Search results for: C. Fantuzzi
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In this paper a model-based procedure exploiting analytical redundancy via state estimation techniques for the diagnosis of faults regarding sensors of a dynamic system is presented. Fault detection is based on Kalman filters designed in stochastic environment. Such a design is enhanced by processing the noisy data according to the Frisch Scheme identification method. Fault diagnosis is performed...
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The port-Hamiltonian formalism is a very powerful tool for describing dynamical systems and their interconnections and for designing control laws with specified energetic properties. In this paper, in particular, it is shown how a variable structure control can be designed in this general framework in order to achieve a passive systems with, additionally, the robust properties obtainable with variable...
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This paper proposes a method for fault diagnosis of dynamic processes using the multiple model approach. The technique presented concerns the identification of a non-linear dynamic system based on Takagi-Sugeno (TS) fuzzy models. It can be shown that any non-linear dynamic process can, in fact, be described as a composition of several TS models selected according to process operating conditions. In...
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The paper presents some results on parametric identification of linear systems applied to robust Fault Diagnosis schemes. In our approach, an equation error model is derived from input- output data. In particular, the error term takes into account disturbances (non measurable inputs), nonlinear and time-variant terms, measurement errors, etc. In this manner, state-space realization of the equation...
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Design of complex systems involving a number of experts from various fields necessarily includes modeling at different levels of abstraction. Modeling is particularly important in the initial phase of a joint project when all system requirements and constraints have to be clearly defined and understood by all the partners. Once an unambiguous structural model has been achieved and components interfaces...
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In this paper we address the trajectory tracking problem for groups of mobile robots. We consider trajectories described by completely arbitrary shaped closed curves. The proposed control strategy is a completely decentralized algorithm, and does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial potential functions.
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In discrete event system simulation, random samples from probability distributions are typically used as input for a model. Since these samples are just a sequence of observations generated by random processes that could have large variability, therefore the results of each run can vary substantially. As a consequence, a suitable number of replications must be executed in order to provide good accuracy...
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This paper concerned the theoretical design and the experimental test of a simple nonlinear proportional controller. The controller is based on a gain scheduling approach, in which a model-based procedure is used to define the switching policy. The design procedure has been applied to a position control loop based on an AC electrical motor. Results from the experimental tests show that nonlinear controller...
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In this paper we describe a novel decentralized control strategy to realize formations of mobile robots. We first describe a methodology to obtain a formation with the shape of a regular polygon. Then, applying a bijective coordinates transformation, we show how to obtain a formation with an arbitrary shape. Our control strategy is based on the interaction of some artificial potential fields, but...
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Automated guided vehicle (AGV) logistic handling system are widely adopted when high transportation capacity and quality of service are the most important characteristics to reach. A large number of mathematical approaches have been developed in years to address AGV systems design and control. Nevertheless, proper performance estimations have to consider the peculiar aspects of the real environment...
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The problem of deriving a probabilistic mathematical model of an industrial production line is addressed in this paper. In particular, the analysis of a Tetra Pak liquid foodstuff packaging line has been developed as application of the modeling theory. Tetra Pak's package forming machine works on the basis of a continuous process which cannot be interrupted without production wasting. Production buffer...
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In this paper we address the problem of formation control of a group of robots that exchange information over a delayed communication network. We consider the Virtual Body Artificial Potential approach for stabilizing a group of robots at a desired formation. We show that it is possible to model the controlled system as a set of elements exchanging energy along a power preserving interconnection structure...
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In this paper we propose a methodology for coordinating a group of mobile robots following predefined paths in a dynamic industrial environment. Coordination diagrams are used for representing the possible collisions among the robots. Exploiting the structure of the industrial application we are dealing with, we propose an algorithm for efficiently composing the coordination diagram. Furthermore,...
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IEEE Transactions on Robotics > 2008 > 24 > 4 > 903 - 910
After stability, transparency is the major issue in the design of a telemanipulation system. In this paper, we exploit the behavioral approach in order to provide an index for the evaluation of transparency in port-Hamiltonian-based teleoperators. Furthermore, we provide a transparency analysis of packet switching scattering-based communication channels.
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IEEE/ASME Transactions on Mechatronics > 2008 > 13 > 4 > 487 - 489
In his comments to our paper published in the IEEE/ASME Transactions on Mechatronics (vol. 12, no. 6, pp. 696--702, Dec. 2007), K. Thramboulidis points out many issues related to the application of the object-oriented modeling approach proposed in the paper. The comments of Thramboulidis are relevant and properly referenced, especially considering the section about unified/universal modeling language...
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In this paper we address the problem of the control over networks of mechanical systems. We exploit the scattering framework to extend the energy shaping methodology in case the controller and the plant are interconnected through a delayed network. Furthermore, we exploit a result recently proposed for passivity based telemanipulation for guaranteeing the asymptotic stabilization of the desired configuration...
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The paper presents advanced issues in modelling and simulation of complex packaging line. In particular, we developed a theoretical model of a line with two machines and a buffer, which is a simplified version of a real packaging line from Tetra Pak company. The paper reports also about simulation results that confirm theoretical supposals.
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IEEE Transactions on Automation Science and Engineering > 2007 > 4 > 1 > 105 - 113
This paper describes a modeling language that aims to provide a unified framework for representing control systems, namely, physical plants coupled with computer-based control devices. The proposed modeling methodology is based on the cardinal principle of object orientation, which allows describing both control software and physical components using the same basic concepts, particularly those of...
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IEEE/ASME Transactions on Mechatronics > 2007 > 12 > 6 > 696 - 702
The advantages of object-oriented modeling, as modularity and reusability of components, are very important not only for software development but also for modeling manufacturing systems. Recently, a unified object-oriented approach for modeling both the logical and the physical part of a manufacturing machine has been proposed. In this paper, we show the effectiveness of this new modeling framework...
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The paper introduces a formal definition of inheritance, which is a cardinal concept in object-oriented software, for dynamical systems. The proposed definition exploits the coalgebraic description of software artifacts to provide a connection between the behavioral approach for modeling dynamical systems and the object-oriented approach for software modeling and design. This definition allows to...
