International Control Conference (ICC2006)

 

Glasgow, Scotland, United Kingdom

 

30th August to 1st September 2006

 

 

 

Text Box:

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Book of Abstracts

 

 

Organised by: University of Strathclyde and University of Glasgow

 

University of Strathclyde Publishing IBSN: 0 947649549

 

                                                                   

 

 


Foreword

 

On behalf of the ICC 2006 Organising Committee, welcome to the sixth bi-ennial UKACC United Kingdom Automatic Control Council (UKACC) International Control Conference (ICC 2006), which traditionally brings together the practitioners and the scientists working in the broadly understood area of control engineering. The Conference covers Methods, Technology, Applications and Education in Control Engineering. UKACC seeks to act as an effective link between the UK and the international control communities, and to provide a focus for International Federation of Automatic Control (IFAC) related activities.  UKACC has three constituent members: The Institution of Engineering and Technology (IET), The Institute of Measurement and Control (IMC), and The Institution of Mechanical Engineers (IMechE).

The Conference is hosted by the University of Strathclyde and the University of Glasgow and includes Plenary sessions, Invited sessions, Regular sessions, Workshops and Industrial sessions.  

The Postgraduate Workshop is supported by the Engineering and Physical Sciences Research Council (EPSRC) and is aimed at PhD students with interest in control engineering. We are grateful for this support which has made it possible for many young control engineers to attend and participate in the Conference. The Workshop will run on Monday 28th and Tuesday 29th of August 2006.

You are particularly invited to the Industrial sessions to be held on the afternoon of Thursday 31st August 2006. This will provide a friendly platform for the control academics and industrial practioners to exchange views and establish collaboration. Three parallel industrial sessions have been organised by the IET, IMC and IMechE.

There have been great advances in control engineering education recently and academics have put significant effort into creating resources for teaching and training. A discussion panel is organised on Wednesday afternoon to facilitate the sharing and exchanging of these resourses across the control community.

More than 250 papers by authors from 40 countries are scheduled for oral presentation in 40 sessions. The papers demonstrate the depth and breath of control research activities which spans from mechanical/electrical processes to biological and socio-economic systems. This book provides the titles, authors and the abstracts of all papers for convenient referencing.

While the Conference programme is the main core of activities, Glaswegians have a reputation for being warm hosts. The Organising Committee hope that the delegates and their guests enjoy their visit and have some fun while attending the ICC 2006 Conference.

 

Reza Katebi and John Howell

ICC 2006Program Chairs


 

ICC2006 Organizing Committee

Conference Chair:     David Murray-Smith, Bill Leithead

Industrial Chair:        Michael Grimble

Program Chair:          Reza Katebi, John Howell

LOC Chair:                Henrik Gollee

Secretariat:                Sheena Dinwoodie, Drew Smith, Sheila Campbell

 

ICC2006 International Program Committee

 

John O’Reilly

UK

Ali Khaki Sedigh

IR

Michael Sebek

CZ

Mogens Blanke

DK

Peter Gawthrop

UK

Joseph Bentsman

US

John Watton

UK

Denis Gillet

CH

Derek Atherton

UK

Ryszard Gessing

PL

Reza Katebi

UK

Decio Donha

BR

Marian Wiercigroch

UK

Chris Cox

UK

Sarah Spurgeon

UK

Nicos Karcanias

UK

David Clarke

UK

Thomas Holzhueter

DE

Eric Rogers

UK

Richard Stephens

UK

Roger Goodall

UK

Mike Spathopoulos

UK

Drago Matko

SI

Mincho Hadjiski

BL

Sauro Longhi

IT

Henrik Gollee

UK

Huang, Hsiao-Ping

TW

Pawel Majecki

UK

Tan Kok Kiong

SG

Sergio Castillo

UK

Raymond Hanus

BE

David Murray-Smith

UK

Lazlo Keviczky

HG

Bill Leithead

UK

David Stoten

UK

John Howell

UK

Steve Thompson

UK

Andrzej Ordys

UK

Sandy Veres

UK

 Lykourgos Petropoulakis

UK

Alessandro Astolfi

UK

Jonas Balderud

SW

Jonathan Love

UK

Leonardo Giovanini

UK

Paul Crossland

UK

Gerrit Molen

UK

Ulf Jeppsson

SW

Andy Clegg

UK

Ron J Patton

UK

Hao Xia

UK

Keith Burnham

UK

Yan Pang

UK

Robert Sutton

UK

Sergio Dominguez

UK

Douglas Leith

IE

Michael Grimble

UK

John Ringwood

IE

Barry Lennox

UK

Manus Henry

UK

Qing Song

SG

Stephen Ding

DE

Ramon Vilanova

UK

Mieczyslaw Brdys

UK

Dominic Diston

UK

Hong Wang

UK

Anthony Rossiter

UK

Pierre Borne

FR

Ali Koshkouei

UK

Alessandro Casavola

IT

Paul McKenna

UK

George Irwin

UK

Joaquim Comas

SP

Mahdi Mahfouf

UK

Amir Hussein

UK

Zbigniew Emirsajłow

PL

Hossein Javaherian

 US

Jurek Sasiadek

CA

Matt Macdonald

UK

Ebrahim Farjah

IR

Jus Kocijan

PL

Rolf Johansson

SE

Alberto Sanchez

EC

Nina Thornhill

UK

 

 

 



ICC 2006 Sponsors

 

Professional Engineering Publishing

John Wiley & Sons Ltd

IEEE UK & RI Industry Applications Chapter

Advanced Control Technology Club

Institute of Measurement and Control (IMC)

Institution of Engineering and Technology

Institute of Mechanical Engineering

University of Strathclyde

University of Glasgow

Engineering and Physical Science Research Council (EPSRC)

Greater Glasgow and Clyde Valley Tourist Board

United Kingdom Automatic Control Council (UKACC)

IET Scotland

 

 

 

University of Glasgow
Wiley Publishers Since 1807
 

 

 

 

 

 


 

 

 

 

 

 


 

EPSRC Postgraduate Workshop Programme

University of Strathclyde, Glasgow, UK

 

Monday 28 August 2006  Montrose Rm: R215, Royal College Building

08.30 -09.15

Welcome and Registration

09.15 -10.45

Linear Control in 2006   

Prof Roger Goodall University of Loughborough

10.45 1.15

Coffee

11.15- 12.15

Schroedinger’s Legacy and Industrialisation of Biology

Prof Peter Wellstead, Hamilton Institute

12.15- 13.30

Lunch

13.30 -15.00

System Modelling from Data                                              Computer Rm

Prof David Murray Smith, University of Glasgow

15.00 -15.15

Coffee

15.15– 16.45

Model Quality Evaluation    

Prof David Murray Smith, University of Glasgow        Computer Rm

17.00– 18.00

Predictive Control   

Prof Peter Gawthrop, University of Glasgow

19.00– 21.00

Poster/Discussion with Buffet   

Killearn Rm: R213, Royal College Building

 

EPSRC Postgraduate Workshop Programme - University of Strathclyde, Glasgow, UK

Tuesday 29 August 2006 Montrose Rm: R215, Royal College Building

09.00- 10.00

Control Theoretical Challenges in Systems Biology

Dr Eric Bullinger, Hamilton Institute     

10.00- 11.00

Nonlinear Control Practice      

Prof Sarah Spurgeon, Leister University

10.45- 11.15

Coffee

11.15–12.15

Automotive Applications of Control 

Dr Tom Shenton, Liverpool University

12.15–13.30

Lunch

13.30– 14.30

PID Control   

Dr Reza Katebi University of Strathclyde      

14.30– 15.30

Control in Renewable Energy Systems 

Prof Bill Leithead, University of Strathclyde 

15.30– 16.00

Coffee

16.00– 17.00

Rehabilitation Engineering    

Prof Ken Hunt, University of Glasgow

17.00–18.00

EPSRC ,

Dr Gareth Buchanan, EPSRC

18.30

ICC2006 Registration opens    Level 3 McCance Building

                         

18.30 Registration and Welcome Reception Level 3 McCance Building
Programme Overview

 


ICC2006: Wednesday 30th August 2006

0830-0900

Opening                                                                                                                           McCance1

0900-1000

WP: Constrained Control & Communications Resource Assignment in Coordinated Systems   Robert Bitmead, University of California, USA                                                              McCance1                                                                                  

1000-1015

Break

1015-1215

WA1 - Aerospace and Automotive Applications - 1                                                      McCance1

WA2 - Safety Critical and Fault Tolerant Systems ( Invited)                                         McCance2

WA3 - Control of energy systems                                                                                   McCance3

WA4 – Fault detection and diagnosis                                                                                     M403

WA5 - Control in computer networks and telecommunications                                            M405

WA6 - Analysis and design of hybrid systems                                                                      M408   

WA7 - Artificial neural networks in control                                                                         M409

1215-1400

Lunch Lord Todd Building

1400-1600

WB1 - Chemical and Petrochemical applications- 1                                                              M409

WB2 – Fuzzy systems and methods for control                                                              McCance2                                                                                     

WB3–Control of Rolling and manufacturing processes                                                 McCance3

WB4 - Aerospace and Automotive Applications - 2                                                              M403

WB5 - Real-time control                                                                                                         M408

 

WB6 - Enabling effective sharing of educational resources in control                          McCance1             

1600-1615

Break

1615-1815

WC1- Multivariable control - 1                                                                                       McCance1

WC2 - Chemical and Petrochemical Applications 2                                                       McCance2                       

WC3 - Control of electrical power systems                                                                    McCance3

WC4 – Robotics                                                                                                                     M403

WC5 - Predictive control – 1                                                                                                  M405

WC6 – System Modelling and simulation issues in control - 1                                             M408                     

 

WC7 - Aerospace and Automotive Applications - 3                                                              M409

1900

Civic Reception – Burrell Collection Museum – Please wait outside McCance Building

 

                                   

ICC2006: Thursday 31st August 2006

0900-1000

TP: Managing Competing Objectives In Control Systems Engineering Design

Peter Fleming University of Sheffield, UK                                                                    McCance 1                                                              

1000-1015

Break

1020-1200

TA1 - Robust control - 1                                                                                                 McCance1

TA2 - Nonlinear control systems - 1                                                                               McCance2

TA3 - Distributed and stochastic control                                                                        McCance3  

TA4 – Embedded, micro and software issue in control                                                          M405

TA5 - Biological control systems and biomedical applications of control                             M408

TA6– IET Scotland : Control Applications                                                                            M409                       

12.15

Transport to Glasgow University – Please wait outside McCance Building

1300-1400

Lunch Rm 334 James Watt Building, Glasgow University

1400-1730

TB1: IET Mini Symposium:  Advances in Predictive Control being driven by Industry   Rm 354                                             

TB2: IMechE Mini Symposium: Marine Systems                                                            Rm 427A                             

TB3: InstMC Mini Symposium: Control Concepts in Healthcare and Rehabilitation     Rm 427B    

1530-1600

Break

1540-1730

TB1: IET Mini Symposium: Advances in Predictive Control being driven by Industry  Rm 354                                              

TB2: IMechE Mini Symposium: Marine Systems                                                            Rm 427A                         

TB3: InstMC Mini Symposium: Control Concepts in Healthcare and Rehabilitation     Rm 427B    

1915

Conference Dinner Barony Hall, University of Strathclyde

                                       

 

 

                                               

                                                           

                                                           

                                                           

                                                           

                                                           

 

ICC2006: Friday 1st September 2006

0900-1000

FP: Bridging the Gap between Academia and Industry – A Power Generation Perspective  

George Oluwande, RWEnpower, UK                                                                                 Rm 354

1000-1015

Break

1015-1215

FA1 - Multivariable control - 2                                                                                           Rm 354

FA2 - Predictive control - 2                                                                                                 Rm355

FA3 - System modelling and simulation issues in control - 2                                             Rm 361

FA4 - Nonlinear control systems - 2                                                                                 Rm 427A

FA5 - Robust control - 2                                                                                                   Rm 427B

FA6 - Continuous control system analysis and design methods                                                        Rm 631

1215-1400

Lunch James Watt Building

1400-1540

FB1 - Control theory and Discrete Event Systems                                                              Rm 354

FB2 - System identification and parameter estimation methods in control                         Rm355

FB3 - Fault detection, supervision and control reconfiguration                                          Rm 361

FB4 - Control System Applications                                                                                  Rm 427A

FB5 - Marine and control applications                                                                             Rm 427B               

FB6 - Control of water supply and wastewater control                                                       Rm 631

1600-1615

Closing                                                                 James Watt Building

 

McCance1, MacCance 2, McCance3:      McCance Building, 16 Richmond Street, University of Strathclyde

M403, M404, M405, M409:                   James Weir Building, 75 Montrose Street, University of Strathclyde

 

Rm  334, 354, 355, 361, 427A, 427B, 631     James Watt South Building (A1), Engineering Way, Glasgow University

 

Barony Hall:                                          Rottenrow East, University of Strathclyde

Lord Todd:                                           Student Campus, University of Strathclyde

 

W: Wednesday 30th August

T: Thursday 31st August

F: Friday 1st September

 

A: Morning Session

B: Mid afternoon session

C: Late afternoon session

 

P: Plenary
ICC2006 Conference Program

 

Foreword  2

ICC2006 Organizing Committee  3

ICC2006 International Program Committee  3

ICC 2006 Sponsors 4

EPSRC Postgraduate Workshop Programme  5

18.30 Registration and Welcome Reception Level 3 McCance Building Programme Overview  5

Programme Overview  6

ICC2006 Conference Program   8

OPENING Wednesday 30th August         0830-0900 McCance1  15

Plenary: Constrained Control & Communications Resource Assignment in Coordinated Systems  0900-1000  15

COFFEE BREAK 1000-1015WA1 Aerospace and Automotive Applications – 1      1015-1215    McCance 1  15

WA1 Aerospace and Automotive Applications – 1    1015-1215    McCance 1  16

16 - Bias momentum satellite magnetic attitude control based on genetic algorithms  16

25  - Separation distance for robot motion control using super quadric obstacle potentials  16

63  - The challenges of civil aircraft engine control system development at Rolls-Royce   16

70  - Benefits of inverse model control of Rolls-Royce civil gas turbines  16

235 - Multi-System Multi-Physics Modeling for Aerospace Control Applications  16

240 - Stability-optimal control for planar unstable systems  16

WA2 Safety Critical and Fault Tolerant Systems (Invited)         1015-1215 McCance 2  17

14  - Predicting the impact of redundancy on performance in embedded control systems  17

68  - Functional safety: a practical approach for end-users and system integrators  17

120 - OPC and its strategies for redundancy   17

76  - The effect of diagnostic and periodic testing on safety related systems  17

121 - Principles of safety bus systems – part I 17

122 - Principles of safety bus systems - Part II 17

WA3 - Control of energy systems    1015-1215 McCance 3  18

31  - Adaptive sliding mode and fuzzy gain scheduling control   18

85  - Modeling and identification of a pem fuel cell humidification system    18

94  - Control strategy for polymer electrolyte membrane fuel cell systems  18

101 - Air supply control of a small pem fuel cell   18

211 - Disturbance rejection of a water-based floor heating system    19

WA4 – Fault detection and diagnosis     1015-1215 M403  20

27  - Discontinuous Observers for Nonlinear Time-Delay Systems  20

40  - Gas Transmission Network Observability   20

103 - Robot navigation using multiple sensor fusion of stochastic and deterministic estimation   20

168 - Actuator fault diagnosis using strictly positive real multiple-model system representation   20

210 - jpda-imm based particle filter algorithm for tracking highly maneuvering targets  21

220 - Modelling of Uncertain Function of State for Estimation and Control   21

WA5 - Control in computer networks and telecommunications     1015-1215 M405  22

29  - On An Improved Chaotic Shift Keying Communication Scheme   22

178 - A New Approach to the Robust Controller Design of AQM Routers for Internet TCP Protocol   22

213 - Partitioning and Invariance of AIMD Dynamics in Synchronised Networks  22

215 - Stability of Internet-based control systems with uncertainties and time-varying delay   22

245 - AIMD congestion control for generalized capacity constraints  22

WA6 - Analysis and design of hybrid systems     1015-1215 M408  23

22  - A Novel Optimal Probability Density Function Tracking Filter Design   23

23  - Bezier-Bernstein polynomial based Hammerstein model and identification algorithm    23

84  - Adaptive Compensation of Dynamic Friction Using a Linearised GMS Model   23

95  - A pole assignment Controller for Bezier-Bernstein polynomial based Hammerstein model   23

96  - H2 control for Networked Control Systems in Presence of Random.. Delay and Data Dropout  23

202 - Robust Semi-Explicit Model Predictive Control for Hybrid Automata   23

WA7 - Artificial neural networks in control     1020-1200 M409  24

90  - Engine air path fault diagnosis using adaptive neural classifier   24

232 - Model-based Data Clustering Guided by Adaptive Neurofuzzy   24

252 - A novel MV based multiple-controller incorporating a fuzzy-logic switching supervisor   24

37  - Solving cross-coupling problem with artificial neural network for a dual-axes motion platform    24

LUNCH  1215-1400  LORD TODD BUILDING   24

WB1 - Chemical and Petrochemical Applications – 1      1400-1600   M409  25

48  - Controllability and resiliency aspects of gravity three-phase horizontal separators  25

61  - application of co-integration testing method to condition monitoring and FD of non-stationary.. 25

74  - Online estimator for distillation column using ANN   25

164 - system identification of a falling-film evaporator in the dairy industry   26

114 - Integrated control of product quality for batch processes with model uncertainties  26

142 - Using the Available Control Toolset to best effect on a Chemical Plant  26

WB2 - Fuzzy systems methods for control     1400-1600   McCance 2  27

13  - A modified proportional navigation based FL controller for a ….car-like robot  27

62  - Bacterial foraging techniques for solving EKF-based slam problems  27

77  - Application of svm-based fuzzy inference system for image denoise   27

134 - Indirect adaptive fuzzy control for nonlinear systems with online modelling   27

251 - A system with pseudo-derivative feedback control  for short-term greenhouse operation   27

WB3 – Control of Rolling and manufacturing processes       1400-1600 McCance 3  28

56  - Speed control of an experimental hot-rolling mill using generalized predictive control   28

65  - A chance-constrained robust MPC and application to hot rolling mills  28

173 - Extrusion viscosity modeling   28

183 - Fault diagnosis for rolling element bearings using sliding mode techniques  28

224 - Stability analysis tool for tuning unconstrained decentralized model predictive controllers  28

81 - Optimal design and control of CPU heat sink processes  29

WB4 - Aerospace and Automotive Applications – 2     1400-1600 M403  30

125 - Optimal trajectory planning and LQR   30

140 - Robust Missile Autopilot Design using Dynamic Inversion and PI Control   30

160 - Some Experiences with FPGA Controllers  30

190 - Direct Method for Real-Time Prototyping of Optimal Control   30

192 - Fault accommodation based on adaptive NF networks for to microwave landing system    30

231 - Reconfigurable controller design for operational safety in satellite formation flying   30

WB5 - Real-time control     1400-1600 M408  31

102 - H∞ Control of Networked Control Systems  31

128 - Development of an Active Noise Controller Using TMS320VC5510 Starter Kit  31

154 - Reconfigurable TS FLC for Nonlinear Systems with Communication Time Delays ..Elements  31

157 - Digital High Speed Hydraulic Servo Controller   31

230 - Implementation of Kalman filter on ball and beam experiment using LabVIEW    31

28  - Realization of FPGA/CPLD based servo controller for MBDCM    32

WB6 - Enabling effective sharing of educational resources in control  1400-1600        McCance1  32

COFFEE BREAK 1600-1615  32

WC1 - Multivariable control – 1     1615-1815 McCance 1  33

7   - Performance assessment for control of MIMO process  33

17  - On-line input/output pairing for linear and nonlinear multivar’le plants using neural network   33

52  - Suboptimal triangular controller design methodology for full MIMO stable systems  33

105 - Robust stability analysis for indirect neural adaptive control   33

115 - Induction motor control by individual channel analysis and design   33

162 - Robust active vibration control of rail vehicle pantograph   33

WC2 - Chemical and Petrochemical applications – 2     1615-1615 McCance 2  34

151 - Self Optimizing Control of an Evaporation Process under Noisy Measurements  34

152 - Control Structure Selection for the Alstom Gasifier Benchmark Process Using GRDG Analysis  34

163 - Dynamic modeling for control of batch fluidized bed dryers  34

175 - Batch monitoring and control: a comparison of two approaches  34

177 - A fuzzy approach to active surge control of centrifugal compressors  34

191 - Simultaneous design of parameters and structure; a multi-loop PID controller case study   35

WC3 - Control of electrical power systems     1615-1815 McCance 3  36

8   - Recursive harmonic identification in active power filters. 36

88 - Set-points reconfiguration in networked multi-area power systems  36

118 - Energy-shaping-based adaptive coordinated control via direct mechanical damping assignment  36

127 - Application of ANN low frequency oscillations detection in IRAQI national power system    36

195 - Control of period doubling bifurcations in dc-dc converters  36

223 - A novel architecture for power networks with distributed generation - concept outline   36

WC4 – Robotics    1615-1815 M403  37

46  - Multiple robot coordination for target tracking using semi-cooperative Stackelberg equilibrium    37

55  - Neural network based learning control of a puma 560 manipulator   37

73  - Nonlinear control system design for construction robots using state dependent … models  37

109 - Dynamic neural network identification and control under unmeasurable plant states  37

218 - A mathematical model of a lego differential drive robot  37

WC5 - Predictive control – 1     1615-1815 M405  38

60  - Robust Range Control for LTI Systems with Bounded Disturbance Input  38

66  - Base Vectors for Solving Partial Differential Equations  38

72  - MPC  using a non-minimal state space form with an integral-of-error state variable   38

131 - Robust MPC algorithm with fast on-line model selection   38

132 - Enlarging Feasible Regions for Interpolation Methods  38

158 - Model Predictive Control Design for Industrial Applications  38

WC6 - System modelling and simulation issues in control – 1     1615-1815   M408  39

138 - Modelling and suspension parameter optimisation of a high speed MAGLEV train   39

47  - Stable iterative learning control using cubic splines  39

49  - Control oriented frequency dependent model validation   39

64  - A feedback structure with higher order derivatives in regulator   39

69  - An algebraic approach to nonlinear bond graphs  39

241 - Optimised intelligent tilt controller scheme using genetic algorithms  39

WC7 - Aerospace and Automotive Applications – 3    1615-1815    M409  40

104 - Chassis Dynamometer Torque Control System Design by Direct Inverse Compensation   40

111 - Low order MIMO controller design for an engine disturbance rejection problem    40

117 - Diagnosis of Cam Profile Switching of an Automobile Gasoline Engine   40

225 - Non-linear Identification of a Steer-by-Wire System    40

19.00-21.00 Civic Reception:  Burrell Collection: Bus at Graham Hills Bldg, 50 George Street 40

Thursday 31st August 2006  41

Plenary: Managing Competing Objectives In Control Systems Engineering Design      0900-1000 McCance 1  41

COFFEE  BREAK 1000-1015  41

TA1 - Robust control – 1    1020-1200 McCance 1  42

145 - Fault isolation in uncertain systems via robust H-infinity filtering   42

198 - Robust Stability Analysis Using Interval Constraint Solving   42

216 - Cascade control using 2dof K-B parameterisation   42

219 - Robust linear discrete-time adaptive control with Lyapunov stability   42

233 - An LMI approach to automatic loop-shaping of QFT controllers  42

TA2 - Nonlinear control systems – 1    1020-1200 McCance 2  43

222 - Experimental study on Attitude Control System Design of a Helicopter Experimental System    43

226 - Asymptotic Rejection of Periodic Disturbances …s in Nonlinear Output Feedback Systems  43

243 - A constant trace algorithm for local adaptation of RBF models  43

250 – Improve’t of temporal performance of a NL missile autopilot by nonconvex …optimization   43

244 Robust Model Following Load Frequency SMC Based on Uncertainty and Disturbance Estimator   43

TA3 - Distributed and stochastic control     1020-1200 McCance3  44

10  - An analysis on distributed dynamic Scheduling Method for CAN-based network control system    44

89 - An integrated approach to wireless feedback control   44

217 - Implementation of PID controller with Send-On-Delta sampling   44

71 -Minimum entropy control  .. tracking errors for … stochastic systems using yula parameterization   44

TA4 – Embedded, micro and software issue in control     1020-1200 M405  45

234 - Input command shaping for a stick-slip piezoelectric micro positioning stage   45

19  - Does a “simulation first” approach reduce the effort involved in …embedded control systems?  45

106 - Exploring the links between software architecture and pid … in embedded control systems  45

161 - VPDM: enabling framework for secure distributed whole power plant modeling   45

248 – Rapid prototyping of hybrid control systems  45

TA5 - Biological and biomedical applications of control      1020-1200 M408  46

108 - Modelling of an Anaesthetic Circle System    46

147 - Control of a modular upper limb prosthesis  46

182 - Instabilities in nitric oxide behaviour due to a flow feedback mechanism    46

228 - Towards organ immobilization via predictive bilinear model based control ….  support system    46

239 - Multivariable PID tuning of activated sludge processes  46

TA6 – IET Scotland: Control Applications     1020-1200 M409  47

1020: 1045 Optimising the Human-Machine Interface for Abnormal Situation Management  47

1045:1110 Line-of-Sight stabilisation for tracked vehicles  47

1110:1135 Improving Paper Machine Performance Through Dynamic Modelling   47

1135:1200 The History and Future of Control in Wind Turbines  47

12.15 Transport to Glasgow University – Please Wait outside McCance Building  47

13.00 -1400 Lunch at Glasgow University, James Watt Building, Reception Area and Rm 334  47

TB1: IET Mini Symposium: Advances in Predictive Control being driven by Industry:  Rm 354 Stevenson Lecture Theatre  48

14.00       Recent Developments in Predictive Control   48

14.30       Applying DeltaV MPC to Furnace Control   48

15.00       Advanced Control and Real Time Optimization for Power & Industrial Energy   48

15.30        Tea/Coffee Break   48

16.00       Integration of Adaptive Predictive Expert Control via OPC in Modern Control Systems  48

16.30       Improving MPC Robustness using Statistical Process Monitoring   48

17.00       Graphical Based Model Predictive Control Design for Industrial Applications  48

17.30        Discussion or Close   48

TB2: IMechE Mini Symposium:  Marine Systems                                               1400-1730  Rm 427A   49

14.00       Design of an unmanned catamaran with pollutant tracking and surveying capabilities  49

14.30       Techhnology development for steering and stabilisation   49

15.00       Decentralised navigation and control for an underwater vehicle flock   49

15.30        Tea/Coffee Break   49

16.00       Autosub collision avoidance from a systems perspective   49

16.30       Distributed Control of Marine Propulsion Systems  49

17.00       Active Control of Vibration in Marine Systems  49

17.30        Discussion or Close   49

TB3: InstMC Mini Symposium: Control Concepts in Healthcare and Rehabilitation                1400-1730 Rm 427B  50

14.00       Predictive Tracking for Respiratory Induced Motion Compensation in Adaptive Radiotherapy   50

14.30       Control Strategies for a Multiple Degree of Freedom Prosthetic Hand   50

15.00       Restoring Function and Enabling Exercise in Spinal Cord Injury; 50

15.30       Tea/Coffee Break   50

16.00       Iterative Learning Control as an Intervention Aid to Stroke Rehabilitation   50

16.30       Control and Data Analysis Tool for a Novel FT-NIR Spectrometer   50

17.00       Control of Cell Proliferation by an Anti-Cancer Agent: Modelling, Validation & Sensitivity   50

17.30       Discussion and Close   50

CONFERENCE DINNER 1915-2300 BARONY HALL, University of Strathclyde  50

Friday 1st September 2006  51

Plenary: Bridging the Gap between Academia and Industry – A Power Generation Perspective         09.00-10.00 Stevenson Lecture Theatre Rm 354  51

COFFEE BREAK 1000-1015  51

FA1 - Multivariable control – 2                                                          1015-1215  Rm 354  52

133 - A global approach to feasibility in linear MPC   52

143 - Frequency weighted L2 gain optimisation for improved anti-windup performance   52

129 - Complete controllability of multiple input discrete-time linear systems with positive controls  52

172 - Linking nonlinear steady-state and target set-point optimization for model predictive control   52

227 - A novel design approach in multivariable QF design with tracking error spec.. 52

229 - Synchronous Generators Control: from the Traditional Perspective to the ICAD Framework   52

FA2 - Predictive control – 2                                                    1015-1215  Rm 355  53

176 - Design of a networked predictive controller for an inverted pendulum    53

179 - Comparison between predictive norm optimal and norm optimal iterative learning control   53

187 - Testing Rapid MVC - a real-time predictive control package for fast systems  53

212 - Robust Receding Horizon Control with an Expected Value Cost  53

237 - Game approach to distributed model predictive control   53

249 - Comparison of optimal control strategies for supervisory and regulatory level   53

FA3 - System modelling and simulation issues in control – 2           1015-1215  Rm 361  54

107 - HIL simulation technique for non-model-based control of DC servo-drive with friction   54

126 - The Performance of High-Gain Residuals for Detecting Faults in a Mass-Spring-Damper.. 54

36  - Motion model employment using interacting motion model algorithm    54

167 - Transfer Function of Transformer Winding for Frequency Response Analysis …Wave Theory   54

169 - Modelling and identification of interzone behaviour in high temperature industrial furnaces  54

208 - Mathematical modeling of a single link flexible manipulator   54

FA4 - Nonlinear control systems – 2                                                          1015-1215   Rm 427A   55

3   - Resilient Control of Non-linear Discrete-Time State-Delay Systems  55

24  - Using harmonic phases for identifying Wiener-Hammerstein systems  55

26  - Extension of SVD-DFT analysis for a class of non-linear systems  55

92  - An application of Gaussian process models for control design   55

124 - Nonlinear adaptive control using eng-genes neural networks  55

201 - Limiting behaviour in parameter optimal iterative learning control   55

FA5- Robust control – 2                                                                            1015-12.15  Rm 427B  56

30  - On the applicability of the Diophantine-equation .. approach for designing TDOF …systems  56

44  - LFT-based … robust stabilization …with use of h∞-bounded nlc factor uncertainty description   56

45  - Applications of inverse simulation within the model-following control structure   56

80  - Reliable guaranteed cost control of linear descriptor time-delay systems  56

87  - Robust stabilization for uncertain time-varying dynamical systems with a state delay   56

144 - Comparison of nanometre motion control techniques for vacuum air bearings  56

FA6 - Continuous control system analysis and design methods                 1015-1215   Rm 631  57

57  - On Pseudo-Differential Calculus for Distributed-Parameter Control Systems  57

99  - On flat phase controllers  57

100 - Controllability and bond graph ring   57

165 - Simple analytical rules for PI-PD controllers to tune integrating and unstable processes  57

185 - Achieving standard form responses using state feedback   57

189 - Minimal transient energy growth for plane Poiseuille flow    57

LUNCH  1215-1400 James Watt Building Reception AreaFB1 - Control theory and Discrete Event Systems                                  1400-1540  Rm 354  57

FB1 - Control theory and Discrete Event Systems                                  1400-1540  Rm 354  58

53  - Decentralized Cooperative H∞ Robust Control for Linear Large-Scale System    58

86  - Reduction of large scale systems using Henkel norm approximation   58

197 - Optimal control in a Hamilton’s class of discrete systems  58

32  - Adaptive Multi-periodic Repetitive Control for a class of Discrete-time Strictly Proper Systems  58

113 - Design of discrete-time ride control system    58

FB2 - System identification and parameter estimation methods in control    1400-1540  Rm 355  59

9   - Research on detection algorithms of time-varying control effectiveness  59

184 - Multi-frequency scale Gaussian regression for noisy time-series data   59

209 - Coupling of the control and identification toolboxes with application in structural dynamics  59

34  - Introduction of the human operator into the automation cycle with the GEMMA guide   59

186 - Filter Design to the Optimal Weighted H_/H_infinity Fault Detection Problem    59

FB3 - Fault detection, supervision and control reconfiguration                  1400-1540  Rm 361  60

98  - Robust NL Actuator Fault Diagnosis for Uncertain LS Subjected to State Time-varying Delays  60

153 - Application of Novelty Detection for Fleet-Wide Monitoring of Power Plants  60

159 - A fault detection method using multi-scale kernel principal component analysis  60

193 - Fault detection for nonlinear systems with multiple periodic inputs  60

242 - Dynamic model development and validation for an aircraft fuel test-rig   60

FB4 - Control System Applications                                                       1400-15.40  Rm 427A   61

181 - Size related performance limitations on wind turbine control performance   61

236 - Modeling and Control of a Highly Redundant Actuator   61

136 - The Ultimatum Game: A Study in Social Systems Control   61

156 - Hotel yield management as a price control problem    61

137 - Supervisory control of communicating extended finite state machines  61

97  - Re-adhesion control based on wheel set dynamics in railway traction system    61

FB5 - Marine and control applications                                          1400-1540  Rm 427B  62

180 - Modelling and Control of an Unmanned Surface Vehicle for Environmental Monitoring   62

194 - Six DOF Robust Control   62

199 - A fuzzy logic based multi-sensor navigation system for an unmanned surface vehicle   62

238 - Rudder roll stabilization with nonlinear gmv control   62

148 - Real-Time Path-Planning Optimisation Algorithm for Obstacle Avoidance   62

FB6 - Control of water supply and wastewater control              1400-1540  Rm 631  63

112 - Optimal operation of water distribution systems under full range of operating scenarios  63

166 - Nonlinear Predictive Control of a Wastewater Model   63

196 - EKF versus extended h-infinity filter – application to activated sludge processes  63

253 - Guidance law using augmented trajectory-reshaping command …    63

254 - Design of a hybrid fuzzy logic controller for a single link flexible manipulator …algorithms  64

116 - Multivariable modeling and control of a wastewater benchmark system by PIP Control design   64

Closing Reception 1600-1630 James Watt Building Reception Area  64

Authors Index  65

University of Strathclyde – Campus Map  70

Parking  71

Travel Information  71

Access By Air   71

Access By Rail   71

Access by Coach   71

Access by Car   71

Travelling within Glasgow    72

Parking   72

Travel to Glasgow University  72

Glasgow University Map and Guide  73


OPENING Wednesday 30th August                                          0830-0900 McCance1

 

Plenary: Constrained Control & Communications Resource Assignment in Coordinated Systems  0900-1000 

 

Robert Bitmead, Jun Yan and Keunmo Kang

 

Department of Mechanical & Aerospace Engineering, University of California, San Diego, USA

 

Chair: David Owen

 

Coordinating autonomous systems, such as vehicles in swarms or nodes in networks, interact via the exchange of information through mutual sensing or through deliberate communication. As the network of coordinated systems increases in the number of subsystems or in connectivity, natural limits on the available bandwidth of communication need to be imposed. Without this, the coordinated system does not scale properly and the interaction burden becomes unmanageable. Our aim in this paper will be to explore the application of ideas from Model Predictive Control to the coordination of autonomous systems including the allocation of communication resources. Central ideas involve; interaction via constraints imposed on neighbors' trajectories, the tightening of constraints to reflect state uncertainty or covariance, and the assignment of communications resources to manage this uncertainty. 

Linear matrix inequality methods are applied to develop a solution which links control objective, performance, and communication limits.

 

 

COFFEE BREAK 1000-1015
WA1 Aerospace and Automotive Applications – 1       1015-1215    McCance 1

Chairs: Andrew Thomas Shenton and Jonathan Holt

 

16 - Bias momentum satellite magnetic attitude control based on genetic algorithms

Jianting Lv, Guangfu Ma, Dai Gao, Harbin Institute of Technology, Harbin

 

To solve the magnetic attitude control problem of a bias momentum satellite, a controller design method based on genetic algorithms (GAs) is addressed. The pitch loop of the satellite is controlled by a bias momentum wheel, while the roll/yaw loops are stabilized by two magnetic torques, which are installed along their respective axes. Momentum unloading is achieved through the two magnetic torques. Sum of squares of three axes attitude errors and angular velocity errors via appropriate weighting serves as objective function that used in GA optimization, and the minimization of objective function is our performance index. Simulation results demonstrate that high pointing and stability accuracy can be obtained using the proposed optimized control scheme.

 

25  - Separation distance for robot motion control using super quadric obstacle potentials

Ahmed Badawy, Colin McInnes,  University of Strathclyde, UK 

 

The minimum separation distance between two objects (manoeuvring object and obstacle) is crucial in the application of potential field algorithms to autonomous robot motion control. The distance calculation is essential in both goal potential and obstacle potential estimation. The minimum distance between a 3D point and a super quadric surface is computationally very expensive to obtain. Consequently, many alternative, approximate definitions were investigated as an alternative. In this paper, the separation distance between two manoeuvring 3D objects will be discussed. Unlike previous work, position, orientation, and body dimensions will be taken into consideration for the distance calculation. Accurate distance calculation helps in decreasing the obstacle potential strength and providing a larger available free workspace. Consequently, the more accurate distance calculation available, the less manoeuvring is required.

 

63  - The challenges of civil aircraft engine control system development at Rolls-Royce

Jonathan E. Holt, Systems and Dynamics Specialist, Control Systems, Rolls-Royce plc, Derby, UK

The Rolls-Royce civil aero-engine control system development community faces ever-increasing levels of challenge. System complexity, certification requirements and the levels of reliability expected by customers are continually increasing, whilst development timescales reduce. A typical control system, product lifecycle and the Rolls-Royce development process are presented in overview. Some specific challenges are reviewed; together with approaches Rolls-Royce has adopted to overcome them. 

 

70  - Benefits of inverse model control of Rolls-Royce civil gas turbines

Cerith Davies, Jonathan E. Holt, Ian A Griffin, Rolls-Royce plc, Derby, University of Sheffield, UK

 

Rolls-Royce Civil Aerospace has historically used linear, gain-scheduled proportional-integral (PI) compensation for control of gas turbine fuel flow. Engine dynamics vary with flight and power conditions, and a lengthy design and verification process is required to meet the specification for all conditions. This paper reports a feasibility study that has allowed the core linear PI compensation to be replaced with non-linear inverse model control. The inverse model controller minimises dependence against engine power level, removes the dependence against altitude, and reduces the cost of downstream software verification. The controller will run for the first time in February 2006 on the Rolls-Royce Trent 1000 engine. 

 

235 - Multi-System Multi-Physics Modeling for Aerospace Control Applications

Dominic Diston, University of Manchester, UK

Computational modelling is increasingly important in aerospace programmes as organisations continue to develop a common approach to engineering design and analysis. There is particular interest in expanding the scope of CAD/CAE integration to encompass systems architectures, dynamics and control. With reference to an aircraft fuel system, this paper summarises an appropriate modelling philosophy and describes some of the main issues confronting the development of future generations of integrated control systems. It is argued that the successful deployment of new control methodologies is now critically dependent on the availability of multi-system multi-physics models, with wide coverage of operational factors and environments and with provision for performance-based simulation and simulation interoperability.

 

240 - Stability-optimal control for planar unstable systems

Max Demenkov, De Montfort University, UK

We consider the problem of stabilizing exponentially unstable linear systems with saturating actuators. For planar systems with both poles exponentially unstable and multiple control inputs, we provide a geometric insight into how to construct saturated stabilizing linear state feedback so that to maximize a domain of attraction of a closed-loop system. The proposed LMI-based design can be easily applied to higher order systems with two exponentially unstable poles. Despite its simplicity, the case considered is of great importance in aerospace applications.


WA2 Safety Critical and Fault Tolerant Systems (Invited)         1015-1215 McCance 2

Chairs: Josef Boercsoek and Michael Schwarz

 

14  - Predicting the impact of redundancy on performance in embedded control systems

Michael Short and Michael Pont, Embedded Systems Laboratory, University of Leicester, Leicester, UK

 

Many safety-related and safety-critical control systems employ redundant hardware in order to improve fault tolerance and overall reliability.  However, in an embedded system, any increase in hardware redundancy levels is likely to alter the timing behaviour of key tasks, and thereby lead to changes in control behaviour.  In the study described in this paper, we investigated the extent to which the performance degradation (PD) method (Yook et al., 2001, Int. Journal of Control 74, pp. 58-76) could be used to predict the changes in control performance arising from the addition of redundant hardware in an automotive control system.  In total, nine different system designs were assessed and compared using a hardware-in-the-loop testbed.  We conclude that the PD method can provide useful guidance to developers of embedded control systems, but suggest that further work is required to improve the quality of the predictions made. 

 

68  - Functional safety: a practical approach for end-users and system integrators

TINO VANDE CAPELLE1, HIMA Paul Hildebrandt GmbH + Co KG, Brühl, GERMANY

MICHEL HOUTERMANS, Risknowlogy, Brunssum, THE NETHERLANDS

The objective of this paper is to demonstrate through a practical example how an end-user should deal with functional safety while designing a safety instrumented function and implementing it in a safety instrumented system. The paper starts with explaining the problems that exist  in safety systems. After understanding the problems the paper takes the reader from the verbal description of a safety function through the design of the architecture, the process for the selection of safety components, and the role of reliability analysis. After reading this paper the end-users understands the practical process for implementing the design of safety instrumented systems without going into detail of the requirements of the standard.

 

120 - OPC and its strategies for redundancy

Pavan Kumar Pendli, Vadim Gorbatchev, Michael Schwarz, Josef Boercsoek

University of Kassel, Computer architecture & System programming, Germany

In the earlier days, providing seamless connectivity for communication and exchanging of information between various process control hardware devices and software applications has become a challenging task and advantageous. The application developers were need to develop different drivers for each device and more over much greater effort was to be placed on the management of the network architecture. A CORBA-based standard DAIS (Data Acquisition for Industrial Systems) and Microsoft’s windows platform-based OPC/DCOM (OLE for Process Control / Distributed Component Object Module) are the two major middleware technologies developed to solve the above problems. Because of the predominance of Microsoft’s windows its platform based OPC/DCOM is widely used and accepted.  This paper presents an introduction to OPC, OPC specifications, OPC architectures, OPC strategies for redundancy and OPC benefits.

 

76  - The effect of diagnostic and periodic testing on safety related systems

Wolfgang Velten-Philipp, TUV Rheinland,  Germany -  Michel Houtermans, Risknowlogy, Brunssum, the Netherlands

The purpose of this paper is to show the effect online diagnostic and periodic proof testing have on the performance of the safety function in terms of the PFD. For three different architectures the influence of the diagnostic coverage, the proof test coverage, and the proof test interval on the PFD are determined. A performance indicator is used to express this influence and show the effect.

 

121 - Principles of safety bus systems – part I

Josef Boercsoek, Schwarz M.H., HIMA GmbH+CoKG, Brühl, Germany - Holub P, University of Kassel

 

This paper describes the requirements and specifications to be considered and fulfilled to design safety bus systems. Modern distributed control systems are connected via bus systems, and need effective and uninterrupted communication between all bus stations. Therefore, it is necessary that these communications are fault tolerant and safe. Especially for safety related systems, additional safety layers are required to fulfil these requirements. In a safety related application it is important to understand that the safe protocol alone cannot fulfil this requirement without two safe hardware ends (source node and destination node). Only the conjunction between safety related protocol and safety related hardware nodes can fulfil the requirements for safety related bus systems.

 

122 - Principles of safety bus systems - Part II

Josef Boercsoek, Ugljesa E, Holub P, HIMA GmbH+CoKG, Brühl, Germany, University of Kassel

 

This paper is the second part of principles of safety bus systems. In the first part the requirements and specifications were detailed to be considered and fulfilled to design safety bus systems. The second part introduces data integrity in more detail and compares mathematically different architectures of safety-bus-systems.

 


WA3 - Control of energy systems         1015-1215 McCance 3

Chairs: Robert Shorten and Jus Kocijan

31  - Adaptive sliding mode and fuzzy gain scheduling control

Guolian Hou, J. H. Zhang, Department of Automation, North China Electric Power, China
Jihong Wang, Q H Wu, University of Liverpool, UK

 

The paper presents a novel adaptive fuzzy sliding mode control strategy (AFSMC) for maintaining steam temperature in power plants. The AFSMC consists of a learning algorithm to tune the parameters of a sliding-mode control (SMC) and fuzzy gain scheduling integral control to compensate system offsets. The performance index for the learning algorithm is constructed by the switching variables derived from a sliding mode control and a gradient algorithm is designed to minimise the performance index to achieve optimal control. The AFSMC design does not require the detailed system information and can work in adaptation in a varying environment. The new control strategy is developed for the superheated steam temperature cascade control but it can be applied to other nonlinear systems. Simulation results show that the controlled system has achieved not only satisfactory stability, accuracy and fast response but also great robustness and smoothness of control performance, within a wide range of operation conditions

 

85  - Modeling and identification of a pem fuel cell humidification system

Xian-Rui Deng, Chinese Academy of Sciences, China                   Guo-Ping Liu, University of Glamorgan, UK
Xiao-Chun Wang
, National Research council, Canada                  Min Tan, Chinese Academy of Sciences, China

 

A theoretical model of a humidifier of Proton Exchange Membrane (PEM) fuel cell systems is developed and analyzed first in this paper. The model shows that there exists a strong nonlinearity in the system. Then, the system is identified using a wavelet networks method. To avoid the curse-of-dimensionality problem, a class of wavelet networks proposed by Billings is employed. The experimental data acquired from the test bench are used for identification. The one-step-ahead predictions and the five-step-ahead predictions are compared with the real measurements, respectively. It shows that the identified model can effectively describe the real system.

 

94  - Control strategy for polymer electrolyte membrane fuel cell systems

Ali Abul Hawa, Munzer Ebaid,  Fateh Bhinder, Centre for Applied Industrial Research (Jordan), University of Hertfordshire (UK)

 

The polymer electrolyte membrane (PEM) fuel cell is an ideal prime mover to replace the internal combustion engine, but there are two interrelated control problems that must be resolved before it can be accepted widely for automotive power trains. One is the matching of the fuel cell output power to the power required by the application; this involves control over the fuel cell. The second is the matching of the voltage and/or the current to the application requirements which involves the control of a power conditioning unit (PCU). Rapid variations of load that a fuel cell cannot meet because of its inherently low transient response are dealt with by means of an energy storage device (ESD).  The response of fuel cells to transient variations in demand tends to be poor because it depends on the regulation of pressure, flow rate of air and hydrogen. In addition it is necessary also to manage heat and water produced as a result of electrochemical reaction. This paper deals with the complex problems of controlling a fuel cell system to deal with the steady state and transient variations of load and/or speed. In this paper, a control strategy is described to deal with these issues.

 

101 - Air supply control of a small pem fuel cell

Yingfei Xiong, Min Tan,  Institute of Automation of the Chinese Academy of Sciences, China
Guo-Ping Liu
,  School of Electronics, University of Glamorgan, UK  Xiaochun Wang,  National Research Council, Canada

 

In this paper, a nonlinear model of describing the dynamic behaviour of the cathode flow system of a small PEM fuel cell is firstly presented and then the model is linearised around the nominal operating point. Based on this linearized model, the Linear Quadratic Regulator optimal control method is applied to design the state feedback controller for realizing the control of the cathode gas flow and pressure. Simulation results show that this method can effectively balance the two control objectives: maintaining the oxygen excess ratio and keeping the change of the cathode gas pressure within the allowed range of the system when the load is changed. Finally, a control system based on an ARM microprocessor and visual supervisory and control configuration software is designed to realize the control algorithm mentioned above.

 

 

 

 

 

 

 

 

 

211 - Disturbance rejection of a water-based floor heating system

Honglian Thybo,  Lars FS Larsen, Claus Thybo, Danfoss A/S, HE-AT, Denmark

 

The objective of this study is to propose a control scheme that aims at increasing the control performance of a water-based floor heating system with a large thermal capacity. Experience shows that although floor heating is preferred due to the comfort of the warm floor, the slow control dynamics decreases the overall customer satisfaction. This paper analyzes the disturbance rejection problem and proposes a dynamic feed-forward scheme, aimed at rejecting the outdoor temperature disturbance. The proposed control scheme is validated using simulation and experimental results.


 

WA4 – Fault detection and diagnosis   1015-1215 M403          

 

Chairs: Leonardo Giovanini and Stephen Billings

 

27  - Discontinuous Observers for Nonlinear Time-Delay Systems

Ali Koshkouei, Keith Burnham, Coventry University, UK

This paper presents the problem of nonlinear observer design for a class of time-delay nonlinear systems with uncertainty.  The nonlinearity of this class of systems has to satisfy the Lipschitz condition whilst the uncertain term is a bounded function.  Various performance indices are analysed to test the stability of the error system when all nonlinear terms satisfying the Lipschitz condition.  A discontinuous observer for the system in the presence of a time-dependent uncertainty based upon the sliding mode techniques is designed to yield feedforward compensation input to stabilize the error estimation system.  The delays are not constant but they are bounded with bounded derivatives.  A sufficient condition is required to ensure the stability of a nonlinear observer for systems with uncertainties.

 

40  - Gas Transmission Network Observability

Leila Badpa, Amirkabir University, Iran

 

This paper presents an efficient method for dealing with the problems of topological observability in steady-state natural gas transmission networks. In the practical world, these type of instances are very large, in terms of the number of decision variables. In this paper, we present a study of the properties of gas pipeline networks, and exploit them to develop a technique that can be used to reduce significantly problem dimension, without disrupting problem structure. The correctness of this method is established by the lemmas and theorems provided in the text. The proposed method has been successfully applied to a real-life gas transmission network.

 

103 - Robot navigation using multiple sensor fusion of stochastic and deterministic estimation

Immanuel Ashokaraj, Antonios Tsourdos, Peter Silson, Brian White, Cranfield University - DCMT, UK

This paper describes a multiple sensor fusion approach in which a sensor based navigation scheme needs to fuse a stochastic robot position estimate from an extended Kalman Filter (EKF) with a deterministic robot position estimate from an Interval Analysis (IA) algorithm. An EKF is used to estimate the robots position using the inertial sensors and encoders. When land marks are present, the ultrasonic sensor measurements are processed using an IA algorithm to get an interval robot position estimate. In order to obtain a better estimate for the robot position both deterministic and stochastic estimates need to be used via a data fusion approach. Thus there is a need to study how to fuse the robot position estimate having a Gaussian distribution (from EKF) with a robot position estimate that has a uniform distribution (from IA). This is accomplished here by using the Box-Muller transform to transform the interval robot position estimate having a uniform distribution to a real number robot position with a Gaussian distribution and giving that as a measurement to the EKF to obtain a fused estimate of the robot position.

 

168 - Actuator fault diagnosis using strictly positive real multiple-model system representation

David Blake, Martin Brown, University of Manchester, UK

 

This paper considers fault diagnosis for nonlinear, deterministic, discrete-time, SISO processes. By comparing the interpolated output of a multiple-model representation of the nonlinear process with the interpolated output of a multiple-model bank of observers, residual signals for use in fault diagnosis may be found. Ensuring the error dynamics are always strictly positive real, simple adaptive updating of the fault estimate shows convergence to an actuator fault. The asymptotic convergence of the fault diagnosis and the global strictly positive real error dynamics are shown through the feasibility of linear matrix inequalities.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

210 - jpda-imm based particle filter algorithm for tracking highly maneuvering targets

Mohand Saïd DJOUADI, Yacine MORSLY,Ecole Militaire Polytechnique, Algeria
Daoud BERKANI,
Ecole Nationale Polytechnique, Algeria

 

In this paper, we present a filtering algorithm to perform accurate estimation in jump Markov nonlinear systems, in case of multi-target tracking. With this paper, we aim to contribute in solving the problem of model-based body motion estimation by using data coming from visual sensors. The Interacting Multiple Model (IMM) algorithm is specially designed to track accurately targets whose state and/or measurement (assumed to be linear) models changes during motion transition. However, when these models are nonlinear, the IMM algorithm must be modified in order to guarantee an accurate track. In order to deal with this problem, the IMM algorithm was combined with the Unscented Kalman Filter (UKF) [8]. Even if the later algorithm proved its efficacy in nonlinear model case; it presents a serious drawback in case of non Gaussian noise. To solve this problem we propose to substitute the UKF with the Particle Filter (PF). To solve the problem of data association, we propose the JPDA algorithm. The later is then combined with the IMM-PF algorithm; the derived algorithm is called JPDA-IMM-PF.

 

220 - Modelling of Uncertain Function of State for Estimation and Control

Tomasz Barcinski, Zbigniew Emirsajlow
Szczecin University of Technology, Poland

The paper describes a method of estimation of an unknown periodic state function. The idea is to introduce a linear parameter varying (LPV) model of the periodic function which combined with the state equation of the process makes an augmented state observer. As an application of the observer we consider an adaptive control of permanent magnet (PM) motor drive with unknown angular distribution of the magnetic flux. The observer equations are derived and computer simulations are performed. Simulations show that the observer provides good state function estimation and it does so even if the state function in the model has more harmonics than used in the observer.


 

WA5 - Control in computer networks and telecommunications           1015-1215 M405

Chairs: Douglas Leith and Jonas Balderud

 

29  - On An Improved Chaotic Shift Keying Communication Scheme

Timothy Wren, Tai Yang, University of Sussex, UK

 

There is a great interest in secure communications within industry and various sectors of society. One common approach of achieving this is by encoding the information using shift-keying methods such as Binary Phase Shift Keying and Quadrature Phase Shift Keying. In this paper we propose a new robust yet simple multilevel differential chaotic shift-keying scheme. Compared with the schemes currently in use it has advantages of good noise rejection and increased data transmission rates. Under this scheme, instead of using one or two-dimensional encoding, we use an extendable dimensional coding method and demonstrate its effectiveness by presenting simulation results for a four-dimensional system. The potential of implementing this scheme in real-time applications is under investigation.

 

178 - A New Approach to the Robust Controller Design of AQM Routers for Internet TCP Protocol

Feng Zheng, John Nelson, University of Limerick, Ireland
 

In this paper, we aim at developing an H_infty approach to the design of an active queue management (AQM) based congestion controller for the Internet Protocol. In the approach, the available link bandwidth is modelled as a nominal constant value, which is known to the link, plus a time-variant disturbance, which is unknown. The design objective is to minimize the ratio, denoted as g, between the norm of the perturbed queue length and that of the disturbance. Simulation results show that the controller developed here can improve the transient performance of networks, compared to the RED (random early detection) congestion algorithm. An important feature of the approach is that the system performances, including the disturbance rejection ratio g and hence the stability of closed-loop systems, are guaranteed for all round trip times that are less than a known value.

 

213 - Partitioning and Invariance of AIMD Dynamics in Synchronised Networks

Robert Shorten, NUI Maynooth, Ireland

Douglas Leith, Hamilton Institute, Ireland

 

In this paper we present new results on the dynamics of networks of AIMD °ows. The results reveal invariance and partitioning property that is used to design an adaptive AIMD strategy.

 

215 - Stability of Internet-based control systems with uncertainties and time-varying delay

Zhi-Hong Guan, ,  Hao Zhang, Huazhong University of Science and Technology, Chin

Shuang-Hua Yang, Loughborough University, UK


In this paper, based on remote control and local control strategy, a class of hybrid multi-rate control models with uncertainties and time-varying delay is formulated and their robust stability properties are investigated. By Lyapunov-Krasovskii functions and an integral inequality, some new criteria of robust stability forsuch Internet-based control systems are established. Numerical examples are given to illustrate the effectiveness of the theoretical results.

 

245 - AIMD congestion control for generalized capacity constraints

King Chris,  Northeastern University, USA
Shorten Robert,
Hamilton Institute, Ireland


In this paper we establish a number of basic results on the convergence and stability of AIMD algorithm for general resource allocation problems.


 

WA6 - Analysis and design of hybrid systems  1015-1215 M408          

Chairs: Michael Spathopoulos and Daniel Pachner

 

22  - A Novel Optimal Probability Density Function Tracking Filter Design

Jinglin Zhou, Donghua Zhou, Tsinghua University, P. R. China
Hong Wang,
The University of Manchester, United Kingdom
 

A new optimal tracking-filtering algorithm for a class of multivariate dynamic stochastic systems is presented. New concepts such as hybrid random vectors, hybrid probability density functions (PDFs) and hybrid characteristic functions (CFs) are introduced to describe the stochastic nature of the dynamic estimation errors. New relationships between the hybrid characteristic functions (HCF) of the multivariate stochastic input and the outputs, and the properties of the HCF are established. A new performance index of the tracking filter is then constructed based on the form of the HCF of the estimation error. An analytical solution, which guarantees the filter gain matrix to be an optimal one, is then obtained. A simulation case study is included to show the effectiveness of the proposed algorithm and encouraging results have been obtained.

 

23  - Bezier-Bernstein polynomial based Hammerstein model and identification algorithm

Xia Hong, R J Mitchel, University of Reading, UK

Hammerstein model consists of a nonlinear static function followed by a linear dynamical model. The nonlinear static function is characterized by using the Bezier-Bernstein approximation in this paper. The identification method is based on a hybrid scheme including the inverse of de Casteljau's algorithm, the least squares algorithm and the Gauss-Newton algorithm subject to constraints. The efficacy of the proposed approach is illustrated through a numerical example.

 

84  - Adaptive Compensation of Dynamic Friction Using a Linearised GMS Model

Itthisek Nilkhamhang, Akira Sano, Keio University, Japan

 

A new linearly parameterized friction model is proposed based upon the generalized maxwell-slip (GMS) model. This allows the construction of a linear, adaptive friction compensator for control purposes. The adaptive compensator is employed to achieve velocity control of an inertia system in the presence of dynamic friction. The effectiveness of the proposed controller is verified by simulation results.

 

95  - A pole assignment Controller for Bezier-Bernstein polynomial based Hammerstein model

Xia Hong, Richard Mitchell,  University of Reading, UK
 

In this paper pole, assignment control is applied to the Hammerstein system of which the nonlinear static function is characterized by using the Bezier-Bernstein approximation. In order to precompensate the nonlinearity in the closed loop system, the controller includes the inverse of the identified Hammerstein model for the nonlinear subsystem as a Bezier curve with estimated knots. The computation of the inverse is based on the inverse of de Casteljau's algorithm. In so doing, the conventional linear pole assignment controller is applicable to the control of a Hammerstein system. An illustrative example is used to demonstrate the effectiveness of the algorithm.

 

96  - H2 control for Networked Control Systems in Presence of Random.. Delay and Data Dropout

Yuanqing Xia,  Guoping Liu,  David Rees, School of Electronics, University of Glamorgan, UK.
 

This paper is concerned with the design of networked control systems with random network delay in
the forward channel and H2 of closed-loop networked predictive control systems. A novel networked predictive controller is proposed to overcome the effects of network delay and data dropout. The necessary and sufficient conditions on the stability of the closed-loop networked control system and the performance H2 are derived.

 

202 - Robust Semi-Explicit Model Predictive Control for Hybrid Automata

Yan Pang, Hao Xia, Michael Spathopoulos, University of Strathclyde, UK
 

In this paper, we propose an on-line design technique for the target control problem of hybrid automata. First, we compute off-line the shortest path, which has the minimum discrete cost, from an initial state to the given target set. Next, we derive a controller, which successfully drives the system from the initial state to the target set while minimizing a cost function. The (robust) model predictive control (MPC) technique is used when the current state is not within a guard set, otherwise the (robust) mixed-integer predictive control (MIPC) technique is employed. An on-line, semi-explicit control algorithm is derived by combining the two techniques and applied on a high-speed and energy-saving control problem of the CPU processing.


WA7 - Artificial neural networks in control     1020-1200 M409          

Chairs: Amir Hussain  and Brian White  

 

90  - Engine air path fault diagnosis using adaptive neural classifier

Mahavir Singh Sangha, Dingli Yu, James Barry Gomm, Liverpool John Moores University, UK
 

This paper presents a new method for on-board fault diagnosis for the air-path of spark ignition (SI) engines. The method uses an adaptive radial basis function (RBF) neural network to classify pre-defined possible faults from engine measurements to report the type and size of the fault. The RBF fault classifier adapts its widths and weights to model the time-varying dynamics of the engine and disturbance so that the false alarm rate is greatly reduced. The developed scheme is assessed with various faults simulated to a benchmark model and promising results are obtained.

 

232 - Model-based Data Clustering Guided by Adaptive Neurofuzzy

Rapelang Marumo, University of Botswana, Botswana
Fareq Aldebrez,
The University of Sheffield, UK
 

A modified Fuzzy c-means (FCM) clustering algorithm that operates on different feature spaces called parallel universe is proposed. The purpose of clustering is to identify natural groupings of data set, to produce concise representation of behaviour of a system. The model referred to as adaptive neuro-fuzzy c-means clustering (ANFCM). The results of experimental studies of ANFCM version and the FCM algorithm are presented, compared and discussed. This paper discusses properties of the Takagi, Sugeno and Kang TSK/Mamdani approaches and adaptive neuro-fuzzy inference system (ANFIS) within application study of an electro-pneumatic valve actuator for an air motor

 

252 - A novel MV based multiple-controller incorporating a fuzzy-logic switching supervisor

Amir Hussain, Rudwan Abdullah, University of Stirling, UK
 

A novel intelligent multiple-controller framework incorporating a fuzzy-logic based switching supervisor is presented for adaptive control of non-linear systems. The proposed methodology provides the designer with an automated choice of using either: a conventional Proportional-Integral-Derivative (PID) controller, a PID structure based pole (only) placement controller, or a PID structure based (simultaneous) zero and pole placement controller. The switching decision between the different non-linear fixed structure controllers is made on the basis of the required performance measure using a fuzzy logic based supervisor operating at the highest level of the system. Sample simulation results using a realistic non-linear single-input single-output (SISO) plant model are used to demonstrate the effectiveness of the multiple-controller with respect to tracking desired set-point changes and achieving the desired speed of response, whilst penalising excessive control action.

 

37  - Solving cross-coupling problem with artificial neural network for a dual-axes motion platform

Horn-Yong Jan, Thong-Shing Hwang, Feng Chia University, Taiwan
Chun-Liang Lin
, Ching-Huei Huang, National Chung Hsing University, Taiwan
 

This paper presents a new approach to deal with the dual-axes control design problem The cross-coupling problem of the platform is effectively solved by introducing a neural net-based decoupling compensation for a two-input two-output motion platform. A sufficient condition ensuring closed-loop stability is presented. An evolutionary algorithm possessing the universal seeking capability is proposed to find the optimal connecting weights of the neural compensator and the PID control gains of - axes. Extensive numerical study verifies performance and applicability of the proposed design under a variety of operating conditions.

 

 

 

LUNCH  1215-1400  LORD TODD BUILDING

 


 

WB1 - Chemical and Petrochemical Applications – 1   1400-1600   M409

Chairs: Rudy Agustriyanto, Jonas Balderud

 

48  - Controllability and resiliency aspects of gravity three-phase horizontal separators

Nasser AL Hatmi, Ming Tham, University of Newcastle upon Tyne,UK

 

Gravity three-phase separators are one of the main surface production units in the petroleum industry that are used to separate the well production into three constituent phases: gas, oil and water using gravity. Despite their common use in processing the hydrocarbon mixtures, few publications address their controllability aspects. This is surprising as efficient separator control is essential to the operation, safety and economics of oil production systems. Therefore, the main objective of this paper is to assess the controllability and resiliency aspects of this unit prior to full control systems design.

 

61  - application of co-integration testing method to condition monitoring and FD of non-stationary..

QIAN CHEN, YUYU PAN, Nanjing University of Aeronautics and Astronautics, CHINA
Uwe Kruger
,  Queen's University of Belfast
 

This paper investigates the possibility of applying Cointegration algorithm to condition monitoring and fault diagnosis for engineering systems, which are of non-stationary statistic processes. It is well known that non-stationary system behaviour causes grave difficulties on system modelling and condition monitoring due to the time-dependent statistics. ARIMA model and dynamic PCA or PLS methods have been employed to deal with the non-stationary issues and made a good progress. However, there are severe limitations about those dynamic models. Cointegration method is an algorithm developed by economists for modelling non-stationary economical and financial processes. It can generate a stationary process based on a linear combination of a set of non-stationary processes if the non-stationary processes have long-term balanced relation. This feature provides a possibility for researchers in engineering sectors to apply cointegration testing method to modelling and condition monitoring of engineering systems. To verify this possibility, an example based on an FCCU simulation dada system is discussed. The results demonstrate that the cointegration testing method has a bright future in engineering area for condition monitoring and fault diagnosis of non-stationary process systems.

 

74  - Online estimator for distillation column using ANN

Vijander Singh, Indra Gupta, Puneet Gulati, Hari Om Gupta,
Indian Institute of Technology Roorkee, Roorkee, India
 

This paper presents an Ethernet based Data Acquisition system which is aimed at providing a standard Online Estimator for Distillation Column, in which one can acquire the distillation parameters from any client PC connected to the network and then estimate the distillate composition online. Secondary measurement technique is applied and ANN is one such data series model used for inferential measurement. The distillate composition estimated can be used for any of the control strategies. Rigorous experimentation has been carried out by varying the heat input to reboiler using PID controller. The developed ANN based estimator is finally used with laboratory set-up of Distillation Column to estimate the distillate composition online. The software for the above stated application is made and Ms Access 2000 is used as the back-end for storing the acquired data for automation purposes


 

164 - system identification of a falling-film evaporator in the dairy industry

Peter Cunningham, Barry O’Connor, AMT - Ireland, University College Cork, Ireland
Niel Canty
, Tom O'Mahony Advanced Control Group, Cork Institute of Technology, Ireland
Donal O’Callaghan
, Teagasc, Moorepark, Ireland
 

A falling film evaporator is the most commonly used evaporator type in the dairy industry for the concentration of products such as milk, skim milk and whey. This concentration often takes place under vacuum to reduce the boiling point of water and reduce any heat damage that may be caused to the product. From an economic perspective the critical operational units are the evaporator effects and the pasteurisation process. In this paper linear models of these units are identified from experimental data. These models are shown to be accurate over the standard operating range of the process and will be considered for PID controller optimisation and model predictive controller design.

 

114 - Integrated control of product quality for batch processes with model uncertainties

Zhihua Xiong,  Xiong Wang,  Yongmao Xu, Department of Automation, Tsinghua University, China
Jie Zhang,
School of Chemical Engineering and Advanced Materials, University of Newcastle, UK
 

An integrated control strategy for product qualities in batch processes is proposed by using an updated linear time-varying (LTV) perturbation model. To address the problem of model uncertainties, the LTV perturbation model is identified by using recursive discounted measurements (RDM) algorithm from the process operational data in order to capture the up-to-date dynamics of the process. Based on the model, batch-to-batch iterative learning control (ILC) can be feasibly combined with on-line model predictive control (MPC) during a batch, and the integrated control strategy can complement both strategies to obtain good performance of tracking trajectories. The proposed strategy is illustrated on a simulated batch reactor. The results demonstrate that the performance of tracking product qualities can be improved quite well under the proposed strategy when model disturbances exist.

 

142 - Using the Available Control Toolset to best effect on a Chemical Plant

Philip Hastings,  ADVANSA (UK) Ltd, UK


How can a plant make sure process control is appropriate for the job?  What techniques work well in the long term?  How to make control “robust” in an organisation facing constant change?  What happens when complicated schemes need technical support?  How to cope when some of the measurement systems are not up to the job?  What is the minimum cost solution that gives satisfactory performance? Six cases illustrate the range of answers to these questions for the chemical plants on ADVANSA’s polyester intermediates site at Wilton – each one giving a significant cost benefit.


WB2 - Fuzzy systems methods for control                   1400-1600   McCance 2

Chairs: Mahdi Mahfouf and Jie Zhang

 

13  - A modified proportional navigation based FL controller for a ….car-like robot

Mohamed El-Khatib, David Hamilton, University of Strathclyde, UK
 

A fuzzy logic controller for real time navigation of a nonholonomic car-like robot in a static environment based on proportional navigation method is proposed. The system has an intelligent combination of two behaviours to cope with obstacle avoidance as well as approaching a target using proportional navigation path and accounting for car-like robot kinematics

 

62  - Bacterial foraging techniques for solving EKF-based slam problems

Amitava Chatterjee,Jadavpur University, India

Fumitoshi Matsuno, The University of Electro-Communications, Tokyo, Japan


The present paper proposes a successful application of bacterial foraging strategies to improve the quality of solutions that extended Kalman filters (EKFs) can offer to solve simultaneous localization and mapping (SLAM) problems for mobile robots and autonomous vehicles. The system can be especially useful in those situations where an incorrect knowledge of Q and R matrices of EKF can significantly degrade the SLAM performance. A fuzzy system has been implemented to adapt the R matrix of the EKF online, in order to improve its performance. The determination of the free parameters of the fuzzy system is configured as a high-dimensional meta-heuristic optimization problem and E. coli bacterial swarm foraging has been successfully implemented to solve this optimization problem offline. The utility of the proposed system is aptly demonstrated by solving the SLAM problem for a mobile robot with varying landmarks and with wrong knowledge of sensor statistics. The proposed system could demonstrate enhanced performance in comparison with usual EKF-based systems for identical environment situations.

 

77  - Application of svm-based fuzzy inference system for image denoise

Sun Hongxing, Zhao Nannan, Institute of artificial intelligence and robotics, Northeastern University, China
 Xinhe Xu
, School of Electronics and Information Engineering, Anshan University of Science and Technology

 

The noise detection model is build up by using SVM-based fuzzy inference system for detecting the impulse noise in an image. The support vectors which are used to confirm the fuzzy basis function and create the corresponding fuzzy rules are extracted from the training samples by the learning mechanism of support vector machine (SVM). Accordingly, a noise detection system based on the fuzzy reasoning model is build up. This system is composed of two SVM-based fuzzy inference subsystems and a decision subsystem. Thereinto, the inference subsystems detect noise information on horizontal and vertical orientation, respectively; and the decision subsystems make decision by synthesizing horizontal and vertical information. The experiment results show that the proposed method can efficiently detect and remove noise while preserving the detail information.

 

134 - Indirect adaptive fuzzy control for nonlinear systems with online modelling

Ruiyun Qi, Mietek Brdys, University of Birmingham, UK

 

This paper presents an indirect adaptive fuzzy control scheme for a class of single-in-sing-output (SISO) nonlinear systems. A Takagi-Sugeno (T-S) fuzzy model is employed as a dynamical model of the partially known nonlinear system. Both the structure and the parameters of the T-S model are identified on-line. A T-S model based feedback linearization controller (FLC) is designed and a Lyapunov based supervisory controller is appended to the FLC to force the tracking error to be within a bounded set. The stability of the system is established using Lyapunov approach and its performance is evaluated by the tracking control of a single-link robot manipulator.

 

251 - A system with pseudo-derivative feedback control  for short-term greenhouse operation

Ibrahim Hameed, Seong-in Kim

Department of Industrial Systems and Information Engineering, Korea University
 

The efficiency of plant production in a greenhouse depends significantly on the control of climate conditions. A system has been developed to control greenhouse climate. The thermodynamic relations between system variables have been modelled into a set of differential equations and a pseudo-derivative feedback controller is applied. Varying the desired indoor air temperature and humidity ratio under various conditions of outdoor air temperature, humidity ratio and solar radiation as well as several parameter values of the system, the responses of the actuators, indoor temperature and humidity are generated by simulations. Results show reasonable behaviours of the greenhouse responses and thus the system feasibility and applicability have been proven.

 

 

WB3 – Control of Rolling and manufacturing processes                      1400-1600 McCance 3

Chairs: Steve Thompson 

 

56  - Speed control of an experimental hot-rolling mill using generalized predictive control

Miguel Angel Gama, Mahdi Mahfouf, The University of Sheffield, UK

 

The application of Generalized Predictive Control (GPC) for an experimental hot-rolling mill is presented in this paper. GPC has been implemented to provide the mill with good speed control and regulation when steel and aluminium hot-rolling experiments are carried out. Using an identification mechanism, GPC first estimates the mill’s model and predict the future behaviour of the rolling speed to finally calculate a sequence of future control actions. The performance of GPC was evaluated via simulations and real-time experiments under different operating conditions. From such experiments it can be concluded that the proposed control scheme performs reasonably well, showing good robustness and disturbance rejection in all operating mo

 

65  - A chance-constrained robust MPC and application to hot rolling mills

Il Seop Choi, Anthony Rossiter, Peter Fleming, The University of Sheffield, UK
 

Most approaches of chance--constrained robust MPC utilise an open--loop model for uncertainty prediction; this results in conservative control. To avoid this some approaches propose robust MPC (RMPC) based on closed--loop prediction, and these often give improved dynamic performance at a small expense to constraint handling performance. The aim of this paper is to extend the methodology of (Warren, 2005), which is a chance--constrained RMPC based on closed--loop prediction, through the use of state space models. Moreover, we adopt dual mode MPC in the constrained optimisation, which allows us to guarantee stability for the infinite horizon. The use of the closed--loop paradigm for dual mode MPC has advantages in numerical conditioning and robustness analysis. A case study, looper--tension control, is used to evaluate the robustness of the proposed RMPC strategy on a realistic process as well as extending previous studies of MPC for rolling mills (Choi et al., 2004) to the robust case.

 

173 - Extrusion viscosity modeling

Marion McAfee, Steve Thompson, Queen's University Belfast, UK
 

Polymer extrusion is a complex process and the availability of good dynamic models is the key for improved simulation, optimisation and control of the system. Previous modelling attempts have failed to adequately capture the nonlinearities of the system or prove too complex for control applications. This work aims to address this by applying a novel grey-box modelling technique which combines mechanistic knowledge with empirical data using a Genetic Algorithm approach. A resulting low-order viscosity model was generated which yielded accuracy within 1% error on unseen plant data over a wide operating range.

 

183 - Fault diagnosis for rolling element bearings using sliding mode techniques

Christos Kitsos, Sarah Spurgeon, John Twiddle, Barrie Jones, University of Leicester, UK
 

A fault diagnosis method based on sliding mode techniques is described. Experiments were conducted on a dry vacuum pump to evaluate the effectiveness of the approach in monitoring and detecting overheated bearings using low-cost sensors. The equivalent injection signal necessary to maintain a sliding motion is used for parameter estimation and hence fault detection in the system. A second order algorithm has shown an improved tracking capability and to be capable of running at lower sample rates for a given root mean square state error when compared with a first order sliding mode scheme.

 

224 - Stability analysis tool for tuning unconstrained decentralized model predictive controllers

Massimo Vaccarini,  Sauro Longhi. Università Politecnica delle Marche, Italy
Reza Katebi
, University of Strathclyde, Scotland, UK
 

Some processes are naturally suitable to be controlled in a decentralized framework: centralized control solutions are often infeasible in dealing with large scale plants and they are technologically prohibitive when the processes are too fast for the available computational resources. In the second cases, the resulting control problem is usually split in many smaller sub problems and the global requirements are guaranteed by means of a proper coordination. The unconstrained decentralized case is here considered and a coordination strategy is proposed for improving the global control performances. This paper presents a tool for setting up and tuning a nominally stable decentralized Model Predictive Controller. Numerical examples are proposed for testing and validating the developed technique.

 

 

 

 

81 - Optimal design and control of CPU heat sink processes

Chyi-Tsong Chen, Ching-Kuo Wu, Feng Chia University, Taiwan                   Chyi Hwang,  I-Shou University, Taiwan
 

This paper considers the optimal plate fin design and the control of CPU heat sink processes. First, we apply a finite element method to investigate the heat transfer phenomena of a heat sink process. To have a better heat dispersion performance, a real-coded genetic algorithm is utilized to search for an optimal set of plate-fin shape parameters. The objective function to be minimized is the entropy generation rate which can take simultaneously the two major factors, heat transfer rate and air resistance, into consideration for design. The comparison with existing method shows that the present optimization scheme is able to achieve a better design for heat dispersion. To attenuate environmental and time-varying disturbances, a direct adaptive control scheme is then developed for the CPU heat sink process. It is based on using a bounded single neuron controller (SNC) along with a parameter tuning algorithm to regulate the temperature of a selected control point. Extensive comparisons of the SNC-based control performance with the on-off control as well as a PI controller show that the proposed scheme provides excellent control performance despite the existence of unexpected process uncertainties.


WB4 - Aerospace and Automotive Applications – 2     1400-1600 M403

Chairs: Dominic Diston and Keith Godfrey

 

125 - Optimal trajectory planning and LQR

Ian Cowling, James Whidborne, Alastair Cooke, Cranfield University, UK
 

As research into UAV’s accelerates into the 21st century, alternatives to fixed wing vehicles such as the quadrotor are causing interest. The quad-rotor is a small agile vehicle, which could be suitable for search and rescue, surveillance and remote inspection. For autonomous operation a control system that incorporates both trajectory planning and trajectory following is required. Trajectory planning can be posed as a constrained optimization problem typically within the control space and with some constraints being placed in the output space. However, differential flatness enables the optimization to occur within the output space and therefore simplifies the problem. Parameterization is required of the output to reduce the problem to a finite dimensional problem; this can be done using any number of techniques. Trajectory following can be achieved using linear multivariable control techniques such as LQR control.

 

140 - Robust Missile Autopilot Design using Dynamic Inversion and PI Control

Sungjin Cho, Seung-Hwan Kim, Dong-Gyun Choe, Agency for Defense Development, Republic of Korea

This paper presents a robust nonlinear autopilot design method based on dynamic inversion and PI control law. The new controller structure which is different from previous work is composed of classical linear PI control law and nonlinear fast dynamic inversion. A pitch-axis model of highly manoeuvrable missiles is presented and a linearized model for designing PI controller. The performance of proposed method is illustrated via nonlinear simulations including aerodynamic uncertainties and actuator dynamics.

 

160 - Some Experiences with FPGA Controllers

Stephen Gifford, SELEX Sensors & Airborne Systems Ltd., UK

 SELEX S&AS have started using FPGA controllers for high bandwidth moving mirrors. In addition to the speed advantages, the FPGAs allow the controller design to be readily updated, giving great operational flexibility. Control systems engineers have been brought into the FPGA design process with strict role demarcation maintained by an internal algorithm interface document.

 

190 - Direct Method for Real-Time Prototyping of Optimal Control

Oleg Yakimenko, Naval Postgraduate School, USA

 This paper addresses the problem of real-time generation of near-optimal control for nonlinear plants. It advocates using the direct method of calculus of variations based on a priory approximation of the optimal solution by appropriate reference functions depending on several variable parameters and then applying inverse dynamics to determine corresponding controls. The paper reviews the general ideas of such an approach and provides with some detailed examples based on graduate students’ projects. These include a standard inverted pendulum control and a more complex problem aimed on the development of algorithms for cooperative collision-free control of multiple agents.

 

192 - Fault accommodation based on adaptive NF networks for to microwave landing system

C. W. Chan, The University of Hong Kong, Hong Kong, China
Hua Song, H. Z. Zhang,  
Beijing University of Aeronautics and Astronautics, China
 

Fault accommodation for unknown nonlinear systems based on adaptive fuzzy basis function network (AFBFN) is presented in this paper. It is proposed that the unknown nonlinearity is approximated by a fuzzy basis function network trained offline, whilst an AFBFN is trained online to model the unknown fault. Another AFBFN is used to compute the control for accommodating the fault, such that the output of the closed-loop system with the proposed fault accommodation method can still track the output of the reference model after a fault has occurred. The training algorithms for these networks are presented. The performance of the proposed method is illustrated by a simulation example involving the microwave landing system of an aircraft.

 

231 - Reconfigurable controller design for operational safety in satellite formation flying

Sandor Veres, Kary Thanapalan, Stephen Gabriel, Eric Rogers
School of Electronics and Computer Science, University of Southampton, UK
 

The paper addresses the problem of control system reconfiguration for satellite formation flying to increase operational safety. Actuator and sensor degradation can be detrimental for formation precision in terms of satellite relative positions and attitudes. In this paper model reference adaptive control (MRAS) and quaternion based adaptive attitude control (QAAC) is proposed as alternatives to fault determination and isolation. The adaptive systems approach is simpler as it avoids explicit modelling, decision making and control redesign. Redundancy based diagnosis is outlined for the case of sensor deficiencies. Simulations illustrate the efficiency of the adaptive systems implemented for the control of the position and attitude of a single craft.


 

WB5 - Real-time control          1400-1600 M408

Chairs: Matt MacDonald and Chun-Liang Lin

 

102 - H∞ Control of Networked Control Systems

Jian Sun, Institute of Automation Chinese Academy of Sciences, P R China
Guoping Liu,
University of Glamorgan, UK
 

This paper is concerned with the design of H∞ controller for networked control systems. The system is modelled as a discrete system with multiple input time-varying delays, which takes both the network delay and data dropout into consideration. Based on this model, delay-dependent stability conditions are derived and the H∞ controller of memory-less type can be obtained by solving these conditions. Numerical examples are given to illustrate the effectiveness of the proposed method.

 

128 - Development of an Active Noise Controller Using TMS320VC5510 Starter Kit

Mahdi Ghazaei, Iran University of Science and Technology, Iran
Alireza Etemadfar,
Imperial College, UK

Active noise control is dealing with noise cancellation using an anti noise that has been applied to acoustic noise problems and led to satisfactory results. Because of the high processing demand of the ANC algorithms, digital signal processors are good candidates for running them. DSP starter kits have facilitated running and evaluation of such algorithms using DSP chips. In this paper, an experimental model constructed for such systems is described and some practical problems usually occur during hardware and software implementations are considered. At the end, achieved results from the experiments are presented.

 

154 - Reconfigurable TS FLC for Nonlinear Systems with Communication Time Delays ..Elements

Hector Benitez-Perez, Francisco Cardenas-Flores, Fabián García-Nocetti
IIMAS UNAM, Mexico
 

Nowadays the study of faults and their consequences becomes an issue into highly safety critical computer network systems. How to bound the effects of a fault and how to tackle them into a dynamic system is still an open field. In here an approach to tackle this problem is presented. The use of Takagi Sugeno fuzzy logic structure is given in order to accomplish two challenges, the presence of local faults and the respective time delays within a real-time distributed system. This approach is pursued as reconfigurable strategy according to communication time delays within a real-time distributed system. This approach is pursued as reconfigurable strategy according to communication delays.

 

157 - Digital High Speed Hydraulic Servo Controller

James McWhinnie,  Jorge Kubie,  David Binnie, Napier University, UK
 

This paper discusses the design and implementation of replacement hydraulic servo position controllers for a manufacturer of aerospace forgings. Previous controllers consisted of customised hardware and software and were difficult to maintain, primarily due to component availability. Criteria for the replacement design include the use "off the shelf" hardware, and software, which could be readily supported. Short loop times are crucial in the design, due to the dynamic nature of the application. The replacement system must integrate seamlessly with the existing press control system. Robust loop performance and predictable failure are essential.

 

230 - Implementation of Kalman filter on ball and beam experiment using LabVIEW

Shamsher Ali Naz, Reza Katebi, Luisella Balbis, University of Strathclyde, Glasgow, UK

 

This paper presents the implementation of a real time Kalman filter in a ball and beam experiment and PID control using Labview. The basic aim is to balance a rolling ball while controlling the beam angle using a DC servo motor. Based on analytical modelling and taking some experimental observations, a mathematical model is derived. A PID controller is used along with the Kalman filter to balance the ball on the beam. It is shown that the use of Kalman filter can provide more flexibility in control design. The controller and the Kalman filter are first simulated in Matlab and then they are implemented in LabVIEW. LabVIEW is interfaced to the ball and beam setup through a DAQ card and a PWM circuit designed to provide the right input to the motor. Real time results are presented to demonstrate the design method.

 

 

 

 

 

 

28  - Realization of FPGA/CPLD based servo controller for MBDCM

Chih-Wei Tsai, Chun-Liang Lin, Tai-Wei Lin, National Chung Hsing University, Taiwan
 

This paper presents a design approach using advanced evolutionary strategy (ES) to realize a robust servo controller for a micro brushless DC motor (MBDCM) based on FPGA/CPLD (Field Programmable Gate Array/Complex Programmable Logic Device). Control design considerations include robust stability, control consumption and tracking performance. Evolutionary computation strategy is proposed for finding the optimal solution of the constrained multi-objective problem. The controller is realized in a FPGA/CPLD board for compactness. Simulation and experimental results are performed to verify performance and applicability of the resulting design.

 

WB6 - Enabling effective sharing of educational resources in control  1400-1600        McCance1

Panel members: Anthony Rossiter (Sheffield), Euan McGookin (Glasgow), Derek Atherton (Sussex) and a representative from HEA engineering subject centre

 

There have been great advances in education recently, but all too often staff put significant effort into creating resources yet are not effective in sharing these across the community. Thus, the main aims of this session are twofold:

1.                To develop awareness of the innovative teaching resources being used across the community.

2.                To decide how the control community can best share these resources with each other.

The session will begin with a number of short presentations from individuals highlighting the innovations in their respective institutions. If colleagues feel that have a valuable contribution to make to this, please contact Anthony Rossiter (j.a.rossiter@shef.ac.uk) as soon as possible.

The second part of the session will be designed to facilitate brainstorming, discussion and decisions on how to best support each other in disseminating, creating and sharing resources in the future. The HEA engineering subject centre have a central role in supporting learning within engineering and hence will give a valuable input to this part of the session.

 

COFFEE BREAK 1600-1615


WC1 - Multivariable control – 1          1615-1815 McCance 1

Chairs: David Owen and Mohammad Reza Jahed Motlagh

 

7   - Performance assessment for control of MIMO process

Hsiao-Ping Huang, Feng-Yi Lin, National Taiwan University, Taiwan
 

In this paper, methods are proposed to assess the performances between multivariable control (abbr. MVC) and multi-loop control (abbr. MLC) for disturbance rejection. Indices for assessment are defined, and, guidelines for selection between these two control structures are presented for easy application.

 

17  - On-line input/output pairing for linear and nonlinear multivar’le plants using neural network

Bijan Moaveni, Ali Khaki Sedigh, K. N. Toosi University of Technology, Iran
 

Decentralized Control is a well-established approach to the control of multivariable plants. In this method, control structure design and in particular input-output selection is a vital stage in the design procedure. There are several powerful methods to select the appropriate input/output pairs in linear multivariable plants. However, there is no general procedure to select the appropriate input/output pairs for nonlinear multivariable plants and linear multivariable plants in the presence of uncertainties, despite the fact that most practical systems are nonlinear and uncertain. In this paper, a new on-line estimation for RGA matrix using neural network for nonlinear or uncertain linear multivariable plants is proposed.

 

52  - Suboptimal triangular controller design methodology for full MIMO stable systems

Diego Rojas Oyarzún, Mario Salgado, Universidad Técnica Federico Santa María, Chile
 

This paper proposes a design methodology of triangular controllers for full MIMO stable plants. The procedure is based on an optimal design for a triangular model of the plant. Stability and appropriate performance can be achieved by adjusting a set of design parameters involved in a weighting function. The resulting controller provides integration, which can be computed analytically.

 

105 - Robust stability analysis for indirect neural adaptive control

Salem Zerkaoui,  Fabrice Druaux,  Edouard Leclercq,  Dimitri Lefebvre
University of Le Havre, France
 

This paper investigates robust adaptive control for unknown nonlinear systems with fully connected recurrent neural networks. On-line weights updating law and closed loop performance are derived from the Lyapunov approach. Mathematical proof for the robust stability under the parametric uncertainties due to disturbances of the overall system is provided. This analysis is concerned by combining Lyapunov approach and linearization around the nominal parameters to establish analytical sufficient conditions for the global robust stability of adaptive neural network controller. Advantages of the proposed algorithm are suggested according to simulation examples.

 

115 - Induction motor control by individual channel analysis and design

Eduardo Liceaga-Castro, Jesus Liceaga-Castro, SEPI ESIME Ticoman, Mexico
Carlos Ugalde-Loo,
University of Glasgow, Scotland, UK
 

A novel control strategy for an induction motor is presented. It consists of a linear, diagonal, low order, minimum phase, robust, and stable multivariable controller (for the electrical subsystem); a Space Vector Pulse Width Modulated Voltage Source Inverter; a low order, minimum phase, robust, and stable SISO controller (for the mechanical component); and a reduced order observer for the rotor field angle estimation. The electrical subsystem control is achieved by the application of Individual Channel Analysis and Design. Robustness is proved through the analysis of the Multivariable Structure Function. The scheme has an adequate performance under the variations of rotor speed, load torque, and parameters –thus providing a simple alternative for Field–Oriented and/or Direct Torque Controlled induction motors.

 

 

162 - Robust active vibration control of rail vehicle pantograph

Yu-Chen Lin, Chun-Liang Lin, Chih-Chieh Yang, National Chung Hsing University, Taiwan
 

This paper deals with the vibration control problem of the light rail vehicle’s (LRV’s) pantograph. The concepts of force cancellation, skyhook damper and track-following spring are jointly applied to form an active vibration control system. A systematic and effective optimization process for design of the active suspension parameters of pantograph using the constrained multiobjective evolutionary algorithm is presented. Simulation results are presented to illustrate the proposed design.


 

WC2 - Chemical and Petrochemical applications – 2   1615-1615 McCance 2

Chairs: Ryszard Gessing and Barry Lennox

 

151 - Self Optimizing Control of an Evaporation Process under Noisy Measurements

Rudy Agustriyanto, Jie Zhang, University of Newcastle upon Tyne, UK

 

Recently, Cao (2004) presented a decentralized cascade self-optimizing control strategy and implemented on an evaporation process. In this method, the local optimal condition of a self optimizing control system is derived and this optimal condition is expressed as a gradient function in terms of the existing process measurements. This gradient function can then be used as a controlled variable to achieve local self optimization. Good results were obtained subject to noise free measurements but the performance deteriorates when measurement noise presents. This paper presents a method to overcome the detrimental effect of measurement noises on self-optimising control. Filtering the process measurements in conjunction with self-optimising control can reduce the effect of measurement noise on the process performance. The benefit of this method is quantified in terms of the total operating cost reduction compared to non-filtered gradient control. Operating cost comparison of a 10 hour period for various cases subject to the same disturbances clearly shows that the implementation of the proposed strategy reduces the operating cost.

 

152 - Control Structure Selection for the Alstom Gasifier Benchmark Process Using GRDG Analysis

Rudy Agustriyanto, Jie Zhang, University of Newcastle upon Tyne, UK

 

 The objective of this work is to explore the disturbance rejection capability of possible multi-loop control structures for the ALSTOM gasifier benchmark process and selecting the appropriate control structure. Generalized Relative Disturbance Gain (GRDG) analysis is used for control structure determination. In order to carry out GRDG analysis, process models in the form of transfer functions are obtained from the discrete time models identified using the Output-Error (OE) method for system identification. Models identified with the OE method can provide accurate long range prediction (or simulation) performance and, hence, lead to accurate transfer function models. The GRDG analysis results clearly show that the baseline controller proposed by Asmar et al. (Asmar et al., 2000) is the favoured multi-loop control structure among their initial designs. This study provides explanation for the reason behind the impressive performance of the ALSTOM baseline controller that is not available before.

 

163 - Dynamic modeling for control of batch fluidized bed dryers

Mingzhong Li, Stephen Duncan, University of Oxford, UK

 

 A dynamical model has been developed for batch fluidized bed dryers. The sensitivity of model parameters has been carried out using different simulations, which indicates that the performance of a batch fluidized bed dryer is affected significantly by the inlet gas superficial velocity and temperature, which gives us a clue to determine the optimal operation conditions and design an on-line controller.

 

175 - Batch monitoring and control: a comparison of two approaches

Long Wu, Barry Lennox, University of Manchester, UK
 

In this paper the ability of two multivariable statistical techniques to provide, accurate monitoring and model-based control of a fed-batch process are compared. The two techniques are commonly referred to in technical articles as the Batch, or B-approach and the variable, or V-approach. Both of these techniques have been applied extensively over the past decade, however, comparative studies, particularly in their use in model based control strategies have not been presented before. In this study the two techniques are applied to a benchmark simulation of a fed-batch fermentation process. The results of the study show that the B-approach provides accurate monitoring and control, provided the process does not deviate significantly from its normal operating conditions. If the conditions in the batch do deviate significantly from normal conditions, for example if the control algorithm is used in an attempt to increase batch productivity, then the V-approach produces improved results.

 

177 - A fuzzy approach to active surge control of centrifugal compressors

Salim Al-Mawali, Jie Zhang, University of Newcastle upon Tyne, UK
 

The operating range of aerodynamic compressors is usually limited by a phenomenon known as surge. Active surge control has showed the ability to extend the operating range significantly. This study presents a solution to this problem based on the fuzzy logic approach. A simple fuzzy controller is designed to suppress the surge instability in a given compressor. Simulation results show promising results at different operating points without the need for controller retuning as is the case with linear controllers.

 

 

191 - Simultaneous design of parameters and structure; a multi-loop PID controller case study

Amin Nobakhti, Hong Wang, The University of Manchester, UK
 

In this paper the reduced structure control approach is applied to a decentralized $gamma$-iteration mixed sensitivity H-infinity problem to solve the special case of the reduced dynamic structure controller. The multi-loop PID controller is decomposed into a P controller and the I and D terms are defined as free structural elements. The methodology will then self-select these free elements to construct the simplest controller whose peak of the weighted close-loop sensitivity function is less than a predefined limit (subject to satisfaction of a robust complementary sensitivity criteria). By reducing the desired performance, simpler controllers are obtained.

 


 

WC3 - Control of electrical power systems       1615-1815 McCance 3

Chairs: Henry Wu

 

8   - Recursive harmonic identification in active power filters.

Omar A. Sebakhy, Karim H. Youssef, Amr El Zawawi, Alexandria University, Egypt
 

A new least square Harmonic identification technique is developed. This technique is used basically to estimate the fundamental component of the current drawn by nonlinear loads in order to calculate the reference currents of the active power filter on line. The effectiveness of the proposed technique is tested under a sudden change of the nonlinear load. The performance of the proposed technique is compared with the conventional harmonic extraction technique based on the synchronous reference frame method. Simulation results are given for both the proposed and the conventional technique.

 

88 - Set-points reconfiguration in networked multi-area power systems

Alessandro Casavola, Giuseppe Franze', Michela Sorbara, University of Calabria, DEIS, Italy
 

In this paper, we present a distributed supervisory strategy for load/frequency control problems in networked multi-area power systems. Coordination between the control center and the areas is accomplished via data networks subject to communication latency which is modelled by time-varying time-delay. The aim here is at finding strategies able of reconfiguring, whenever necessary in response to unexpected load changes and/or faults, the nominal set-points on frequency and generated power of each area so that viable evolutions arise for the overall networked system and a new suitable equilibrium is reached. In order to demonstrate the effectiveness of the strategy, a two-area power system is considered under constraints on maximum frequency deviations, bounded power generation and transmission.

 

118 - Energy-shaping-based adaptive coordinated control via direct mechanical damping assignment

Xiaohong Jiao, Yuanzhang Sun, Tsinghua University, China                         Tielong Shen, Sophia University, Japan
 

A novel nonlinear adaptive coordinated control of excitation and governor is presented for the stability enhancement of power system. The adaptive coordinated controller is designed by employing the method of energy-shaping-based direct mechanical damping assignment and the adaptive technique. Both theoretical analysis and simulation results show that transient stabilization can be guaranteed by the proposed coordinated controller even in the case where a large sudden variation occurs in the transmission line and there exists a large amount of the uncertainty in the parameters of power system.

 

127 - Application of ANN low frequency oscillations detection in IRAQI national power system

Ibrahim Hamarash, University of Salahadin-Erbil, Iraq

 This paper presents the application of Artificial Neural Network methodology to the detection of low frequency oscillations in the Iraqi national power system. In this study, the Iraqi power system has been divided into nine areas based on the geographical generation distribution and the low frequency oscillations experienced during the steady state operation. Using off-line data, observation regions for the stability modes have been selected, sampled, and activated, and then these activations are assigned as inputs and outputs of the ANN trainings for finding positions of the true eignvalues. The key advantage of the method is its and suitability for on-line application.

 

195 - Control of period doubling bifurcations in dc-dc converters

Damian Giaouris Abdulmaje d Elbkosh, Volker Pickert, Bashar Zahawi, University of Newcastle upon Tyne, UK
Soumitro Banerjee,
Indian Institute of Technology, Kharagpur, India
 

The dc-to-dc buck converter operating with a voltage controller is a nonlinear, nonsmooth system that presents different circuit topologies within the same switching cycle. In this paper, we propose two new bifurcation or chaos control strategies based on the use of the saltation matrix and the location of the floquet multipliers to stabilize the period-1 orbit of the circuit regardless of the input voltage of the converter. The new methods are analytically and numerically validated and their sensitivity to parameter variations is assessed.

 

223 - A novel architecture for power networks with distributed generation - concept outline

William Garlick, Argyrios Zolotas, David Infield, Roger Goodall, Loughborough University, UK

 Providing a secure power network is already a complex task but as network, complexity grows with each new distributed generation connection so the problem of assurance for the next source connection becomes more and more protracted. A fundamental change to the network architecture may be necessary, architecture based on cells containing both generation, and loads has been proposed by some researchers. This paper proposes replacing the conventional power transformer interface to higher voltage levels with an “active transformer” in order to provide a flexible and robust connection, greater network management and business opportunities and new power flow control features.


 

WC4 – Robotics           1615-1815 M403

Chairs: Victor Becerra  

 

46  - Multiple robot coordination for target tracking using semi-cooperative Stackelberg equilibrium

Istvan Harmati, Budapest University of Technology and Economics, Hungary


This paper concerns multiple robot coordination problems for target tracking where a collision free coordination is expected to keep team members together due to the formation shape. To improve its own position, any individual decision of a robot on the moving direction may bring other robots in a worse position, a typical feature in the noncooperative game theory that makes the global coordination nontrivial. The contribution of the paper is a game theoretic approach that improves the convergence of target tracking. The method uses an appropriately fitted Stackelberg equilibrium instead of Nash equilibrium and a new formation component in the individual cost functions. The results are simulated in a target-tracking example where the target is followed by a team of three simple mobile robots.

 

55  - Neural network based learning control of a puma 560 manipulator

Evangelos Tzimopoulos, Victor Becerra, The University of Reading, UK
 

This paper investigates the practical application of neural networks with online learning for robot manipulator control. Experiments have been performed with a PUMA Unimate 560 industrial manipulator with reference signals of increasing complexity. The results presented demonstrate features of the proposed framework such as accurate trajectory tracking, online learning, and bounded weights, which guarantee closed loop stability.

 

73  - Nonlinear control system design for construction robots using state dependent … models

C. James Taylor, Essam Shaban, Arun Chotai, Lancaster University, UK         Steve Ako, Bachy Soletanche Limited, UK
 

This paper considers nonlinear Proportional-Integral-Plus~(PIP) control of construction robots, with particular emphasis on two practical demonstrators: a 1/5th scale laboratory representation of an intelligent excavator; and a full scale (commercial) vibro-lance system used for ground improvement on a construction site. In both cases, the hydraulic actuators are modelled using a quasi-linear State Dependent Parameter (SDP) model structure, in which the parameters are functionally dependent on other variables in the system. The approach yields SDP-PIP algorithms with improved performance in comparison to conventional linear control. In the case of the vibro-lance, the new approach has the potential to eliminate verticality errors that have previously lead to probe repair costs of over 8000~GBP on each occasion, whilst also reducing the time taken to complete a complete digging and packing cycle in comparison to a skilled human operator.

 

109 - Dynamic neural network identification and control under unmeasurable plant states

Duc T. Nguyen, Mietek Brdys, The University of Birmingham, United Kingdom
 

A dynamic neural network based algorithm for learning control of an unknown nonlinear continuous-time multiple-input-multiple-output plant with unmeasurable states is proposed in this paper. A new dynamic neural network structure is utilised to model the unknown plant dynamics through modelling the input-output mapping. A feedback linearization is applied to design controller for the neural model and the neural states are used as a source of precious information about current plant dynamics. A gradient based update of the weights is performed at discrete time instants over a moving measurement window in order to reduce the model output – real output mismatch. The learning controller is applied to a double link robot arm and validated by simulation.

 

 

218 - A mathematical model of a lego differential drive robot

Kevin J Worrall, Euan McGookin, University of Glasgow, UK

 This paper details the development of a model for a mobile robot constructed from Lego® Mindstorms®. Equations representing the dynamics and kinematics of the robot are derived. In addition, the motors and wheels are represented in the model. The development of a multi rate simulation is described. Data from an IMU attached to the robot enables validation of the model using analogue matching and integral least squares. The result of the validation is that the model is a suitable representation of the robot. A method of controlling the robot is developed, using PID controllers and a Line Of Sight Autopilot.


WC5 - Predictive control – 1    1615-1815 M405

Chairs: Anthony Rossiter and David Rees

 

60  - Robust Range Control for LTI Systems with Bounded Disturbance Input

Jaroslav Pekar, Vladimir Havlena, Honeywell Prague Laboratory, Czech Republic
 

The paper presents an algorithm for robust range control for linear time-invariant dynamical systems with bounded disturbance input. The proposed algorithm is based on range control, which belongs to the family of model based predictive controllers. Range control can be regarded as a generalized form of a tracking problem where the set point for the system output is replaced by a funnel (time-varying lower and upper limits on the system output in the form of soft constraints).

 

66  - Base Vectors for Solving Partial Differential Equations

Jirka Roubal, Michal Beneš, Czech Technical University in Prague, Czech Republic
Vladimír Havlena
, Honeywell Prague Laboratory, Honeywell Intl., Czech Republic
 

The distributed parameters systems can be described by linear two-dimensional (dependent on two spatial directions) parabolic partial differential equations. Using the finite difference method a distributed parameters system can be transformed to a linear discrete state space model. A~controller design based on this description is complicated and for advanced control can be impossible because of the large dimension of the model. Therefore a~model reduction method has to be used. We transform the state space model to the balanced realization of the system and show that the state vector of the model can be expressed as the series of columns of the transformation matrix. These columns can be imaged as base vectors of the state space.

 

72  - MPC  using a non-minimal state space form with an integral-of-error state variable

Vasileios Exadaktylos, C. James Taylor