute of Mechatronic Systems Leibniz Universität Hannover Hanover30167 Germany

ISBN: (纸本)9789897583216

An auto-tuning method of PID controllers for robot manipulators using multi-objective optimization technique is proposed. Two approaches are introduced based on the multi-objective particle swarm optimization (MOPSO) and multi-objective cuckoo search (MOCS), respectively. The main goal of this work is to introduce a comparative study on the performance of both algorithms with respects to their applicability to the auto-tuning process. For this sake, necessary metrics are considered such as the hyperarea difference and the overall Pareto spread, among others. In order to generate a sufficient amount of statistical data, a simulation of the robot Puma 560 is implemented. Using a relatively accurate model of the robot dynamics, a PID controller is applied and an optimization problem is configured. Two objective functions are defined, namely the integral of absolute error and the variance of control action. In addition, two constraints are considered regarding the maximal position error and maximal motor torque. After defining the optimization problem, the two algorithms are implemented as auto-tuning methods of the controller gains. Execution of the tuning process is repeated 30 times to test the statistical power of the obtained results. After that, an experiment on a real robot is performed to gain an overview on the practical application of the proposed method. Finally, the performance of both algorithms are compared and conclusions about the efficiency of each one are made. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Three term control systems

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Path tracking of a bi-steerable mobile robot: An adaptive off-road multi-control law strategy 15

Path tracking of a bi-steerable mobile robot: An adaptive of...

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

作者： Lenain, Roland Nizard, Ange Deremetz, Mathieu Thuilot, Benoit Papot, Vianney Cariou, Christophe Irstea Technologies and Information Support System Research Unit 9 avenue Blaise Pascal CS 20085 Aubière63178 France Université Clermont Auvergne CNRS SIGMA Clermont Institut Pascal Clermont-FerrandF-63000 France

ISBN: (纸本)9789897583216

This paper proposes a path tracking control algorithm dedicated to off-road mobile robots equipped with two steering axles. Four wheel steering mobile robot allows to enhanced motion capability with respect to classical car-like mobile robot, while reducing the friction induced by the skid-steered architecture. In particular, such a kinematic structure makes it possible to independently control the robot heading and its position, or to increase turning capabilities. In this paper, a strategy is developed in order to reduce the space required when achieving manoeuvres around a desired trajectory. Contrarily to classical point of view, expressing a relationship between the front and rear wheels, the control laws here proposed aim at following the same path for the front and the rear centre of the axle. The robot is then split into two subsystems, regulating two lateral deviations with respect to a desired trajectory. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Mobile robots

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Parametric sensitivity analysis of a multiple model adaptive predictive control for regulation of mean arterial blood pressure 15

Parametric sensitivity analysis of a multiple model adaptive...

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

作者： Silva, Humberto A. Leão, Celina P. Seabra, Eurico A. Instituto Federal de Ciencia e Tecnologia do Rio Grande do Norte Natal/RN Brazil Departamento de Produção e Sistemas Escola de Engenharia da Universidade do Minho Guimarães Portugal Departamento de Engenharia Mecânica Escola de Engenharia da Universidade do Minho Guimarães Portugal

ISBN: (纸本)9789897583216

Postsurgical complication of hypertension may occur in cardiac patients. To decrease the chances of complication it is necessary to lower high blood pressure as soon as possible. Continuous infusion of vasodilator drugs, such as sodium nitroprusside (Nipride), would quickly lower the blood pressure in most patients. However, each patient has a different sensitivity to infusion of Nipride. The parameters and the time delays of the blood pressure control system are initially unknown. Moreover, the parameters of the transfer function associated with a particular patient change over time. The objective of the study is to develop a procedure for blood pressure control in the presence of uncertainty of parameters and considerable time delays. In this paper, a sensitivity analysis was performed, changing the parameter that controls the convergence rate of weight factors (V). The simulation results showed significant changes in settling time (Ts), stressing the importance of this parameter on the control model definition. Considering a V = 0.05 was obtained Ts = 195s and, for same patient, Ts = 510s by increasing the value to V = 0.4, with the Root Mean Square Error (RMSE) varying but always lower than 1%. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Sensitivity analysis

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In vitro test bench with intelligent behavior to ventricular assist devices 15

In vitro test bench with intelligent behavior to ventricular...

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

作者： Dias, Jeferson Cerqueira Dias, Jônatas Cerqueira Barbosa, Marcelo Filho, Diolino José Santos Junqueira, Fabrício Miyagi, Paulo Eigi Cardoso, Jose Roberto Department of Mechatronics Engineering and Mechanic Systems University of São Paulo - USP Prof. Luciano Gualberto Avenue São Paulo380 Brazil Department of Energy Engineering and Electrical Automation University of São Paulo - USP Prof. Luciano Gualberto Avenue São Paulo380 Brazil

ISBN: (纸本)9789897583216

The abstract The Ventricular Assist Device (VAD) is a mechatronic device used to treat patients with heart failure who are able to use them in short- and long-term strategies. However, with increasing population longevity, long-term use has been intensified. Thus, the development of resources that improve the robustness and reliability of these devices is justified. This work proposes an in vitro test bench with intelligent behaviour that through a systematic of protocols for the collection, treatment and monitoring of reliability data, coming from standard curves of monitored variables, such as: flow, pressure, vibration, rotation, density, viscosity and temperature, provides a decision support system with user friendly interface for verification, validation and certification of VAD. The proposed method is descriptive of an in vitro test bed model for VAD that considers the use of Petri net for validation of the dynamic behaviour in front of the variables and a decision support system based on big data analytics technology with extraction of dada, which subsidizes intelligent behaviour. The proposed model is consistent with the bibliographic base and its validation. The Petri net allows confirming its application in the decision making, with intelligent behaviour, from the data mining. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Decision support systems

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