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International Conference on control, engineering & Information Technology (CEIT)

作者： Kemal UÇAK Gülay ÖKE GÜNEL Department of Electrical and Electronics Engineering Muğla Sıtkı Koçman University Muğla Turkey Department of Control and Automation Engineering Istanbul Technical University İstanbul Turkey

ISBN: (纸本)9781538676424

In this study, generalized self-tuning regulator (STR) based on support vector regression (SVR) which was previously introduced is deployed to design a state feedback controller so as to control a nonlinear bioreactor system. The parameters of the state feedback controller used in the controller block are adjusted via SVR based parameter estimator and system model blocks. The performance evaluation of the controller has been examined by simulations carried out on a nonlinear bioreactor system.

关键词： State feedback Adaptive systems Noise measurement Uncertainty Support vector machines Adaptation models

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Symbolic pole assignment of 2DoF conventional helicopter

Symbolic pole assignment of 2DoF conventional helicopter

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2017 International Artificial Intelligence and Data Processing Symposium, IDAP 2017

作者： Mumcu, Tarik Veli Çandir, Kutluhan Kürşat Üstoǧlu, Ilker Department of Electrical and Electronics Engineering Istanbul University Istanbul Turkey Department of Control and Automation Engineering Yildiz Technical University Istanbul Turkey

ISBN: (纸本)9781538618806

Unmanned air vehicles and their control is a popular research field. The next decade will determine the control perfection of this vehicles and their role in our daily lives will increase. The major advantages of the unmanned rotor systems can be given as their ability to hang on a particular altitude and their manoeuvre agility to move and escape. Whereas there are many studies of control of drones, quadrotors or conventional helicopter as well as full rank state feedback method, the studies considering combination of these methods are rare. Even in symbolic case it is either not detailed so that it can easily be followed and applied or missing. This study aims to assign the poles of two degree of freedom conventional helicopter. The pole placement method used here is full rank state feedback. Thus, the helicopter model for multi input multi output systems is explained, the stages of the control method are described and they are simulated with in Mathematica. The outputs and stability analysis illustrates the effectiveness of the study. © 2017 IEEE.

关键词： Helicopters

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An intelligent driving strategy engine for a solar car 10

An intelligent driving strategy engine for a solar car

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10th International Conference on Electrical and Electronics engineering, ELECO 2017

作者： Koçak, Sena Atalay, Ömer Nezih Ergenç, Ali Fuat Turkish Aerospace Industries Istanbul Turkey Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9786050107371

In this work, a fuzzy-based driving strategy engine is designed for the 9th solar car B.O.W. ISTKA of ITU Solar Car team. Presenting a successful strategy is major in the sense of the efficient energy management. Purpose of this work is also transferring experience of the strategist about optimal solar vehicle driving and then systematizing with the help of fuzzy logic concept. The engine has seven inputs that impact the performance of solar car. Output of this system is suggested as the vehicle speed change. Mamdani type fuzzy inference is used for building this intelligent structure. After this process, the driving strategy engine is manipulated for the inefficient motor operation. Plenty of cases are tested for the verification of the driving strategy engine. Obtained results are approved and found legitimate by the strategists of the team. © 2017 EMO (Turkish Chamber of Electrical Enginners).

关键词： Engines

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control of multi-channel multiphase queuing system based on optimal aggregation methodology

Control of multi-channel multiphase queuing system based on ...

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International Scientific and technical Conference on Computer Science and Information Technologies

作者： Taisa Borovska Inna Vernigora Irina Kolesnyk Andriy Kushnir Department of Computer Control Systems (CCS) Vinnytsia National Technical University Vinnytsia Ukraine Department of Computer Engineering (CE) Vinnytsia National Technical University Vinnytsia Ukraine Faculty of Computer Systems and Automation Vinnytsia National Technical University Vinnytsia Ukraine

The control systems of multi-channel multiphase queuing systems are considered. The control system is based on the methodology of optimal aggregation, therefore there are no restrictions on the form of the functions "costs, output" and probability distribution functions. The methods of optimal aggregation solve the optimization problem for continuous, discrete and integer functions of the class "costs, output". Processes for servicing the flow of objects has two modes: the absence and presence of queues. Software modules for analyzing and predicting of the requirements flow, optimal service in the presence and absence of queues are developed.

关键词： Service Queue Optimal aggregation Costs Output Probabilities distribution

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Complex Issues in Regulator Designing

Complex Issues in Regulator Designing

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International Russian automation Conference (RusAutoCon)

作者： Vadim A. Zhmud Wolfram Hardt Lubomir V. Dimitrov Hubert Roth Department of Automation Novosibirsk State Technical University Novosibirsk Russia Department of Computer Science Chemnitz University of Technology Chemnitz Germany Technical University of Sofia Sofia Bulgaria Department of Automatic Control Engineering University of Siegen Siegen Germany

ISBN: (纸本)9781538649398

The problem of control object with the use of feedback loop is extremely relevant, because only this method provides for the accurate control. It happened that the theory of automatic control paid much attention to the methods of regulators design based on mathematical transformations, using a mathematical model of the object. It describes the transformation of an input signal into an output signal inside the object. The methods were imperfect, so one of the following simplification methods was the most frequently used: the mathematical model of the object was simplified, or the calculations were carried out with approximation, for example, the oscillations in the system were studied by the amplitude and phase of the first harmonic only. Therefore, the result of using such regulators in practice did not exactly correspond to the theory provisions. To get mathematical and experimental basis of system developer tool, a solution of the elementary sub-problems was required. Among them there are tasks of the control of an object of the first and second order. Today the situation has changed. There is a means of sufficiently accurate mathematical modeling of the behavior of the system consisting of the loop with an object and a regulator. There are software and mathematical means for regulator calculating by the method of numerical optimization. Now there is sufficient software for calculating the regulators of the object, having a rather complex mathematical model. However, this did not change the situation. A lot of articles are still published, in which it is suggested performing additional fine tuning to achieve the required parameters after calculating the regulator and its technical implementation. Quite a big number of articles is still being published; they consider the methods of the empirical tuning of regulators based on the parameters of the transient process with a given fixed gain coefficient. This situation demonstrates insufficient using of the important t

关键词： Regulators Task analysis Cost function Mathematical model Numerical models automation

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On optimum design of frame structures

arXiv

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arXiv 2019年

作者： Tyburec, Marek Zeman, Jan Kružík, Martin Henrion, Didier Departement of Mechanics Faculty of Civil Engineering Czech Technical University in Prague Thákurova 7 Prague 6166 29 Czech Republic Departement of Physics Faculty of Civil Engineering Czech Technical University in Prague Thákurova 7 Prague 6166 29 Czech Republic Institute of Information Theory and Automation Czech Academy of Sciences Pod vodárenskou věží 4 Prague 8182 08 Czech Republic LAAS-CNRS University of Toulouse 7 Avenue du Colonel Roche Toulouse31400 France Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Karlovo náměstí 13 Prague 2121 35 Czech Republic

Optimization of frame structures is formulated as a non-convex optimization problem, which is currently solved to local optimality. In this contribution, we investigate four optimization approaches: (i) general non-linear optimization, (ii) optimality criteria method, (iii) non-linear semidefinite programming, and (iv) polynomial optimization. We show that polynomial optimization solves the frame structure optimization to global optimality by building the (moment-sums-of-squares) hierarchy of convex linear semidefinite programming problems, and it also provides guaranteed lower and upper bounds on optimal design. Finally, we solve three sample optimization problems and conclude that the local optimization approaches may indeed converge to local optima, without any solution quality measure, or even to infeasible points. These issues are readily overcome by using polynomial optimization, which exhibits a finite convergence, at the prize of higher computational demands. Copyright © 2019, The Authors. All rights reserved.

关键词： Shape optimization

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Robust Velocity Estimation for Railway Vehicles

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IFAC-PapersOnLine 2017年第1期50卷 5961-5966页

作者： Ararat Ö. Söylemez M.T. Tubitak Marmara Research Center Energy Institute L Block Kocaeli 41470 Turkey Istanbul Technical University Control and Automation Engineering Department Istanbul 34469 Turkey

Efficient slip and slide control systems are crucial in railway transportation since maximization of adhesion utilization and minimization of operating costs mainly depend on performance of such control systems. In order to improve adhesion characteristics, slip and slide control systems should hold the slip ratio at its optimum value which is determined considering vehicle velocity and environmental conditions. On the other hand, calculation of slip ratio with high accuracy is a quite challenging problem because of the difficulties in obtaining vehicle longitudinal velocity. This article proposes a novel method for robust estimation of railway vehicle velocity which uses only the angular velocity of the wheels. To this end, linear matrix inequality (LMI) approach is used to synthesize a robust estimator established on a longitudinal vehicle model with dynamic friction properties. The developed estimator is tested for extreme scenarios and the results are discussed regarding the international standards for vehicle velocity measurement in slip/slide control systems. © 2017

关键词： LMI LuGre Polach Railway robust estimator slide control systems slip traction control velocity estimation

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Efficient visual loop closure detection in different times of day

Efficient visual loop closure detection in different times o...

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Intelligent Robotics and Industrial Applications using Computer Vision 2017, IRIACV 2017

作者： Erhan, Can Sariyanidi, Evangelos Sencan, Onur Temeltas, Hakan Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey School of Electronic Engineering and Computer Science Queen Mary University of London London United Kingdom

Performing reliable and computationally efficient loop closure detection in real-world environments still remains a challenging problem. In this paper, we propose a novel method for efficient loop closure detection in different times of day. An illumination invariant color transform is applied to images that are represented by a whole-image descriptor, named PALM. The efficiency of our method resides either in description of the places or in image matching in which FLANN is used for fast nearest neighbor search. With this approach, searching time is decreased about 70 times compared to standard brute-force search with no significant loss of accuracy. According to the experiments that are performed in real-world datasets, the proposed method successfully accomplishes to detect loops under varied illumination conditions with high accuracy, and it allows real-time operation for long-life localization and mapping. © 2017, Society for Imaging Science and Technology.

关键词： Nearest neighbor search

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Torque-based steering assistance for collision avoidance during lane changes 13th

Torque-based steering assistance for collision avoidance dur...

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13th International Symposium on Advanced Vehicle control, AVEC 2016

作者： Ercan, Z. Carvalho, A. Lefèvre, S. Borrelli, F. Tseng, H.E. Gokasan, M. Department of Mechanical Engineering University of California Berkeley United States Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey Ford Research Laboratories DearbornMI United States

ISBN: (纸本)9781315265285

Lane changing is a cognitively demanding task that drivers perform frequently while driving on highways at high speed. This paper presents a predictive control framework which prevents collisions during lane change maneuvers. Approaches based on steering angle control are commonly used in the literature. These approaches may inadvertently take away the ultimate control authority of the driver. Also they involve a separate lower level steering control that requires subjective and complex steering feel calibration and steering torque constraints. The method proposed in this paper is based on a corrective torque formulation which incorporates the steering dynamics and driver response in the model. We tested the proposed controller in an experimental vehicle with a human driver. The results demonstrate that the proposed method avoids collision threats with minimum intervention. © 2017 Taylor & Francis Group, London.

关键词： Steering

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Fuzzy PID type STR based on SVR for nonlinear systems 10

Fuzzy PID type STR based on SVR for nonlinear systems

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10th International Conference on Electrical and Electronics engineering, ELECO 2017

作者： Uçak, Kemal Günel, Gülay Öke Faculty of Engineering Department of Electrical and Electronics Engineering Muǧla Sitki Koçman University Muǧla Turkey Faculty of Electrical and Electronics Engineering Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9786050107371

In this study, generalized self-tuning regulator (STR) based on support vector regression (SVR) which was previously introduced [1] is deployed to control a continuously stirred tank reactor (CSTR) system. The parameters of the Fuzzy PI D controller utilized in the controller block are tuned via SVR based parameter estimator and system model blocks. The performance of the controller has been evaluated by simulations carried out on the CSTR system. © 2017 EMO (Turkish Chamber of Electrical Enginners).

关键词： controllers

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