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IEEE Conference on Decision and control

作者： Joel Andersson Johan Åkesson Moritz Diehl Electrical Engineering Department (ESAT) and Optimization in Engineering Center (OPTEC) K.U. Leuven Heverlee Belgium Department of Automatic Control Faculty of Engineering Lund University Lund Sweden

We demonstrate how CasADi, a recently developed, free, open-source, general purpose software tool for nonlinear optimization, can be used for dynamic optimization in a flexible, interactive and numerically efficient way. CasADi is best described as a minimalistic computer algebra system (CAS) implementing automatic differentiation (AD) in eight different flavors. Similar to algebraic modeling languages like AMPL or GAMS, it includes high-level interfaces to state-of-the-art numerical codes for nonlinear programming, quadratic programming and integration of differentialalgebraic equations. CasADi is implemented in self-contained C++ code and contains full-featured front-ends to Python and Octave for rapid prototyping. In this paper, we discuss CasADi from the perspective of the developer or advanced user of algorithms for dynamic optimization for the first time, leaving out details on the implementation of the tool. We demonstrate how the tool can be used to model highly complex dynamical systems directly or import existing models formulated in the algebraic modeling language AMPL or the physical modeling language Modelica. Given this symbolic representation of the process models, the resulting optimal control problem can be solved using a variety of methods, including transcription methods (collocation), methods with embedded integrators (multiple shooting) as well as indirect methods.

关键词： Optimal control Mathematical model Optimization Equations Numerical models Jacobian matrices computers

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control system simulation for endoscopie surgical manipulator based on virtual chain approach

Control system simulation for endoscopie surgical manipulato...

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International Conference on Innovative engineering systems (ICIES)

作者： Khalil Ibrahim Ahmed Ramadan Mohamed Farmi Yo Kobayashi Ahmed Abo-Ismail Masakatus G. Fujie Mechatronics and robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Computers and Automatic Control Engineering Dep Tanta University Tanta Egypt Mansoura University Mansoura EG The faculty of Science and Engineering Waseda University Tokyo Japan

This paper deals with the design process and the dynamic control simulation of a new type of 4-DOFs parallel mechanism that can be used as an endoscopie surgical manipulator. The proposed mechanism, 2-PUU 2PUS, is designed based on the screw theory and the parallel virtual chain type synthesis method. Based on the structure analysis of the 4-DOF parallel mechanism, the inverse position equation is studied using the inverse analysis theory of kinematics. The design and the stress analysis of the mechanism are investigated using SolidWorks software. The virtual prototype of the parallel mechanism is constructed, and the dynamic simulation is performed using ADAMS™ software. The system model utilizing PID and PI controllers has been built using MATLAB software. A more realistic simulation in accordance with a given bending angle and point to point control is implemented by the use of both ADAMS/MATLAB software. The simulation results showed that this control method has solved the coordinate control for the 4-DOF parallel manipulator so that each output is feedback to the four driving rods. From the results, the tracking performance is achieved. Other control techniques, such as intelligent ones, are recommended to improve the tracking performance and reduce the numerical truncation error.

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Fault detection and isolation for nonlinear systems via HOSM multiple-observer

Fault detection and isolation for nonlinear systems via HOSM...

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8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2012

作者： Ríos, H. Edwards, C. Davila, J. Fridman, L. National Autonomous University of Mexico Electrical Engineering Engineering Faculty C.P. 04510 Mexico D.F. Mexico Control and Instrumentation Research Group Department of Engineering University of Leicester University Road Leicester LE1 7RH United Kingdom National Polytechnic Institute Section of Graduate Studies and Research ESIME-UPT C.P. 07340 Mexico D.F. Mexico Department of Automatic Control CINVESTAV-IPN Mexico D.F. AP-14-740 Mexico

ISBN: (纸本)9783902823090

The fault detection and isolation problem is studied for a class of nonlinear systems. Under structural conditions, a bank of High-Order Sliding-Mode observers is proposed. The value of the equivalent output injection is used for detecting and isolating particular faults in the system. The proposed method provides finite-time isolation of actuator and plant faults. Simulation results support the proposed approach. © 2012 IFAC.

关键词： Fault detection

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Comparison of boiler plant model and real plant responses based on proportional Integral controller

Comparison of boiler plant model and real plant responses ba...

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IEEE Conference on Sustainable Utilization and Development in engineering and Technology (STUDENT)

作者： Abdulrahman A.A. Emhemed Rosbi Bin Mamat Dirman Hanafi Department of Automatic Control Engineering College of Electronics Technology Bani Walid Libya Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Faculty of Electrical Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Malaysia

system model is very useful to study the response of a system for different input variations and for the control design schemes in both real time application and in the simulation. The concept of a model refers to entities varying from mathematical descriptions of a process to a replica of an actual system. The model of a boiler plant is derived and compared to the real plant response. In this paper the proportional and Integral (PI) controller applied for controlling the real and model of a boiler plant. The boiler plant model is derived based on the boiler plant dynamics. The experimental results show that the model developed able to represent the real boiler plant dynamic which proves by the similarity of the PI controller responses for both.

关键词： Boilers Transfer functions Valves

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A novel hybrid spiral dynamics bacterial chemotaxis algorithm for global optimization with application to controller design

A novel hybrid spiral dynamics bacterial chemotaxis algorith...

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UKACC International Conference on control (control)

作者： A. N. K. Nasir M. O. Tokhi N. M. Abd Ghani M. A. Ahmad Department of Automatic Control & Systems Engineering University of Sheffield Sheffield UK The University of Sheffield Sheffield Sheffield GB Faculty of Electrical & Electronics Engineering Universiti Malaysia Pahang (UMP) Pekan Pahang Malaysia

ISBN: (纸本)9781467315593

This paper presents a hybrid optimization algorithm, referred to as hybrid spiral dynamics bacterial chemotaxis (HSDBC) algorithm. HSDBC synergizes bacterial foraging algorithm (BFA) chemotaxis strategy and spiral dynamics algorithm (SDA). The original BFA has higher convergence speed while SDA has better accuracy and stable convergence when approaching the optimum value. This hybrid approach preserves the strengths of BFA and SDA and thus has the capability of producing better results. Moreover, it has simple structure, hence reduced computational cost. Several unimodal and multimodal benchmark functions are employed to test the algorithm in finding the global optimum point. Furthermore, the proposed algorithm is tested in the design of PD controller for a flexible manipulator system. The results show that the HSDBC outperforms SDA and BFA in all test functions and successfully optimizes the PD controller.

关键词： Heuristic algorithms Microorganisms Optimization Spirals Convergence Algorithm design and analysis Manipulators

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Comparison of three phase 4-leg shunt active power filter algorithms

Comparison of three phase 4-leg shunt active power filter al...

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2011 International Aegean Conference on Electrical Machines and Power Electronics, ACEMP 2011 and Electromotion 2011 Joint Conference

作者： Ciprian, Balanuta Gelu, Gurguiatu Toader, Munteanu Grigore, Fetecau Department of Automatic Control and Electrical Engineering Faculty of Automatic Control Computers Electrical and Electronics Engineering DunǍrea de Jos University Galati Romania

ISBN: (纸本)9781467350037

Diversity of loads, resistive and inductive, monophase and three phase, balanced and unbalanced, developed with power electronics or not, led to power quality problems at consumer level. Problems that can be resolved locally with active or passive filters connected on loads terminal or global, by connecting in CCP (Common Coupling Point) a four wire three phase shunt active power filter (APF), solution chosen for this study. This paper presents a comparison between three control algorithms of a three phase 4-wire 4-leg active power filter. Comparative analysis was made based on the level of THD, power factor and unbalance level. The results were obtained by simulation in Matlab/Simulink software. © 2011 IEEE.

关键词： Passive filters

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Probabilistic car-like robot path planning from temporal logic specifications

Probabilistic car-like robot path planning from temporal log...

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15th International Conference on system Theory, control and Computing, ICSTCC 2011

作者： Ghita, Narcis Kloetzer, Marius Pastravanu, Octavian Gheorghe Asachi Technical University of Iasi Faculty of Automatic Control and Computer Engineering Department of Automatic Control and Applied Informatics Romania

ISBN: (纸本)9781457711732

An algorithmic framework is developed for automatic deployment of car-like robots based on Linear Temporal Logic (LTL) formulae over a set of regions of interest in the environment. The environment and the regions of interest are a priori known, and the robot has non-negligible size and restricted steering capabilities. The approach relies on constructing a probabilistic finite-state abstraction of the car-like robot and on finding a trajectory (run) in this abstraction such that the probability of satisfying the LTL formula is maximized. The feasibility of our approach is supported by simulations under Matlab environment. © 2011 faculty of Auto control.

关键词： Abstracting

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Fault Detection and Isolation for Nonlinear systems via HOSM Multiple-Observer *

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IFAC Proceedings Volumes 2012年第20期45卷 534-539页

作者： H. Ríos C. Edwards J. Davila L. Fridman National Autonomous University of Mexico Program of PhD in Electrical Engineering Engineering Faculty C.P. 04510 Mexico D.F Control and Instrumentation Research Group Department of Engineering University of Leicester University Road Leicester LE1 7RH UK National Polytechnic Institute Section of Graduate Studies and Research ESIME-UPT C.P. 07340 Mexico D.F Department of Automatic Control CINVESTAV-IPN Mexico D.F. AP-14-740 on leave on National Autonomous University of Mexico Engineering Department of Control and Robotics Division of Electrical Engineering Engineering Faculty C.P. 04510 Mexico D.F

关键词： High-order Sliding-Mode Observers Fault Detection Fault Isolation

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Sliding-mode control of coordinated nonholonomic mobile manipulators

Sliding-mode control of coordinated nonholonomic mobile mani...

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15th International Conference on system Theory, control and Computing, ICSTCC 2011

作者： Solea, Razvan Cernega, Daniela Cristina Faculty of Automatic Control Computers Electrical and Electronics Engineering Dunarea de Jos University of Galati Romania

ISBN: (纸本)9781457711732

Coordinated systems of multiple mobile manipulators can be much more flexible than single mobile manipulator in order to accomplish complex and changeable tasks. In this paper, sliding-mode control strategies are used to control the coordinated multiple mobile manipulators which carry a common object. The control ensures that the output tracking errors of the system converge to zero. Simulation studies show the effectiveness of the proposed scheme. © 2011 faculty of Auto control.

关键词： Manipulators

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Design of embedded systems able to adapt both scheduling and control parameters

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UPB Scientific Bulletin, Series C: Electrical engineering 2011年第4期73卷 11-24页

作者： Niculae, Daniel Dumitrache, Ioan SC IPA SA Bucharest Romania Automatic Control and System Engineering Department Automatic Control and Computers Faculty University POLITEHNICA of Bucharest Romania

The paper will present the implementation of numeric systems for process control and it will explain the problems that arise from the independent way of development of the actual control tasks - oriented to control theory away from the real time system- oriented to operating system theory. It will then be described the effects o running such control on an on-the-shelf resources deprived hardware environment, and the way these can be surpassed using co-designed control theory.

关键词： control theory

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