scholarly journals Decentralized Control of a Group of Homogeneous Vehicles in Obstructed Environment

2016 ◽  
Vol 2016 ◽  
pp. 1-8 ◽  
Author(s):  
Vyacheslav Pshikhopov ◽  
Mikhail Medvedev ◽  
Alexander Kolesnikov ◽  
Roman Fedorenko ◽  
Boris Gurenko
Keyword(s):  
Control System ◽  
Path Planning ◽  
Local Control ◽  
Decentralized Control ◽  
Control Algorithms ◽  
Centralized Control ◽  
State Variables ◽  
Dynamic Variable ◽  
Motion Modes ◽  
Unstable States

The presented solution is a decentralized control system with a minimal informational interaction between the objects in the group. During control and path planning the obstacles are transformed into repellers by the synthesized controls. The main feature distinguishing the developed approach from the potential fields method is that the vehicle moves in the fields of forces depending not only on the mutual positions of a robot and an obstacle but also on the additional variables allowing solving the problem of robot’s path planning using a distributed control system (Pshikhopov and Ali, 2011). Unlike the work by Pshikhopov and Ali, 2011, here an additional dynamic variable is used to introduce stable and unstable states depending on the state variables of the robot and the neighboring objects. The local control system of each vehicle uses only the values of its own speeds and coordinates and those of the neighboring objects. There is no centralized control algorithm. In the local control algorithms the obstacles are represented as vehicles being a part of the group which allows us to unify the control systems for heterogeneous groups. An analysis was performed that proves existence and asymptotic stability of the steady state motion modes. The preformed simulation confirms the synthesis and analysis results.

scholarly journals Design of Centralized PI Control System for Two Variable Processes based on Root Locus Technique

2019 ◽  
Vol 9 (1) ◽  
pp. 4851-4855
Keyword(s):  
Control System ◽  
System Design ◽  
Decentralized Control ◽  
Pi Control ◽  
Control System Design ◽  
Centralized Control ◽  
Single Variable ◽  
Root Locus ◽  
Input And Output ◽  
Simulation Results

This paper describes the design of centralized controller for two variable processes. The two variable process structures are somehow different from the single variable processes. This difference is occurred because of interrelations between the variables present in the process. Hence, when a controller is planned for such systems, the relations amid the variables must be taken into consideration. This process is done in decentralized control system design. But decentralized control system works well when the interrelations between the variables are simple. If the interaction is strong, then the centralized control system is preferred since it uses a controller for each pair of input and output variables. The controller used in main diagonal works for improving the servo performance and off diagonal controller reduces the interrelation effect. So the performance is improved by minimizing the interrelation effects. The design process is easy to understand by field engineers working in industries. The simulation results are included in this paper to specify the efficacy of the proposed scheme.

scholarly journals A Decentralized, Flat-Structured Control System for Chiller Plants

2019 ◽  
Vol 9 (22) ◽  
pp. 4811 ◽  
Author(s):  
Dong He ◽  
Qingyu Xiong ◽  
Xuyang Zhang ◽  
Yunchuang Dai ◽  
Ziyan Jiang
Keyword(s):  
Energy Efficiency ◽  
Control System ◽  
Decentralized Control ◽  
Control Method ◽  
Control Strategies ◽  
Measured Data ◽  
Self Organization ◽  
Centralized Control ◽  
Self Recognition

This paper presents a novel control system for chiller plants that is decentralized and flat-structured. Each device in chiller plant system is fitted with a smart node. It is a smart agent, which collects, handles and sends out information to its neighbours. All the smart nodes form a network that can realize self-organization and self-recognition. Different kinds of control strategies can be converted into series of decentralized computing processes carried on by the smart nodes. The principle and mechanism of this decentralized, flat-structured control system for chiller plants are described in detail. Then a case study is presented to show how to build the decentralized, flat-structured control system actually. The measured data shows that the decentralized control method is energy efficiency. Moreover, it is much more flexible and scalable compared with the traditional centralized control method.

Decentralized Control of Structural Acoustic Radiation

2001 ◽  
Author(s):  
Kenneth D. Frampton
Keyword(s):  
Control System ◽  
Decentralized Control ◽  
Large Scale ◽  
Acoustic Radiation ◽  
Electrical Power ◽  
Computational Effort ◽  
Centralized Control ◽  
Mems Devices ◽  
Sensors And Actuators ◽  
Recent Developments

Abstract Although the application of active control to vibrations has been investigated from many years, the extension of this technology to large-scale systems has been thwarted, in part, by an overwhelming need for computational effort, data transmission and electrical power. This need has been overwhelming in the sense that the potential applications are unable to bear the power, weight and complex communications requirement of large-scale centralized control systems. Recent developments in MEMS devices and networked embedded devices have changed the focus of such applications from centralized control architectures to decentralized ones. A decentralized control system is one that consists of many autonomous, or semi-autonomous, localized controllers called nodes, acting on a single plant, in order to achieve a global control objective. Each of these nodes has the following capabilities and assets: 1) a relatively limited computational capability including limited memory, 2) oversight of a suite of sensors and actuators and 3) a communications link (either wired or wireless) with neighboring or regional nodes. The objective of a decentralized controller is the same as for a centralized control system: to maintain some desirable global system behavior in the presences of disturbances. However, decentralized controllers do so with each node possessing only a limited amount of information on the global systems response. Exactly what information each node has access to, and how that information is used, is the topic of this investigation.

Logistics control enabled by IT – a window in the future

1998 ◽  
Vol 17 (2) ◽  
pp. 123-133
Author(s):  
M.J. Euwe ◽  
J.C. Wortmann
Keyword(s):  
Control System ◽  
Control Systems ◽  
Decentralized Control ◽  
Integral Approach ◽  
Centralized Control ◽  
Production Chain ◽  
The Past ◽  
Control Concept ◽  
Customer Control ◽  
Expected Benefits

When we look at historic developments in logistics organization and control concepts, we can conclude that the past shows an ongoing trend towards a more integral approach to achieve logistical coordination. The decentralized reorder point techniques used in the fifties gradually changed from MRP-I (sixties, seventies) to MRP-II (eighties, nineties). This trend is now extending beyond the walls of an individual factory. Companies feel a need to cooperate in the areas of logistics structures, forecasting, master scheduling and ordering. When we look to this integration challenge we can conclude that a different approach than used in the past is necessary. Since implementing a centralized control concept across companies is not possible, new developments are required in the area of decentralized control. We foresee that future control systems are able to communicate with supplier and customer control systems. Furthermore, we expect that these developments will also influence the setup of decentralized control systems within the company. Instead of having one control system with a scope that covers the entire production chain within the company, we will see a more modular approach where each sub control system covers only a part of the production system, e.g., a department. The expected benefits of this approach is that such an architecture provides departments with better opportunities to incorporate their specific planning requirements in the control system.

Design and implementation of C-MEX S-functions in an Android-based networked control system laboratory

2021 ◽  
pp. 014233122110268
Author(s):  
Lei Cao ◽  
Guo-Ping Liu ◽  
Wenshan Hu ◽  
Jahan Zaib Bhatti
Keyword(s):  
Control System ◽  
Networked Control System ◽  
Networked Control ◽  
Control Algorithms ◽  
Basic Block ◽  
Air Bearing ◽  
Experiment Validation ◽  
Functional Blocks ◽  
New Feature ◽  
Three Degree Of Freedom

The Android-based networked control system laboratory (NCSLab) is a remote control laboratory that adopts an extensible architecture, mainly including Android mobile devices, MATLAB servers, controllers and test rigs. In order to conduct various simulations and experiments more effectively in NCSLab, the first key issue that needs to be solved is to enable users to design their own control algorithms or functional blocks on the Android client, rather than just using the basic block libraries provided by the system. So, this paper proposes and implements a scheme for Android-based compilation of C-MEX S-functions. With this new feature, users can design personalized algorithm according to their requirements in the form of S-functions, which can be called and executed after being compiled by MATLAB server. Finally, through the experiment validation of the three-degree-of-freedom air bearing spacecraft platform, it is proved that the method of Android-based C-MEX S-functions is reliable and efficient, and this scheme well enhances the functionality and mobility of Android-based NCSLab.

Longitudinal and lateral collision avoidance control strategy for intelligent vehicles

2021 ◽  
pp. 095440702110240
Author(s):  
Ziyu Zhang ◽  
Chunyan Wang ◽  
Wanzhong Zhao ◽  
Jian Feng
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Decentralized Control ◽  
Control Strategy ◽  
Centralized Control ◽  
Lateral Control ◽  
Time Performance ◽  
Collision Avoidance Control ◽  
Avoidance Control ◽  
Control Accuracy

In order to solve the problems of longitudinal and lateral control coupling, low accuracy and poor real-time of existing control strategy in the process of active collision avoidance, a longitudinal and lateral collision avoidance control strategy of intelligent vehicle based on model predictive control is proposed in this paper. Firstly, the vehicle nonlinear coupling dynamics model is established. Secondly, considering the accuracy and real-time requirements of intelligent vehicle motion control in pedestrian crossing scene, and combining the advantages of centralized control and decentralized control, an integrated unidirectional decoupling compensation motion control strategy is proposed. The proposed strategy uses two pairs of unidirectional decoupling compensation controllers to realize the mutual integration and decoupling in both longitudinal and lateral directions. Compared with centralized control, it simplifies the design of controller, retains the advantages of centralized control, and improves the real-time performance of control. Compared with the decentralized control, it considers the influence of longitudinal and lateral control, retains the advantages of decentralized control, and improves the control accuracy. Finally, the proposed control strategy is simulated and analyzed in six working conditions, and compared with the existing control strategy. The results show that the proposed control strategy is obviously better than the existing control strategy in terms of control accuracy and real-time performance, and can effectively improve vehicle safety and stability.

scholarly journals Decentralized Optimization for a Novel Control Structure of HVAC System

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
Shiqiang Wang ◽  
Jianchun Xing ◽  
Ziyan Jiang ◽  
Juelong Li
Keyword(s):  
Control System ◽  
Decentralized Control ◽  
Control Structure ◽  
Optimization Method ◽  
Labor Cost ◽  
Smart Device ◽  
Hvac System ◽  
Decentralized Optimization ◽  
System A ◽  
Novel Method

A decentralized control structure is introduced into the heating, ventilation, and air conditioning (HVAC) system to solve the high maintenance and labor cost problem in actual engineering. Based on this new control system, a decentralized optimization method is presented for sensor fault repair and optimal group control of HVAC equipment. Convergence property of the novel method is theoretically analyzed considering both convex and nonconvex systems with constraints. In this decentralized control system, traditional device is fitted with a control chip such that it becomes a smart device. The smart device can communicate and operate collaboratively with the other devices to accomplish some designated tasks. The effectiveness of the presented method is verified by simulations and hardware tests.

Research of the Workpiece-Stage Control System Based on the ACR9000 in the Composite Coating Equipment of MEVVAII and FAD

2013 ◽  
Vol 668 ◽  
pp. 410-414
Author(s):  
Rui Xia Zhang ◽  
Bin Liao ◽  
Zhi Guo Liu ◽  
Xian Ying Wu
Keyword(s):  
Control System ◽  
Servo Control ◽  
Uniform Rotation ◽  
Coating Films ◽  
Servo Control System ◽  
Motion Modes ◽  
Speed Rotation ◽  
Micro Tools ◽  
First Time ◽  
Better Than

In order to realize the extensive application of technologies of MEVVAII and FAD, the composite equipment has been developed for surface modification and coating films. In this paper, for the first time, the servo control system based on ACR9000 has been used to control workpiece-stage of the composite equipment. Eight target disks are installed on workpiece-stage. Each of target disks can be mounted about 1300 PCB micro tools. So, the equipment can satisfy the requirement for mass production. Experimental results show that the coating unevenness is less than ±14%, better than those of traditional equipments which is less than ±29%. The main purpose of the paper is to introduce the design of workpiece-stage and its three motion modes of rotary positioning, uniform rotation and variable speed rotation, and coating effects corresponding to three motion modes have been verified by experiments.

Software Defined Manufacturing Extends Cloud-Based Control

2017 ◽  
Author(s):  
Armin Lechler ◽  
Alexander Verl
Keyword(s):  
Local Control ◽  
Software Defined Radio ◽  
Manufacturing Systems ◽  
Control Architecture ◽  
Control Algorithms ◽  
Software Systems ◽  
Reconfigurable Manufacturing ◽  
Process Data ◽  
Control Software ◽  
Manufacturing Equipment

Nowadays, the key goal in manufacturing is being very efficient within changing markets and under turbulent conditions. Therefore, production plants with their machines logistics and all the other involved components have to be adaptable to changing conditions. For this reason, reconfigurable manufacturing systems are needed, which allow a fast adaption to new requirements of the product to be manufactured. Today, reconfiguration in manufacturing is mostly limited due to missing reconfigurability of the control software in combination with the underlying hardware. The coupling is that strong that in manufacturing control software is always bound to special hardware. Until now, flexibility is only possible by changing application or part programs that are interpreted by a fixed control kernel. The adaption of any core functionality is impossible, and any other changes require high manual effort for redesigning software systems and parametrizing their functionalities. For better adaptability in manufacturing this coupling has to be dissolved. Other disciplines and industries have similar requirements like the information and communication technology (ICT). In the area of ICT, there are more and more concepts of Software Defined Anything (SDX) like Software Defined Networking (SDN) or Software Defined Radio (SDR). Flexible, adaptive and really reconfigurable manufacturing should be improved by a new concept of Software Defined Manufacturing (SDM). SDM allows freely defined functionalities within the physical limitations of the mechanical and electrical components of a machine. But current manufacturing equipment with its control architecture does not offer the technical basis for such a concept. Existing concepts of cloud-based control architectures show indeed a virtualization of the control algorithms. Due to the fact that the software is running remotely, the software is decoupled from its hardware. However, the local control algorithms with hard real-time requirements still have a very strong coupling with the hardware. The local control software could not be defined freely according to the requirements of the product to be manufactured. In this paper, a new control architecture for manufacturing that combines cloud-based control as a service (CaaS) and Software Defined Manufacturing is presented. As a result, an architecture of an operating system for manufacturing equipment is shown, which is freely programmable. This paper deals with Software Defined Manufacturing for local control software, communication and cloud-based control systems. SDM allows defining the behavior of the entire manufacturing process based on design description of a product to be manufactured. In addition, methods are described, which allow the automatic configuration and optimization of such an architecture by using simulation technics and collected process data.

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