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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： O. K. Sayidmarie M. O. Tokhi S. A. Agouri Department of Automatic Control and System Engineering The University of Sheffield Sheffield UK

In real life applications, two-wheeled robots are considered to carry payloads of different sizes and at different positions or motion speeds the vertical axis. Studying the impact of those parameters should be considered in detail in order to account for their impact on the robot stability and the control mechanism. This paper investigates the impact of changing the payload position dynamically; on the system damping characteristics while the robot in its balancing state.

关键词： Mobile robots Payloads Robot sensing systems Wheels DC motors Kalman filters

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Fault detection based on neural networks and independent component analysis

Fault detection based on neural networks and independent com...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： M. J. Fuente G. I. Sainz-Palmero Department of System Engineering and Automatic Control University of Valladolid Valladolid Spain

In this paper a method that integrates neural networks (NN) and independent component analysis (ICA) is used to detect faults in non-linear plants. The neural networks are used to calculate a non-linear and dynamic model of the process in normal operation conditions. ICA is used to monitor and to detect faults in the process using, instead of the measured variables of the process, the residuals calculated as the difference between the process measurements and the output of the networks. This technique has been applied in simulation to a benchmark of the biological wastewater treatment process, a highly non-linear process. In order to prove the advantages of using this monitoring technique called NNICA, a comparison with the classical PCA and ICA methods is carried out in the paper.

关键词： Monitoring Principal component analysis Artificial neural networks Mathematical model Fault detection Wastewater treatment

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Adaptive Sliding Mode Position control for Electrical Motors

Adaptive Sliding Mode Position Control for Electrical Motors

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International Conference on Computational Science and Computational Intelligence (CSCI)

作者： Oscar Barambones Patxi Alkorta Jose Maria Gonzalez de Durana Department of Automatic Control and System Engineering UPV/EHU Vitoria Spain

ISBN: (纸本)9781479930111

An adaptive sliding mode position control for induction motors using field oriented control theory is presented. The proposed sliding-mode control law incorporates an adaptive switching gain to avoid calculating an upper limit of the system uncertainties. The design incorporates a flux estimator that operates on the principle of flux and current observer. The proposed observer is basically an estimator that uses a plant model and a feedback loop with measured stator voltages and currents. The stability analysis of the proposed controller under parameter uncertainties and load disturbances is provided using the Lyapunov stability theory. Finally experimental results show that the proposed controller with the proposed observer provides high-performance dynamic characteristics and that this scheme is robust with respect to plant parameter variations and external load disturbances.

关键词： Rotors Induction motors Torque Equations Uncertainty Mathematical model Observers

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Fuzzy modeling and control for a road section

Fuzzy modeling and control for a road section

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International Conference on system Theory, control, and Computing (ICSTCC)

作者： Catalin Dimon Dumitru Popescu Dan Stefanoiu Department of Automatic Control and System Engineering University Politehnica of Bucharest Bucharest Romania

When dealing with road traffic modeling, one problem is given by the difficulty of modeling the dynamics of a vehicle/group of vehicles from the time it enters a road section until it reaches the end. Besides, road traffic, seen as a complex dynamic process, is difficult to be characterized by fixed values. Therefore, this paper proposes a solution using fuzzy logic control, which by analyzing the occupancy of a section, establishes a number of linguistic features. For modeling the behavior of the road section the macroscopic approach is used.

关键词： Roads Vehicles Vehicle dynamics Adaptation models Input variables Image color analysis Fuzzy logic

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Integrated phases modular fuzzy logic control with spiral dynamic optimization for stair descending in a wheelchair

Integrated phases modular fuzzy logic control with spiral dy...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： N. M. A Ghani A. N. K Nasir M. O. Tokhi Department of Automatic Control & System Engineering The University of Sheffield Sheffield United Kingdom

This paper presents a modular fuzzy logic control structure with spiral dynamic algorithms (SDAs) and their application in controlling a stair climbing wheelchair specifically in descending task. To ensure smooth and stable stair descending operation using a wheelchair without collapsing or slipping is a very challenging problem. Suitable design and control strategies need to be adopted to achieve the goal. The wheelchair system is developed using link/cluster rotation mechanism within a CAD software called Visual Nastran 4D (VN4D) and integrated with MATLAB for the ascending and descending motion control. A new spiral dynamics algorithm based fuzzy logic control is used to optimize the control parameters to improve its performance in terms of seat/tilt angle and wheels position. A comparison of heuristic (trial and error) method and SDA approach is presented in assessing the performance of the wheelchair in stair climbing operation.

关键词： Wheelchairs Wheels Spirals Fuzzy logic Heuristic algorithms Switches Optimization

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Identification and quantification of hazards caused by uncontained engine rotor failure 9

Identification and quantification of hazards caused by uncon...

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2014 9th International Symposium on Safety Science and Technology, ISSST 2014

作者： Li, Mailiang Sun, Zhiqiang Gong, Erling System Analysis Institute Air Force Armament Research Academy Beijing100076 China Department of Automatic Control College of Mechatronic Engineering and Automation National University of Defense Technology Changsha410073 China

ISBN: (纸本)9781634396882

One approach based on AC20-128A is presented in order to assess the risk caused by uncontained engine rotor failure (UERF). In this approach, the risk assessment procedure includes hazard identification and hazard quantification. In the step of hazard identification, the catastrophic functional hazards, derived from the functional hazard analysis (FHA) results for the airplane, are used as the top events to construct the fault trees. The minimal cut sets (MSCs) of the fault trees are the hazards to be identified exactly. In the step of hazard quantification, the probability of one hazard triggered by some uncontained debris is evaluated. After the probabilities of all the identified hazards are quantified, the risk assessment of the airplane is completed. And the assessment result is compared with the design specifications to show compliance with the safety design. A small example is introduced to illustrate the rationality and accuracy of the aforementioned method. © 2014 The Authors. Published by Elsevier Ltd.

关键词： Risk assessment

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An approach to distributed robust model predictive control of discrete-time polytopic systems 19

An approach to distributed robust model predictive control o...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Grancharova, Alexandra Olaru, Sorin Institute of System Engineering and Robotics Bulgarian Academy of Sciences Acad. G. Bonchev str. Sofia1113 Bulgaria Automatic Control Department EPI INRIA DISCO Gif-sur-Yvette France

ISBN: (纸本)9783902823625

A suboptimal approach to distributed robust MPC for uncertain systems consisting of polytopic subsystems with coupled dynamics subject to both state and input constraints is proposed. The approach applies the dynamic dual decomposition method and reformulates the original centralized robust MPC problem into a distributed robust MPC problem. It is based on distributed on-line optimization by applying an accelerated gradient method. The suggested approach is illustrated on a simulation example of an uncertain system consisting of two interconnected polytopic subsystems. © IFAC.

关键词： Discrete time control systems

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Agent-based reconfiguration at controller level

Agent-based reconfiguration at controller level

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Rafael Priego Unai Gangoiti Darío Orive Marga Marcos Department of Automatic Control and System Engineering University of the Basque Country UPV/EHU Bilbao Spain

Current automation systems need to be able to cope with the continuously changing requirements of the applications in terms of complexity, extensibility and dynamism. To match these challenging requirements, modern automation systems need to incorporate new software engineering techniques. These techniques must provide to the automation systems additional abilities such as diagnosis and reconfiguration. This paper describes an approach for the design of a Multi-Agent system (MAS) based supervisory architecture towards the design of reconfigurable automation systems; the reconfigured system will meet Quality of Service (QoS) requirements. In particular, in this paper the core of the supervisory architecture is presented. It is based on refreshing states and moving functionalities among the Programmable Logic controllers (PLCs). Besides, the agents negotiate if a PLC failure is detected.

关键词： Computer architecture Automation control systems Real-time systems Quality of service Availability Manufacturing systems

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Feedforward and Feedback control of Dynamic systems

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IFAC Proceedings Volumes 2014年第3期47卷 7741-7748页

作者： Wuhua Hu Eduardo F. Camacho Lihua Xie School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of System Engineering and Automatic Control Escuela Superior de Ingenieros of the University of Sevilla Spain

Recently the control methods based on disturbance rejection have largely renewed our understanding of automatic control, especially the role of feedforward control. With the renewed understanding, this work presents a feedforward and feedback approach for control of general dynamic systems under a state tracking framework. This is realized by introducing a fictitious system model and employing a proper state and disturbance estimator. The resultant control scheme embodies a close cooperation between feedforward and feedback controls: Feedforward control rejects the general disturbance and embeds a reference state trajectory, whilst feedback control cancels the fictitious dynamics and enforces desired tracking error dynamics. A notable advantage of the approach is that control designs of linear and nonlinear systems can follow a common routine and the closed-loop stability is guaranteed under standard conditions.

关键词： Linear systems nonlinear systems feedforward control feedback control disturbance estimation model-free control active disturbance rejection control uncertainty and disturbance estimator pendulum

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A Model-based Approach for Achieving Available Automation systems

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IFAC Proceedings Volumes 2014年第3期47卷 3438-3443页

作者： R. Priego A. Armentia D. Orive E. Estévez M. Marcos University of the Basque Country Department of System Engineering and Automatics Bilbao 48013 Spain Universidad de Jaén Dept. Of Electronics and Automatic Control Jaen Spain

Nowadays automation systems are required to be flexible in order to cope with the ever changing requirements of the applications in terms of complexity, extensibility or dynamism. The use of reconfiguration techniques helps to meet these demanding requirements, but at the same time increase the complexity of the systems. This paper presents a supervisor architecture that allows maintaining the availability of a control system in spite of failures such as a node crash, by means of reconfigurations at the control level. To do this, the advantages that Model-Driven Development technology provides have been explored.

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