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2017 7th International Workshop on Computer Science and engineering, WCSE 2017

作者： Pitel, Ján Líška, Ondrej Janáčová, Dagmar Technical University of Kosice Faculty of Manufacturing Technologies Department of Industrial Engineering and Informatics Bayerova 1 Prešov080 01 Slovakia Technical University of Kosice Faculty of Mechanical Engineering Department of Automation Control and Human-Machine Interaction Letná 9 Košice042 00 Slovakia Tomas Bata University in Zlin Faculty of Applied Informatics Department of Automation and Control Engineering Nad Stráněmi 4511 Zlín760 05 Czech Republic

ISBN: (纸本)9789811136719

The outstanding feature of the pneumatic artificial muscle is its high power to weight ratio vastly outperforming both pneumatic cylinder and DC motor. This feature is very important for using of pneumatic muscle-based actuators in industrial robotic systems where high forces and stiffness of mechanism are often required. The most common so far produced and used type of pneumatic artificial muscle is McKibben muscle and it is now made commercially available by different companies (e.g. Festo). In the paper there are described some of its characteristics and principles of control important for using as actuator for industrial robotic applications.

关键词： Pneumatic actuators

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Dominant pole region assignment with continuous PI and PID controllers

Dominant pole region assignment with continuous PI and PID c...

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International Conference on Electrical and Electronics engineering, ELECO

作者： Emre Dincel Mehmet Turan Söylemez Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

This paper presents a method to design PI and PID controllers in continuous time domain through dominant pole region assignment so that the closed-loop time domain characteristics remain within the desired interval. Firstly, parametrization of the PI controllers which assign the dominant pole pair to the desired region is given. The sub-region, in which the remaining poles are located away from the dominant pole region, is then found in (K p , K i ) parameter space by calculating the root boundaries. After that the method is extended for PID controller case by gridding the K p parameter. Thus, all PID controllers, which perform dominant pole region assignment successfully, are given in 3D parameter space. Examples are given for two different pole regions and for both PI and PID controllers.

关键词： Aerospace electronics Time-domain analysis Design methodology Transfer functions Power system stability automation Three-dimensional displays

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A fuzzy logic based autonomous vehicle control system design in the TORCS environment

A fuzzy logic based autonomous vehicle control system design...

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International Conference on Electrical and Electronics engineering, ELECO

作者： Ersin Armagan Tufan Kumbasar Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

In this study, a fuzzy logic based autonomous vehicle control system is designed and tested in The Open Racing Car Simulator (TORCS) environment. The aim of this study is that vehicle complete the race without to get any damage and to get out of the way. In this context, an intelligent control system composed of fuzzy logic and conventional control structures has been developed such that the racing car is able to compete the race autonomously. In this proposed structure, once the vehicle's gearshifts have been automated, a fuzzy logic based throttle/brake control system has been designed such that the racing car is capable to accelerate/decelerate in a realistic manner as well as to drive at desired velocity. The steering control problem is also handled to end up with a racing car that is capable to travel on the road even in the presence of sharp curves. In this context, we have designed a fuzzy logic based positioning system that uses the knowledge of the curvature ahead to determine an appropriate position. The game performance of the developed fuzzy logic systems can be observed from https://***/qOvEz3-PzRo.

关键词： Games Fuzzy logic control systems Automobiles Gears Autonomous vehicles Computational intelligence

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Stabilization of controller-driven nonuniformly sampled systems via singular value assignment

arXiv

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arXiv 2017年

作者： Sevim, Ufuk Goren-Sumer, Leyla Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

The stabilization problem of nonuniformly sampled systems is considered, provided that the controller/scheduler can select the sampling period. We proposed a method to construct the stabilizing state feedback controller using singular value assignment. The closed-loop system is guaranteed to be stable for arbitrary selection of bounded sampling periods. This method also provides the upper bound for the maximum sampling period. Copyright © 2017, The Authors. All rights reserved.

关键词： controllers

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Active set method based model predictive control for a ball and beam system

Active set method based model predictive control for a ball ...

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International Conference on Electrical and Electronics engineering, ELECO

作者： Handan Nak Şirin Akkaya Erhan Yumuk Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

Model predictive control is an optimal control method that requires the solution of a quadratic programming problem with constraints at each sampling time. In this study, an active set method is used to solve the problem. The whole control algorithm is written through Matlab editor so that it can be run in embedded systems. A ball and beam system model is utilized to investigate the performance of the controller structure. The simulations are conducted with two different cost functions. The results illustrate that the constructed control system exhibits satisfactory performance in the sense of system response and constraints.

关键词： Cost function Magnetic materials Photonic crystals Predictive control Optimal control Mathematical model Algorithm design and analysis

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Backlash estimation for industrial drive-train systems

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IFAC-PapersOnLine 2017年第1期50卷 3281-3286页

作者： Papageorgiou D. Blanke M. Henrik Niemann H. Richter J.H. Department of Electrical Engineering Automation and Control Technical University of Denmark Kgs. LyngbyDK-2800 Denmark AMOS CoE Institute of Technical Cybernetics Norwegian University of Science and Technology Trondheim Norway Siemens AG Digital Factory Division Nuremberg D-90475 Germany

Backlash in gearing and other transmission components is a common positioning-degrading phenomenon that develops over time in industrial machines. High-performance machine tool controls use backlash compensation algorithms to maintain accurate positioning of the tool to cope with such deadzone phenomena. As such, estimation of the magnitude of deadzones is essential. This paper addresses the generic problem of accurately estimating the width of the deadzone in a single-axis mechanical drive train. The paper suggests a scheme to estimate backlash between motor and load, employing a sliding mode observer and a nonlinear adaptive estimator. The efficacy of the approach is illustrated via simulations. © 2017

关键词： adaptive deadzone estimation mechanical drive-train nonlinear parametrization parameter estimation sliding-mode observer

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Stabilization of controller-Driven Nonuniformly Sampled Systems via Digital Redesign

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IFAC-PapersOnLine 2016年第9期49卷 142-145页

作者： Sevim, Ufuk Goren-Sumer, Leyla Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

This paper deals with the stabilization problem of nonuniformly sampled systems, assuming that the controller/scheduler can select the sampling period. In this setting, we proposed a sampling-period-varying state feedback controller that stabilizes the closed-loop system for arbitrary selection of bounded sampling periods. The proposed controller is based on the digital redesign technique, which also makes the closed-loop sampled system state response close to a pre-selected closed-loop continuous system. © 2016

关键词： Networked control systems Closed loop systems controllers Convergence of numerical methods Sampled data control systems Stabilization State feedback Continuous system Digital redesign Nonuniform sampling Sampled systems Sampled data control Sampling period Stabilization problems State feedback controller

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Investigation of the Effects of Fractional and Integer Order Fuzzy Logic PID controllers on System Performances

Investigation of the Effects of Fractional and Integer Order...

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International Conference on Electrical and Electronics engineering

作者： Mert Can Kurucu Erhan Yumuk Müjde Güzelkaya Ibrahim Eksin Department of Control and Automation Engineering Istanbul Technical University Maslak İstanbul Turkey

In this study, the effects of fractional and integer order fuzzy logic PID controllers on system performances are investigated. In that respect, linear and nonlinear fuzzy decision rule bases are taken into consideration. To be fair on comparison, the parameters of the controllers are all optimized using BBBC optimization algorithm according ITSE performance index. This investigation is done on second order linear system with time delay since many high order systems may be represented by this model. Moreover, further study is done on a nonlinear benchmark system. It has been observed that linear decision surface in both controllers generally gives better performance than nonlinear decision surface. It is concluded that nonlinearity of fractional operators is more effective than the nonlinearity produced by fuzzy rule base.

关键词： linear system order systems nonlinear decision surface

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Inverse optimal controller design for a quadrotor unmanned aerial vehicle

Inverse optimal controller design for a quadrotor unmanned a...

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International Conference on Electrical and Electronics engineering, ELECO

作者： Bora Bayraktaroğlu Moayed Almobaied Müjde Güzelkaya İbrahim Eksin Control and Automation Engineering Department Istanbul Technical University Maslak Istanbul Turkey

This paper presents the application of inverse optimal control approach to an unmanned quadrotor air vehicle system. Here, the inverse optimal controller is designed to solve the reference tracking problem relying on the use of control Lyapunov function. In the establishment of the control law, the affine-in-input discrete-time nonlinear system model is taken into consideration. A stabilizing feedback control law is constructed such that control Lyapunov function is known a priori. After stability examination and determination of a meaningful cost functional, respective cost functional is optimized. Then, a matrix that minimizes a tracking error function is searched using PSO algorithm. The designed controller has been applied to a nonlinear model of a quadrotor. It is shown that the proposed controller guarantees a fast convergence and makes the quadrotor stabilize itself very fast and follow aggressive trajectories accurately under certain circumstances.

关键词： Mathematical model Optimal control Unmanned aerial vehicles Trajectory tracking Nonlinear systems Algorithm design and analysis Sparse matrices

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A Markov model of IoT system availability considering DDos attacks and energy modes of server and router 13

A Markov model of IoT system availability considering DDos a...

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13th International Conference on ICT in Education, Research and Industrial Applications. Integration, Harmonization and Knowledge Transfer, ICTERI 2017

作者： Kolisnyk, Maryna Kharchenko, Vyacheslav Piskachova, Iryna Bardis, Nikolaos Department of Automation and Control in Technical Systems National Technical University KPI Kharkiv Ukraine Department of Computer Systems and Networks National Aerospace University KhAI Kharkiv Ukraine Department of Computer Science and Control Systems Ukrainian State University of the Railway Transport Kharkiv Ukraine Department of Mathematics and Engineering Sciences Hellenic Military Academy Athens - Vari16673 Greece

Internet of things (IoT) gets more spread, and large number of smart things are connect to the Internet. In this regard, increases energy consumption. The devices of the IoT can be affected by special attacks on the power supply system, DDos attacks, spy attacks. The purpose of research is to develop and research an availability model of IoT systems considering energy modes and cyber attacks. The analysis of main subsystems of the IoT system such as the smart business center (SBC) in terms of availability, security and energy saving was provided. Main research issues of the paper are analysis of the possible types of attacks on IoT infrastructure, assessment of its availability factor, development and research of a Markov model of SBC availability taking into account DDoS attacks on the server and the router and the diversification of energy supply systems and energy modes.

关键词： Denial-of-service attack

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