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IEEE Conference on Decision and control

作者： Alemayehu G/E Abera B. Bandyopadhyay S. Janardhanan Interdisciplinary Programme Systems and Control Engineering Indian Institute of Technology Bombay India

ISBN: (纸本)1424401704;9781424401703

Though continuous-time sliding mode control has a variety of desirable properties, its discrete-time counterpart does not guarantee the same performance. This is due to the fact that most of the discrete-time sliding mode control algorithms are based on reaching laws that are only approximations of continuous-time reaching laws and thus may not give a performance close to continuous-time sliding mode control. This paper presents a method for digital redesign of sliding mode control using saturation function based on state feedback. The method is extended to multirate output feedback case. It is shown that performance of the proposed controller is close to the performance of a pre-designed continuous-time sliding mode control algorithm. The method is illustrated by a numerical example

关键词： Sliding mode control Output feedback control systems State feedback Digital control Sampling methods Signal design USA Councils State-space methods Closed loop systems

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Stabilizing a flexible beam on a cart: A distributed port Hamiltonian approach

Stabilizing a flexible beam on a cart: A distributed port Ha...

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European control Conference (ECC)

作者： Ravi N. Banavar Biswadip Dey Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai

Motion planning and stabilization of the inverted pendulum on a cart is a much studied problem in the control community. We focus our attention on asymptotically stabilizing a vertically upright flexible beam fixed on a moving cart. The flexibility of the beam is restricted only to the direction along the traverse of the cart. The control objective is to attenuate the effect of disturbances on the vertically upright profile of the beam. The control action available is the motion of the cart. By regulating this motion, we seek to regulate the shape of the beam. The problem presents a combination of a system described by a partial differential equation (PDE) and a cart modeled as an ordinary differential equation (ODE) as well as controller which we restrict to an ODE. We set our problem in the port controlled Hamiltonian framework. The interconnection of the flexible beam to the cart is viewed as a power conserving interconnection of an infinite dimensional system to a finite dimensional system. The energy Casimir method is employed to obtain the controller. In this method, we look for some constants of motion which are invariant of the choice of controller Hamiltonian. These Casimirs relate the controller states to the states of the system. We finally prove stability of the equilibrium configuration of the closed loop system.

关键词： Decision support systems Europe Flyback transformers

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Conceptual Design of a Robotic Vehicle Refuelling System

Conceptual Design of a Robotic Vehicle Refuelling System

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2021 International Symposium of Asian control Association on Intelligent Robotics and Industrial Automation, IRIA 2021

作者： Acharya, Pratik Sinha, Arpita Guha, Anirban Indian Institute of Technology Bombay Centre of Excellence in Oil Gas Energy Mumbai India Indian Institute of Technology Bombay Interdisciplinary program in Systems Control Engineering Mumbai India Indian Institute of Technology Bombay Department of Mechanical Engineering Mumbai India

ISBN: (纸本)9781665433235

Robotics has been hailed as a solution for repetitive, tedious, and dangerous physical activities. One such activity which has a need for robotics is Vehicle Refuelling. Automatic Vehicle Refuelling systems have been developed by a few organisations and have also been described in patent and research literature. Most of these systems require radical changes in the design of the fuel tank of the vehicle or changes in the already existing refuelling station infrastructure. These challenges, along with technological barriers, made the adoption of such systems rare and difficult. In this paper we present two conceptual designs which do not have these limitations. Being a critical operation, we have designed for an independent safety check to preclude fuel spillage. An inbuilt option to shift to manual operation makes it an attractive candidate for implementation in existing fuel pumps. © 2021 IEEE.

关键词： Conceptual design

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Novel implementation scheme of automation for paper tube processing machine using PLC

Novel implementation scheme of automation for paper tube pro...

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SICE Annual Conference 2005

作者： Manjunath, T.C. IEEE SPIE IOP Interdisciplinary Programme in Systems and Contrm Engineering ACRE Building Indian Institute of Technology Bombay Powai Mumbai-400076 Maharashtra India

With the coming of microprocessor and associated peripheral chips, the whole process of control and automation has underwent a radical change. Instead of achieving the desired control or automation through physical wiring of control devices, in PLC it is achieved through program or say software. The programmable controllers have on recent years experienced an unprecedented growth as universal element in industrial automation. It can be effectively used in applications ranging from simple control like replacing small number of relays to complex automation problems. In our problem, we are using a PLC for the full-fledged automation of a paper tube-processing machine. © 2005 SICE.

关键词： Papermaking machinery

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DIAGNOSIS OF FAULTS WITH VARYING INTENSITIES USING POSSIBILISTIC CLUSTERING AND FAULT LINES

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IFAC Proceedings Volumes 2006年第2期39卷 905-910页

作者： K.P. Detroja R.D. Gudi S.C. Patwardhan Interdisciplinary Programme on Systems and Control Engineering Department of Chemical Engineering Indian Institute of Technology Bombay Powai Mumbai – 400076 India

In this paper, a new approach for fault detection and isolation that is based on the possibilistic clustering algorithm is proposed. Fault detection and isolation (FDI) is shown here to be a pattern classification problem, which can be solved using clustering and classification techniques. The possibilistic clustering approach was proposed to address some of the short comings of the fuzzy c-means (FCM) algorithm. The probabilistic constraint imposed on the membership value in the FCM algorithm is relaxed in the possibilistic clustering algorithm. Because of this relaxation, the possibilistic approach is shown in this paper to give more consistent results in the context of the FDI tasks. The proposed approach addresses the issue of correctly isolating a fault that may occur with varying intensities. The concept of fault lines is introduced, which in conjunction with possibilistic clustering has been effectively used for FDI. Fault signatures that change as a function of the fault intensities are represented as fault lines, which are shown to be useful to classify faults that can manifest with different intensities. The proposed approach has been validated here through simulations involving a co-polymerization reactor simulation.

关键词： Possibilistic clustering Fuzzy c-means clustering Gustafson-Kessel algorithm Fault Detection (FDD)

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FAULT DETECTION USING CORRESPONDENCE ANALYSIS: APPLICATION TO TENNESSEE EASTMAN CHALLENGE PROBLEM

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IFAC Proceedings Volumes 2006年第2期39卷 705-710页

This paper presents an approach based on the use of correspondence analysis (CA) for the task of fault detection and diagnosis. Unlike other tools (PCA / DPCA) that are used for this latter task, CA is shown to use a different metric to represent the information content in the data matrix X . Decomposition of the information represented in the metric is shown to yield superior performance from the viewpoints of data compression, discrimination and classification as well as early detection of faults. We demonstrate these performance improvements over PCA and DPCA on the Tennessee Eastman problem, which is a representative benchmark problem used in the literature. CA is shown to yield vastly superior performance for the monitoring of the TE problem, when compared with PCA and DPCA.

关键词： Correspondence Analysis (CA) Principal Components Analysis (PCA) Dynamic PCA (DPCA) Fault Detection (FD)

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Design of state charts and implementation using VHDL

Design of state charts and implementation using VHDL

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SICE Annual Conference 2005

作者： Manjunath, T.C. Jayaramaiah, G.V. Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Powai Mumbai-400076 Maharashtra India Electrical Engg. Dept. Dr. Ambedkar Institute of Tech. Bangalore India

This paper presents the design of state charts for 4 types of systems, viz., a voice-mailing system, a washing machine, a microwave oven and a fax system. Once the state chart is drawn, a software is designed which wi... 详细信息

关键词： Washing machines

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Super-twisting-like algorithm in discrete time nonlinear systems

Super-twisting-like algorithm in discrete time nonlinear sys...

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2011 International Conference on Advanced Mechatronic systems, ICAMechS 2011

作者： Salgado, I. Kamal, S. Chairez, I. Bandyopadhyay, B. Fridman, L. Department of Bioprocesses Professional Interdisciplinary Unit of Biotechnology IPN Mexico City Mexico Interdisciplinary Programme in Systems and Control Engg. Indian Institute of Technology Bombay India Engineering Faculty National Autonomous University of Mexico Mexico City Mexico

ISBN: (纸本)9780955529375

A new discrete time super-twisting-like second order sliding mode algorithm (DSTA) is proposed. The stability proof of the suggested scheme is analyzed in terms of the discrete Lyapunov approach and Linear Matrix Inequalities (LMI) theory. Using these two tools it is proved that, system state trajectory is ultimately bounded in finite time. The state estimation problem for a class of second order discrete time system has been proposed to show the positive settings obtained from the algorithm introduced here. Also, the ultimate boundedness of the estimation error is demonstrated despite the presence of bounded perturbations. Simulation results illustrates the efficacy of this new discrete-time algorithm. © 2011 Intl Journal of Adv Mechatr.

关键词： Linear matrix inequalities

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Simple and robust correlation based visual compass using omnidirectional view

Simple and robust correlation based visual compass using omn...

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IEEE Region 10 International Conference TENCON

作者： Leena Vachhani Anupa Sabnis Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

In many mobile robotic tasks, it is important to know the local axis of the robot at any pose with respect to a reference or global direction. In this paper, a vision-based algorithm is described for this purpose. A new approach to form the omnidirectional view of an environment is developed using a single camera. The images captured at a definite interval of angles are stitched by a simple method of removing the overlapping area between two successive images. To find the local axis of a mobile robot, a robust technique is developed to determine the orientation of the robot at any pose with respect to the reference direction in an unknown environment. A reference omnidirectional image is correlated with that at the current position. The paper formulates two algorithms : one for finding the fixed amount of overlapping area and another for finding the angle of local axis with respect to the reference using correlation. The paper also proposes two ways using which this visual compass can be used.

关键词： Cameras Correlation Compass Visualization Robot vision systems Mobile robots

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Exploiting Equivariance in the Design of Tracking controllers for Euler-Poincare systems on Matrix Lie Groups ⁎

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IFAC-PapersOnLine 2024年第6期58卷 333-338页

作者： Matthew Hampsey Pieter van Goor Ravi Banavar Robert Mahony Systems Theory and Robotics Group School of Engineering Australian National University Australia Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

The trajectory tracking problem is a fundamental control task in the study of mechanical systems. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system, however, symmetries for the full cotangent bundle are not commonly used in geometric control theory. In this paper, we propose a group structure on the cotangent bundle of a Lie group and leverage this to define momentum and configuration errors for trajectory tracking, drawing on recent work on equivariant observer design. We show that this error definition leads to error dynamics that are themselves “Euler-Poincare like” and use these to derive simple, almost global trajectory tracking control for fully-actuated Euler-Poincare systems on a Lie group state space.

关键词： Non-Linear control systems control Design Tracking Mechatronic systems

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