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检索条件"机构=Department of automatic control and applied informatics"

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Networked Predictive Cruise control for Road Vehicles

Networked Predictive Cruise Control for Road Vehicles

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International Conference on control Systems and Computer Science (CSCS)

作者： Constantin Florin Caruntu Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Romania

ISBN: (纸本)9781467361408

The increasing number of road vehicles is leading to more and more accidents making the driving safety a major research issue. Also, there are other issues that need to be addressed in order to ensure the passengers comfort, to reduce the mechanical components wear and the fuel consumption and to lower emissions. As such, the goal of this paper is to design a cruise controller based on a model predictive control strategy, that uses the concept of flexible control Lyapunov functions to guarantee the input-to-state stability of the system in a non-conservative way. Moreover, the proposed strategy takes into account the time-varying delays introduced by the communication network that links the controller with the remote process (driveline) by modeling them as disturbances. The cruise controller was tested using TrueTime Toolbox for Matlab/Simulink to show that it can handle both the performance/physical constraints and the strict limitations on the computational complexity.

关键词： Delays Vehicles Engines control systems Torque Wheels Adaptive systems

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Genetic multiobjective fitness assignment scheme applied to robot path planning

Genetic multiobjective fitness assignment scheme applied to ...

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International Conference on Electronics, Computer and Computation (ICECCO)

作者： Corina Cîmpanu Lavinia Ferariu Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

This paper proposes a new adaptive Pareto-ranking for multiobjective genetic algorithms. The ranks are assigned after splitting the population in several groups, based on the current weak nadir point and the average objective values. This grouping supplements the sorting provided by the dominance analysis and gives the possibility to encourage certain valuable solutions recommended by the particular landscape of the objective space. Additionally, the preliminary grouping allows a more effective diversity control during the evolutionary loop. The effectiveness of the suggested fitness assignment scheme is shown on a robot path planning problem. The study cases consider continuous working scenes with known non-convex and/or disjoint obstacles.

关键词： Sociology Statistics Trajectory Robots Genetics Linear programming

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Feasible and equilibrium solutions to the closed Leontief models

Feasible and equilibrium solutions to the closed Leontief mo...

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

作者： Octavian Pastravanu Mihaela-Hanako Matcovschi Mihail Voicu Department of Automatic Control and Applied Informatics Technical University “Gheorghe Asachi” of Iasi Iasi Romania

Our paper explores the solvability of the closed Leontief models, described by weak inequalities. We analyze the existence of two types of solutions defined for such models, namely feasible and, respectively equilibrium solutions. Our developments take into consideration the role of the following elements that characterize the model matrix: spectral radius, structure of communication classes and eigenstructure. Three different Leontief models are used as examples for illustrating the key points of our work.

关键词： Xenon Eigenvalues and eigenfunctions Biological system modeling Vectors Linear matrix inequalities Adaptation models informatics

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Low-computational-complexity algorithm for current predictive control of an externally excited synchronous machine

Low-computational-complexity algorithm for current predictiv...

引用

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

作者： Sabin - Constantin Carpiuc Corneliu Lazar Department of Automatic Control and Applied Informatics Technical University “Gheorghe Asachi” of Iasi Iasi Romania

The current control in externally excited synchronous machines employed in applications such as automotive electrical traction drives is a challenging problem. These applications are characterized by fast dynamics that are subject to hard physical constraints including quadratic constraints related to the state and control input. The goal of this paper is to develop a controller synthesis method which can deal with these challenges. To this end, firstly, a polytopic approximation of quadratic constraints is performed. Then, a low-computational-complexity algorithm for current predictive control based on the flexible Lyapunov functions concept is employed by using a one-step-ahead prediction horizon. It is then shown that the resulting current control problem can be transformed into a linear program, which is suitable for an on-line implementation. A realistic simulation scenario is then used to illustrate the effectiveness of the proposed method. The obtained results show significant improvement compared with the existing PI approaches. Moreover, the computational complexity of the algorithm is compatible with hardware requirements of existing electronic control units.

关键词： Stators Rotors Voltage control Automotive engineering Torque Prediction algorithms Current control

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Low-Complexity Model Predictive control of a Permanent Magnet Synchronous Machine System

Low-Complexity Model Predictive Control of a Permanent Magne...

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International Conference on control Systems and Computer Science (CSCS)

作者： Sabin-Constantin Carpiuc Corneliu Lazar Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (纸本)9781467361408

The permanent magnet synchronous machine (PMSM) is widely used in hybrid electric vehicles. The current control is a difficult challenge because is characterized by fast dynamics that are subject to physical and control constraints. As such, this paper presents a novel current control strategy of a PMSM system. It uses a one step ahead model predictive control scheme based on flexible Lyapunov functions concept. Firstly, the quadratic constraints related to the system states and control inputs are approximated with polytopic constraints. Then, the current control problem is reduced to a linear program, which can be solved on-line. To illustrate the effectiveness of the proposed control scheme a numerical example is provided and the obtained results show good performance while the physical constraints are satisfied all the time.

关键词： Stator windings Rotors Torque Current control Mathematical model Optimization

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Singular regions detection in fingerprint images

Singular regions detection in fingerprint images

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

作者： Alexandru Tiganasu Corneliu Lazar Automatic Control and Applied Informatics Department Technical University “Gheorghe Asachi” of Iasi Iasi Romania

Singular regions detection from a fingerprint is a laborious process which required the completion of various stages starting from a set of fingerprint images obtained through simulation with the help of the SFinGe program, which offered the possibility to generate fingerprints with different features that could be selected (form, type and position of singular points, noises, and so on). A prior stage of the proper algorithm for singular regions detection is to enhance the initial image through a series of morphological transformations of this, but which was not detailed in this paper. The algorithm starts with the directional field determination, continuing with the detection of singular points or singular regions. Introducing the possibility to alter a fingerprint by simulation through the central rotation, an algorithm was developed to determine if a fingerprint is natural or altered. This new method for singular regions detection was tested on natural and altered fingerprints. The importance of this paper is given by the fact that nowadays, many delinquents or immigrants alter their fingertips not to be recognized by the police. The experimental results, as will be shown, turned that the proposed method can detect accurately singular regions and based on this, the difference between natural and altered fingerprints can be made.

关键词： Fingerprint recognition Reliability Image matching Feature extraction Estimation Vectors Indexes

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Fractional order PDμ control of a visual servoing manipulator system

Fractional order PDμ control of a visual servoing manipulat...

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European control Conference (ECC)

作者： Cosmin Copot Clara M. Ionescu Corneliu Lazar Robin De Keyser Department of Electrical energy Systems and Automation Ghent University Belgium Department of Automatic Control and Applied Informatics Technical University of Iasi Romania

ISBN: (纸本)9781479901890

In this paper, a fractional order PD μ controller based on visual features is presented. A manipulator robot with 6 degrees of freedom and an eye-in-hand camera configuration is employed to design a visual servoing control architecture. The image based control law was designed using point features. A Matlab simulator which implements the visual control architecture was developed and the results were compared with a classical integer order controller. The validity of the visual based controllers is shown by the simulation results which demonstrate that the proposed approach based on a fractional order controller has a stable and convergent behavior when dealing with visual servoing applications. The fractional order PD μ controller provides better performances in comparison with an integer order PD controller.

关键词： Cameras Visualization Robot kinematics Visual servoing

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Multivariable model-based control strategies for level control in a quadruple tank process

Multivariable model-based control strategies for level contr...

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

作者： Anca Maxim Clara M. Ionescu Cosmin Copot Robin De Keyser Corneliu Lazar Department of Electrical energy Ghent University Gent Belgium Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University Iasi Romania

This paper presents three model-based control strategies applied to a multivariable process. First, a simple and rather naive approach is employed, i.e. treating the process as two SISO (Single Input Single Output) loops and design PID controllers. Obviously, this approach is effective, but does not take into account the interaction between the loops. Next, interaction is compensated by using dynamic decouplers and control performance is improved. Finally, a multivariable IMC (Internal Model control) method is applied. All the results were validated on the laboratory setup with coupled quadruple tanks from Quanser. This is an interesting and challenging testbed for control, i.e. it poses non-minimum phase transmission zeros. Our experimental results show that the IMC outperforms the PID control at the cost of additional design complexity. All controllers were successfully tested for setpoint trajectory and disturbance rejection and tackled well the noise in the system.

关键词： Transfer functions Process control Matrices Filtering theory Decentralized control MIMO Couplings

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Petri net approach for deadlock prevention in robot planning

Petri net approach for deadlock prevention in robot planning

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Marius Kloetzer Cristian Mahulea José-Manuel Colom Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University Romania Department of Computer Science and Systems Engineering University of Zaragoza Spain

This paper provides a strategy for supervising the motion of some mobile robots that evolve in the same environment. Some regions of the environment are assumed to have a limited capacity in terms of the number of robots that can simultaneously occupy them, and a set of possible trajectories is available for each robot. The solution comprises the construction of a specific Petri net model for the available trajectories, and the use of resource-allocation techniques based on restricted-capacity regions and on deadlock-free execution.

关键词： Trajectory Collision avoidance System recovery Robot kinematics Computational modeling Planning

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Multi-objective genetic algorithm with clustering-based ranking and direct control of diversity

Multi-objective genetic algorithm with clustering-based rank...

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

作者： Ferariu Lavinia Cîmpanu Corina Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Iasi Romania Department of Computer Science “Gheorghe Asachi” Technical University of Iasi Iasi Romania

This paper presents a new Pareto-ranking algorithm which can be used for solving multi-objective optimization problems with few objectives. The ranks are assigned by progressively combining the search with decision. More precisely, the decision is implemented via an adaptive clustering which guides the search towards the middle of the Pareto-front. This enables a gradual rejection of the solutions expected to be less useful for the application. By monitoring the evolutions of the depicted clusters, the procedure is able to detect premature convergence and to intervene for encouraging the preservation of population diversity. In this attempt, whenever necessary, a supplementary objective is added. It is meant to directly control the variety of the most valuable genetic material. The applicability of the approach is demonstrated on robot path planning, considering continuous working scenes with known non-convex and/or disjoint obstacles.

关键词： Trajectory Sociology Statistics Genetics Genetic algorithms Robots Optimization

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