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Relative Torque Contribution Based Model Simplification for Robotic dynamics Identification

Relative Torque Contribution Based Model Simplification for ...

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IEEE symposium Series on Computational Intelligence

作者： Weiqun Wang Zeng-Guang Hou Xu Liang Shixin Ren Liang Peng Lincong Luo Chengkun Cui State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

It has been proved that minimizing the condition number of the observation matrix, which is calculated from the robot dynamic model and the associated exciting trajectories, is very effective for improving the identification accuracy of robotic dynamics. A relative simple dynamic model is beneficial for reduction of the associated condition number, and hence, several model simplification methods have been proposed in the literature. However, the existed methods cannot be used to efficiently process model structural errors, which will inevitably cause inaccurate estimation of the dynamics. Therefore, a novel model simplification method based on relative contribution of the undetermined parameters, is proposed to overcome the deficiency. Firstly, exciting trajectories for model simplification are designed by using finite Fourier series and optimized by using the condition number criteria. Then, the optimized exciting trajectory is implemented on the robot, and joint torques and motion data are recorded, which are used to calculate relative contribution of the undetermined parameters to joint torques. The model can be simplified repeatedly by neglecting the parameter that contributes least until the condition number is small enough. Finally, the performance of the proposed method is demonstrated by the identification and validation experiments conducted on a lower limb rehabilitation robot.

关键词： Identification Model Simplification Robotic dynamics

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Functional Observers for Nonlinear systems

Functional Observers for Nonlinear Systems

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10th IFAC symposium on Nonlinear control systems (NOLCOS)

作者： Kravaris, Costas Texas A&M Univ College Stn TX 77843 USA

In this work, the problem of designing observers for estimating a single nonlinear functional of the state is formulated for general nonlinear systems. Notions of functional observer linearization are also formulated, in terms of achieving exactly linear error dynamics in transformed coordinates and with prescribed rate of decay of the error. Necessary and sufficient conditions for the existence of a lower-order functional observer with linear dynamics and linear output map are derived. The results provide a direct generalization of Luenbergers linear theory of functional observers to nonlinear systems. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Functional observers exact linearization observer design chemical process applications

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Dynamic Smoothness control for Dual-Motor-Independent-Drive Electric Vehicles Based on Kalman Filter

Dynamic Smoothness Control for Dual-Motor-Independent-Drive ...

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Applied Energy symposium and Summit - Low Carbon Cities and Urban Energy systems (CUE)

作者： Lin, Cheng Dong, Aidao Shi, Junhui Beijing Inst Technol Sch Mech Engn Natl Engn Lab Elect Vehicles Beijing 100081 Peoples R China Beijing Inst Technol Collaborat Innovat Ctr Elect Vehicles Beijing Beijing 100081 Peoples R China

In order to reduce the lateral dynamics shock caused by mechanical gap of a dual-motor-independently-drive electric vehicle while the accelerator pedal was quickly pressed down, the Kalman filter was adopted to design a dynamics smoothness controller. Simulation results proved the effectiveness of the control strategy - it could improve the smoothness of the lateral dynamics effectively. The effect on the control performance of the value of process noise Q was discussed. It is important to select an appropriate Q to balance the improvement of dynamics smoothness and the increased response time for the accelerator pedal. (C) 2016 The Authors. Published by Elsevier Ltd.

关键词： dynamics smoothness control independent drive electric vehicle Kalman filter

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control System Design for Furnaces With Multiple Parallel Passes

Control System Design for Furnaces With Multiple Parallel Pa...

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： Ojasvi, Aryan Kumar Kaistha, Nitin Indian Inst Technol Kanpur Dept Chem Engn Kanpur 208016 Uttar Pradesh India

Systematic control system design for process furnaces with multiple parallel tube passes is addressed. The control objectives arc to regulate furnace outlet temperature while holding the temperature rise across the individual tubes to be the same (tube pass heat load balancing). With respect furnace throughput (F-tot), two operating scenarios arc considered;I F-tot is held constant and (ii) short term transient variability in F-tot is acceptable. Alternative systems, CSI-CS3, arc synthesized and quantitatively evaluated for their closed loop dynamic performance to expected load/servo changes. The Scenario 1 heat load balancing problem is shown to exhibit strong multivariable dynamic interaction and the control benefit of dynamic matrix control is quantified. Based on the results, recommendations arc made on the suitability of the alternative control systems in industrial settings. (C) 2016, IFAC (International Federation of Antomatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： control System Design process Equipment Furnaces Dynamic Modeling Multivariable systems

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Causal analysis for alarm flood reduction

Causal analysis for alarm flood reduction

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： Rodrigo, Vicent Chioua, Moncef Hagglund, Tore Hollender, Martin Lund Univ Dept Automat Control SE-22100 Lund Sweden ABB Corp Res Germany Wallstadter Str 59 Ladenburg Germany

The introduction of distributed control systems and the high level of interconnectivity of modern process plants has caused alarm flooding to become one of the main problems in alarm management of process plants. :A reduction of alarm flood periods contributes to a decrease in plant incidents. In this work, a combination of alarm log, process data, and connectivity analysis is used to isolate consequence alarms Originating from the same process abnormality and to provide a causal alarm suggestion. The effectiveness of the method is illustrated on an industrial case study of an ethylene plant, a typical example of a large-scale industrial system. (C) 2016, IFAC (international Federation or Antomatie control) Hosting by Elsevier Ltd. All rights reserved.

关键词： alarm systems fault detection and diagnosis root-cause plane wide disturbance plant connectivity approximate sequence matching large-scale systems

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DRSM Model for the Optimization and control of Batch processes

DRSM Model for the Optimization and Control of Batch Process...

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： Wang, Zhenyu Klebanov, Nikolai Georgakis, Christos Tufts Univ Dept Chem & Biol Engn Medford MA 02155 USA Tufts Univ Syst Res Inst Chem & Biol Proc Medford MA 02155 USA

Current Optimization and Model Predictive control practices for batch processes are implemented using two models, one for determining the optimal trajectories and another identified around those trajectories for control purposes. Here we use the recently developed Dynamic Response Surface Modeling methodology from which the optimal trajectories and the local linear or nonlinear state-space models for control purposes are obtained. Because concentration measurements at each batch run are very infrequent, this might be the most attractive way to obtain a dynamic model for control purposes. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Data-Driven Modeling Optimization Model-based control Batch process dynamics Nonlinear Models

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Isolation of plant-wide faults using causality detection methods

Isolation of plant-wide faults using causality detection met...

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： Garcia, Guilherme M. Munaro, Celso J. Univ Fed Espirito Santo Dept Elect Engn BR-29075910 Vitoria ES Brazil

Isolation of plant vide faults in large-scale complex systems is particularly challenging. A methodology to detect and isolate faults is proposed, detecting the faulty variables using univariate control charts and the causality information between them to indicate the source. The clustering of faulty variables uses univariate analysis to avoid the smearing effect brought by multivariate analysis. The variable where the fault took place is indicated, handling fault novelties in a very natural manner. The proposed method is discussed and illustrated through its application to the Tennessee Eastman process and to routine operating data from a thermoelectric power plant. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Causality Detection Fault isolation Transfer Entropy PCA process control

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Distributed Nonlinear Model Predictive control by Sequential Linearization and Accelerated Gradient Method

Distributed Nonlinear Model Predictive Control by Sequential...

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： Grancharova, Alexandra Johansen, Tor A. Petrova, Valeria Univ Chem Technol & Met Dept Ind Automat Bul Kl Ohridski 8 BU-1756 Sofia Bulgaria Norwegian Univ Sci & Technol Dept Engn Cybernet Ctr Autonomous Marine Operat & Syst N-7491 Trondheim Norway

A suboptimal approach to distributed NMPC for nonlinear interconnected systems subject to constraints is proposed. The objective is to develop a computationally efficient approach. The suggested method is based on a sequential linearization of the nonlinear system dynamics and finding a suboptimal solution of the resulting Quadratic Programming problem by using distributed iterations of the dual accelerated gradient method. The benefits of the approach are reduced complexity of the on-line computations, and simple software implementation, which makes it appropriate for embedded distributed convex NMPC. The proposed method is illustrated with simulations on the model of a quadruple-tank system. (C) 2016, IFAC (International Federation or Antomatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Predictive control Distributed control Interconnected systems Nonlinear systems Constraints

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A centralized/decentralized control approach for periodic systems with application to chromatographic separation processes

A centralized/decentralized control approach for periodic sy...

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： Papathanasiou, Maria M. Su, Muxin Oberdieck, Richard Mantalaris, Athanasios Pistikopoulos, Efstratios N. Imperial Coll London CPSE Dept Chem Engn London SW7 2AZ England Texas A&M Univ Artie McFerrin Dept Chem Engn College Stn TX 77843 USA

In this work we demonstrate the application of our recently presented PAROC framework and software platform for the development of a centralized/decentralized control strategy for the twin-column Multicolumn Solvent Gradient Purification process (MCSGP) based on multi-parametric control policies. The derived controllers are tested under the presence of disturbances, while their stability is also assessed. The proposed control approach is evaluated under an in-silico, 'closed-loop' fashion against the process model. The designed controller captures efficiently the process setpoints, assuring optimal and stable operation during continuous mode. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： multi-parametric MPC control periodic systems stability continuous processing

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Reference Tracking using a Non-Cooperative Distributed Model Predictive control Algorithm

Reference Tracking using a Non-Cooperative Distributed Model...

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： Maxim, Anca Ionescu, Clara M. Caruntu, Constantin F. Lazar, Corneliu De Keyser, Robin Gheorghe Asachi Tech Univ Iasi Dept Automat Control & Appl Informat Blvd Mangeron 27 Iasi 700050 Romania Univ Ghent Dept Elect Energy Syst & Automat Technol Pk 914 B-9052 Ghent Belgium

In this paper, a non-cooperative distributed model predictive control (DMPC) algorithm for tracking constant references is developed and evaluated. As such, an augmented model is employed (i.e. the control loop is embedded with integrators) and the augmented state contains the state increments and the error between the reference and the predicted output. The algorithm is tested in real life experiments on the quadruple tank process with non-minimum phase behaviour. The experimental results show acceptable performance index for the DMPC method when compared with the centralized approach. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： non-cooperative DMPC reference tracking two agent systems MIMO systems non-minimum phase systems

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