FB03 Identification and Estimation
Time : 13:30~15:00
Room : 103
Chair : Semiha Turkay (anadolu university, )
13:30~13:45        FB03-1
Evaluation of a Possibility of Estimation of Reaction Force of Simple Hydraulic System using Sliding Perturbation Observer

Hyun Cheol Lee, Keum Gang Cha, Min Cheol Lee(Pusan National University, Korea, Republic of )

In contaminated area sensors have high risk of malfunction, and human cannot work in this area. Therefore, master and slave system without sensors is needed. The reaction force estimation for hydraulic system is evaluated. Previously, estimation of reaction force using SPO has been applied to electric motor system. However, hydraulic system has different elements which are uncertain parameters such as compressibility and viscous friction from electric system. For this estimation, hydraulic system is modelled by using signal compression method to simplify the system.
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13:45~14:00        FB03-2
Average Consensus of Multi-agent System With Binary-valued Observations

Ximei Wang, Ting Wang, Changbao Xu, Yanlong Zhao(Chinese Academy of Sciences, China)

This paper considers average consensus problem of a multi-agent system with binary-valued observations. The information network transfers binary-valued information and the control is a quantity of transportation between neighbors. We propose a two-scale average consensus algorithm with a constant gain and prove the convergence and convergence rate of the algorithm. The algorithm is proved to be convergent and asymptotically efficient, meanwhile, the renewal of agents can lead to average consensus. Finally, simulations illustrate the effectiveness of the obtained results.
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14:00~14:15        FB03-3
Inequality Constrained Kalman Filter for Bearing-Only Target Motion Analysis

jonghoek kim, Taeil Suh, Jonha ryu(agency for defense development, Korea, Republic of )

The Bearing-Only Target Motion Analysis (BOTMA) problem is to estimate the position and velocity of a target using bearing measurements. In this paper, we assume that the observer can access the inequality constraints imposed on target’s speed, range, or target’s course. For example, one constraint on a target’s range is that it is upper bounded by the maximum sensing range of the observer. We introduce an inequality constrained TMA, which is to derive target states satisfying the constraints. We verify the effectiveness of our inequality constrained TMA using MATLAB simulations.
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14:15~14:30        FB03-4
Performance Comparison of Sliding Mode Observers for Back EMFs based Speed Estimation in PMSM

Suneel Kumar Kommuri, Jagat Jyoti Rath, Kalyana Chakravarthy Veluvolu(Kyungpook National University, Korea, Republic of ), Michael Defoort(Univ. Lille Nord de France, France), Sivanagaraja Tatinati(Kyungpook National University, Korea, Republic of )

This paper proposes a second-order high-speed sliding mode (SHSM) observer and compares the performance with the recent higher-order sliding mode (HOSM) observer for the problem of sensorless speed estimation in the permanent magnet synchronous motor (PMSM). In which, a sigmoid function is substituted for the signum function with a variable boundary layer. A SHSM observer is proposed to provide the estimation of back electro motive forces (EMFs) that are treated as unknown inputs in the PMSM model. An accurate speed estimate of PMSM can be algebraically computed with the estimated back EMFs.
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14:30~14:45        FB03-5
Road Profile Modeling by Subspace Identification Methods

semiha turkay(anadolu university, Turkey)

In this paper, spectral models for the road profiles from road elevation measurements using nonparametric and subspace identification methods are developed. First, the power spectra of the road profiles are estimated on a uniform grid of frequencies by averaging and windowing from the measurements. These calculations are illustrated on the data set obtained from the University of Michigan Transportation Research Institute archives by computing the Welch spectrum estimates for the left and the right tracks. Then, curve fitting methods by single-slope and two-slope approximations are per
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14:45~15:00        FB03-6
The Identification Method of Robot Actuator Parameters

Alexander Laray(Far Eastern Federal University, Russian Federation), Dmitry Yukhimets(Institute of automation and control processes, Russian Federation)

During the synthesis of control systems of movement of various robotic objects the dynamics of their actuators play important role. The dynamics of these actuators affects significantly to the accuracy of the control system. The paper proposes an approach to the identification of the dynamic model of actuators of mobile robots. The feature of the proposed method is to use the method of least mean squares (LMS) to identify the parameters of nonlinear dynamic objects. The results of experimental research for the actuator of the UAV are presented in paper.
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