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International Conference on Reliability, Safety and Hazard (ICRESH)

作者： A. Wakankar A.K. Bhattacharjee S.D. Dhodapkar P.K. Pandya Kavi Arya Reactor Control Division Bhabha Atomic Research Centre Mumbai India School of Technology & Computer Science Tata Institute of Fundamental Research Mumbai India CSE IIT Bombay India Department of Computer Science & Engineering Indian Institute of Technology Mumbai India

Model based design methodology is increasingly being used in the development of software for embedded controllers for safety class applications. SCADE Suite is a set of tools that support model based design of software for embedded systems. The model validation activity in SCADE involves model simulation guided by set of test cases that are based on system requirements (Functional or blackbox) and structural coverage criteria like MC/DC (Whitebox). However, systematically devising a test case based on such criterion is not easy and often the designer is required to analyze the model to design a test sequence, which will meet the required criteria. In this paper, we demonstrate the use of a technique based on model checking to automate the generation of such test cases for SCADE models. For automatic test case generation, the tool SAL-ATG was used that can generate the test cases for the models developed in SAL specification language. MCIDC coverage criterion was adopted for generating the test goals to be covered by generated test cases.

关键词： Analytical models Manuals Educational institutions

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Unconstrained NMPC based on a class of wiener models: A closed form solution

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作者： Deshpande, Shraddha Vishnu, V. Patwardhan, Sachin C. Systems and Control Engineering Dept. of Chemical Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9783642010934

In this work, we obtain a closed form solution to a nonlinear model predictive control problem when the controller is developed using a class of black-box Wiener type model. The linear dynamic component of the Wiener model parameterized using orthonormal basis filters. The nonlinear state to output map is constructed using quadratic polynomials. The resulting nonlinear state space model is then used to formulate an unconstrained NMPC problem. A closed form solution to this problem is constructed analytically using the theory of solutions of quadratic operator polynomials. The efficacy of the proposed quadratic control law is demonstrated by conducting servo control studies at a singular operating point on a benchmark experimental setup. © 2009 Springer Berlin Heidelberg.

关键词： Polynomials

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Stabilizing a flexible beam on a cart: A distributed port Hamiltonian approach 10

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

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2009 10th European control Conference, ECC 2009

作者： Banavar, Ravi N. Dey, Biswadip Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology - Bombay Mumbai400076 India

ISBN: (纸本)9783952417393

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. © 2009 EUCA.

关键词： controllers

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State estimation and fault tolerant nonlinear predictive control of an autonomous hybrid system using unscented kalman filter

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作者： Prakash, J. Deshpande, Anjali P. Patwardhan, Sachin C. MIT Campus Anna University Chennai India Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Dept. of Chemical Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9783642010934

In this work, we propose a novel fault tolerant nonlinear model predictive control (FTNMPC) scheme for dealing with control problems associated with an autonomous nonlinear hybrid system (NHS). To begin with, we develop a scheme for state estimation of continuous as well as discrete states for autonomous NHS using unscented Kalman filter (UKF), a derivative free nonlinear state estimator, and further use it for formulating an NMPC scheme. The salient feature of the NMPC scheme is that the concept of sigma point propagation in UKF is extended to carry out the future trajectory predictions. We then proceed to develop a nonlinear version of generalized likelihood ratio (GLR) method that employs UKF for diagnosing sensor and/or actuator faults. The diagnostic information generated by the nonlinear GLR method is used for on-line correction of the measurement vector, the model used for state estimation/prediction and constraints in the NMPC formulation. The efficacy of the proposed state estimation, diagnosis and control schemes is demonstrated by conducting simulation studies on the benchmark three-tank hybrid system. Analysis of the simulation results reveals that the FTNMPC scheme facilitates significant recovery in the closed loop performance particularly on occurrence of sensor faults. © 2009 Springer Berlin Heidelberg.

关键词： Hybrid systems

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Monitoring the dispersion of a contaminant cloud in an urban region by a swarm of UAV sensors

Monitoring the dispersion of a contaminant cloud in an urban...

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作者： Sinha, Arpita Tsourdos, Antonios White, Brian Systems and Control Engineering Indian Institute of Technology Bombay India Department of Informatics and Sensors Cranfield University United Kingdom

ISBN: (纸本)9783902661531

In this paper, we develop a mechanism to detect, model and track the shape of a contaminant cloud boundary using air borne sensor swarms. The cloud consists of a transparent gas of nuclear, biological or chemical contaminants and is spreading slowly in an urban environment. A group of UAVs, having the required sensors, are made to y through the cloud to detect the boundary of the cloud. The shape of the cloud is modeled using splinegon. An observer is designed to track the movement of the cloud. The output of the observer is used in the path planning of the UAVs. The path planning is online, decentralized and considers obstacle avoidance and connectivity maintenance among the UAVs. Simulated experiments are carried out to test the proposed cloud tracking algorithm. © 2009 IFAC.

关键词： Motion planning

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Dynamics and control of 2D SpiderCrane: A Lie-Bäcklund approach 10

Dynamics and control of 2D SpiderCrane: A Lie-Bäcklund appr...

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2009 10th European control Conference, ECC 2009

作者： Kazi, Faruk Muellhaupt, Philippe Banavar, Ravi N. Bonvin, Dominique Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India École Polytechnique Fédérale de Lausanne EPFL Switzerland

ISBN: (纸本)9783952417393

In this paper we present control of a multicable suspended mechanism called the '2D SpiderCrane'. The use of cables, and thus avoiding conventional heavy components, makes such a mechanism suitable for working at high transfer speeds. Using the notion of Lie-Bäcklund transformation, the model is transformed to a new set of coordinates in which the system looks linear. We then solve the closed-loop stabilization and trajectory tracking problem with a simple, but very natural, pole placement strategy. © 2009 EUCA.

关键词： Linear transformations

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Robust control and path planning algorithms for small satellite formation flying missions

Robust control and path planning algorithms for small satell...

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60th International Astronautical Congress 2009, IAC 2009

作者： Saaj, Chakravarthini M. Bandyopadhyay, Saptarshi Bandyopadhyay, Bijnan Space Robotics Surrey Space Center University of Surrey Guildford Surrey GU2 7XH United Kingdom Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai 400076 India Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai 400076 India

ISBN: (纸本)9781615679089

Recent advances in small, low cost satellite technology has generated a renewed interest in formation flying missions. One challenging aspect of satellite formation flying missions is collision free navigation and control. In this paper, novel robust control algorithm using Sliding Mode control is presented for a three-dimensional, high Earth orbit satellite formation scenario. The paper presents the comparison of results of three types of Sliding Mode controllers (SMC): the first one is a tan-hyperbolic SMC, the second one is a constant plus proportional rate SMC and the third one is a power rate SMC. Hybrid propulsion system minimises the use of on-board power for close formations. Artificial Potential Field method is used for collision-free path planning of the satellites in the formation. Simulation results show that for the formation flying scenario considered in this study, the constant plus proportional rate SMC and the power rate SMC gives better performance over the tan-hyperbolic SMC. Simulation results prove that for the tetrahedron formation considered in this study, the total control effort is less when the constant plus proportional rate controller and the power rate controller are used compared to the tan-hyperbolic sliding mode controller. Very little formation center movement is observed for the three SMCs.

关键词： Robust control

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control of Parallel Flexible Five Bar Manipulator using QFT

Control of Parallel Flexible Five Bar Manipulator using QFT

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IEEE International Conference on Industrial technology (ICIT)

作者： Sandeep Karande P. S. V. Nataraj P. S. Gandhi Manoj M. Deshpande Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India Indian Institute of Technology Bombay Mumbai Maharashtra IN

Light weight robotic manipulators have significant advantages over their heavy counterparts in terms of efficiency of energy consumption and speed. However, they also have an inherent problem of vibrations which significantly affect their performance. control strategies need to be developed to control their vibrational behavior. Many different control strategies have already been developed and tested on the manipulators. However, not enough work has been done to test the Quantitative Feedback Theory, a frequency domain based robust control strategy. Though several nonlinear model/control based methods have been developed for control of single or serial flexible link manipulator, the domain of parallel flexible links manipulators is unexplored. QFT, being a robust control strategy, promises to exactly tackle these uncertainties in the manipulator. This project is aimed at analyzing the performance of a QFT based controller in controlling the vibrations in flexible multilink manipulator systems.

关键词： Manipulators Vibration control Testing Robust control control systems Robots Energy consumption Feedback Frequency domain analysis Uncertainty

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Monitoring the Dispersion of a Contaminant Cloud in an Urban Region by a Swarm of UAV Sensors

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IFAC Proceedings Volumes 2009年第22期42卷 7-12页

作者： Arpita Sinha Antonios Tsourdos Brian White Systems and Control Engineering Indian Institute of Technology Bombay India Department of Informatics and Sensors Cranfield University UK

In this paper, we develop a mechanism to detect, model and track the shape of a contaminant cloud boundary using air borne sensor swarms. The cloud consists of a transparent gas of nuclear, biological or chemical contaminants and is spreading slowly in an urban environment. A group of UAVs, having the required sensors, are made to fly through the cloud to detect the boundary of the cloud. The shape of the cloud is modeled using splinegon. An observer is designed to track the movement of the cloud. The output of the observer is used in the path planning of the UAVs. The path planning is online, decentralized and considers obstacle avoidance and connectivity maintenance among the UAVs. Simulated experiments are carried out to test the proposed cloud tracking algorithm.

关键词： Boundary tracking UAVs path planning auction mechanism splinegon

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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

关键词： Decision support systems Europe Flyback transformers

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