2019 IEEE 28th International Symposium on Industrial Electronics (ISIE)
In this paper, based on the Plug-and-Play process monitoring and control architecture(PnP-PMCA), ... more In this paper, based on the Plug-and-Play process monitoring and control architecture(PnP-PMCA), PnP adaptive residual generator is briefly introduced. At the component level of the PnP-PMCA, PnP control strategy that automatically utilizes new devices (actuators or sensors) plugged into the original system has high flexibility and reliability in industrial applications. In addition, three tank system (TTS) has typical characteristics of tanks pipelines and pumps used in chemical industry. Therefore, it is often used as an experimental device for process control in the laboratory. In this paper, the fault detection of the three tank system using the PnP architecture will be studied.
IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
This paper presents the study on the data-driven process monitoring system design for the dynamic... more This paper presents the study on the data-driven process monitoring system design for the dynamic processes with periodic rectangular wave disturbance. The basic idea of the proposed methods are to identify the stable kernel representation (SKR) of the dynamic process by projecting the process data into the row subspace of the periodic rectangular wave disturbance. With the help of the projection, the kernel subspace of the system can be further determined. Based on the identified data-driven SKR, fault detection are developed. The performance and effectiveness of the proposed scheme is verified and demonstrated through the numerical study on randomly generated systems. Index Terms––Data-driven SKR, subspace method, fault detection, periodic rectangular wave disturbance.
This chapter deals with adaptive design of fuzzy controllers based on sliding-mode control law. A... more This chapter deals with adaptive design of fuzzy controllers based on sliding-mode control law. As it was mentioned earlier, a challenge to design a sliding- mode controller is necessity to have the nominal dynamics of the system. This requires a series of modeling prior to the control of the system. Fuzzy logic systems as general function approximators are used to deal with un-modeled dynamics of the system. Lyapunov stability analysis method is used to tune the parameters of the fuzzy logic systems.
Lack of imprecise nonlinear model of real-time systems is inevitable due to several simplificatio... more Lack of imprecise nonlinear model of real-time systems is inevitable due to several simplifications made, neglected frictions, dead-zones, and saturation. One of the most well-known nonlinear control design tools to deal with uncertainties is sliding-mode control approach. In this method the desired behavior is defined in terms of a sliding manifold. The sliding manifold is stable, and the controller is designed to push system states to this manifold and maintain them on it. The convergence of the sliding manifold to zero usually occurs in finite time which necessitates the use of a switching function; with which the robustness of the system is improved. This chapter deals with the design of classical sliding mode controllers, adaptive sliding mode control approach and terminal sliding mode controllers.
IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, 2019
In the control theory, after the stability of the control system is guaranteed, improving the per... more In the control theory, after the stability of the control system is guaranteed, improving the performance of the system has always been a hot topic. In this paper, based on the Plug-and-Play process monitoring and control architecture (PnP-PMCA), without changing the previously designed controller, new actuators plugged into original system will be presented. In addition, feedforward controller (one of the components of PnP-PMCA) related to tracking performance will also be designed. After the new actuator is inserted into the original system, the feedforward controller is adjusted by iterative method to achieve the desired tracking performance and the original controller is not modified. For the implementation of plug-and-play actuators and the effectiveness of the iterative feedforward controller, the three tank system benchmark experiment will be used to verify the feasibility of the above study.
Centralized direct digital control systems have several drawbacks, for example, massive wiring re... more Centralized direct digital control systems have several drawbacks, for example, massive wiring requirements, difficult diagnosis, and difficult fault detection procedures. Most of these drawbacks may impose heavy costs on the maintenance of the control system. These disadvantages have given rise to the development of NCSs. In a network-based control system, sensors, actuators, controllers, human–machine interfaces, and other possible components of the system share their data over a network [1]. In this chapter, adaptive network sliding mode fuzzy logic control system approach is explained. Lyapunov stability analysis is used to analyze the stability of the studied controller.
Control of a system—for example, operation of a robot—through a communication link from a distant... more Control of a system—for example, operation of a robot—through a communication link from a distant location is called teleoperation. Remote operations in hazardous and unreachable areas are crucial and inevitable; examples of such areas are complex and challenging tasks in disaster areas, space robotic applications, remotely operated vehicles (e.g., deep ocean robotics), and remote surgery applications. This chapter deals with sliding mode fuzzy logic teleoperation controllers.
Three-tank system is an important benchmark in industrial process. However, so far, the research ... more Three-tank system is an important benchmark in industrial process. However, so far, the research on the three-tank system is mainly limited to simulation studies, and the use of virtual simulators. In this article, a real-time three-tank system setup is used for practical investigations. Differing with the virtual simulator of a three-tank system, the setup can enable the setting of different types of faults (such as cloggings and leaks in the system, sensor faults, and actuator faults) through manual manipulation, users can choose the combinations of different valves and knobs in the setup, which is helpful to evaluate and compare methods for process monitoring and control. The relevant codes or modules can be applied directly that are developed in the MATLAB/Simulink environment. On this setup, two methods are used to verify the effectiveness in this study. One method is to solve the problem of process monitoring and fault detection; due to the fluctuation of the liquid level caused by flow, the input/output (I/O) data are preferred to be decomposed to different subspaces, which aims to identify the data-driven stable kernel representation. Moreover, the original controller of the three-tank system cannot match the system accurately, and therefore, needs to be modified. To solve the problem, a plug-and-play process control method (the other method used in this article) is applied, which adds a stable Youla parameterization matrix on the basis of the original controller. All controllers that internally stabilize the control loop improves the performance of the system without changing the original controller of the three-tank system. The experimental results of the two methods indicate that the proposed approach has strong practicality.
In order to ensure the safe and efficient operation of modern industrial systems and to tackle co... more In order to ensure the safe and efficient operation of modern industrial systems and to tackle common existing nonlinearity, uncertainty and the operating point change of industrial systems, this paper focuses on observer based residual generator design using adaptive algorithms for LTI systems. The basic idea is to track the changes of the system by updating the key parameters of the residual generator rather than identify the whole system. Thus we can identify the parameter matrixes of the system. In order to improve accuracy under the circumstances where there exist random disturbances in input or output signals, sliding window method is designed for adaptive residual generator. The accuracy and effectiveness of the proposed method can be demonstrated by using a numrical system.
Abstract Short-term water demand forecasting (StWDF) is the foundation stone in the derivation of... more Abstract Short-term water demand forecasting (StWDF) is the foundation stone in the derivation of an optimal plan for controlling water supply systems. Deep learning (DL) approaches provide the most accurate solutions for this purpose. However, they suffer from complexity problem due to the massive number of parameters, in addition to the high forecasting error at the extreme points. In this work, an effective method to alleviate the error at these points is proposed. It is based on extending the data by inserting virtual data within the actual data to relieve the nonlinearity around them. To our knowledge, this is the first work that considers the problem related to the extreme points. Moreover, the water demand forecasting model proposed in this work is a novel DL model with relatively low complexity. The basic model uses the gated recurrent unit (GRU) to handle the sequential relationship in the historical demand data, while an unsupervised classification method, k-means, is introduced for the creation of new features to enhance the prediction accuracy with less number of parameters. Real data obtained from two different water plants in China are used to train and verify the model proposed. The prediction results and the comparison with the state-of-the-art illustrate that the method proposed reduces the complexity of the model six times of what achieved in the literature while conserving the same accuracy. Furthermore, it is found that extending the data set significantly reduces the error by about 30%. However, it increases the training time.
A boundary control approach is used to control a two-link rigid-flexible wing in this article. It... more A boundary control approach is used to control a two-link rigid-flexible wing in this article. Its design is based on the principle of bionics to improve the mobility and the flexibility of aircraft. First, a series of partial differential equations (PDEs) and ordinary differential equations (ODEs) are derived through the Hamilton's principle. These PDEs and ODEs describe the governing equations and the boundary conditions of the system, respectively. Then, a control strategy is developed to achieve the objectives including restraining the vibrations in bending and twisting deflections of the flexible link of the wing and achieving the desired angular position of the wing. By using Lyapunov's direct method, the wing system is proven to be stable. The numerical simulations are carried out with the finite difference method to prove the effectiveness of designed boundary controllers.
In the deployment of interval type-2 fuzzy systems, one of the most important steps is the type r... more In the deployment of interval type-2 fuzzy systems, one of the most important steps is the type reduction. The commonly used center of sets type reducer requires the solution of two nonlinear constrained optimization problems. Frequently used approaches to solve them are the Karnik–Mendel algorithms and their variants. However, these algorithms suffer from the need for sorting, which is known to be computationally very expensive. Using the reformulations proposed in this paper for center of sets type reducer, it is possible to eliminate the need for sorting. This makes interval type-2 fuzzy systems more appropriate for cost-sensitive real-time applications. Extensive simulations are presented to illustrate the faster convergence speed of the proposed method over six other enhanced variants of the Karnik–Mendel algorithm as applied to center of sets type reduction of interval type-2 fuzzy systems.
2019 IEEE 28th International Symposium on Industrial Electronics (ISIE)
In this paper, based on the Plug-and-Play process monitoring and control architecture(PnP-PMCA), ... more In this paper, based on the Plug-and-Play process monitoring and control architecture(PnP-PMCA), PnP adaptive residual generator is briefly introduced. At the component level of the PnP-PMCA, PnP control strategy that automatically utilizes new devices (actuators or sensors) plugged into the original system has high flexibility and reliability in industrial applications. In addition, three tank system (TTS) has typical characteristics of tanks pipelines and pumps used in chemical industry. Therefore, it is often used as an experimental device for process control in the laboratory. In this paper, the fault detection of the three tank system using the PnP architecture will be studied.
IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
This paper presents the study on the data-driven process monitoring system design for the dynamic... more This paper presents the study on the data-driven process monitoring system design for the dynamic processes with periodic rectangular wave disturbance. The basic idea of the proposed methods are to identify the stable kernel representation (SKR) of the dynamic process by projecting the process data into the row subspace of the periodic rectangular wave disturbance. With the help of the projection, the kernel subspace of the system can be further determined. Based on the identified data-driven SKR, fault detection are developed. The performance and effectiveness of the proposed scheme is verified and demonstrated through the numerical study on randomly generated systems. Index Terms––Data-driven SKR, subspace method, fault detection, periodic rectangular wave disturbance.
This chapter deals with adaptive design of fuzzy controllers based on sliding-mode control law. A... more This chapter deals with adaptive design of fuzzy controllers based on sliding-mode control law. As it was mentioned earlier, a challenge to design a sliding- mode controller is necessity to have the nominal dynamics of the system. This requires a series of modeling prior to the control of the system. Fuzzy logic systems as general function approximators are used to deal with un-modeled dynamics of the system. Lyapunov stability analysis method is used to tune the parameters of the fuzzy logic systems.
Lack of imprecise nonlinear model of real-time systems is inevitable due to several simplificatio... more Lack of imprecise nonlinear model of real-time systems is inevitable due to several simplifications made, neglected frictions, dead-zones, and saturation. One of the most well-known nonlinear control design tools to deal with uncertainties is sliding-mode control approach. In this method the desired behavior is defined in terms of a sliding manifold. The sliding manifold is stable, and the controller is designed to push system states to this manifold and maintain them on it. The convergence of the sliding manifold to zero usually occurs in finite time which necessitates the use of a switching function; with which the robustness of the system is improved. This chapter deals with the design of classical sliding mode controllers, adaptive sliding mode control approach and terminal sliding mode controllers.
IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, 2019
In the control theory, after the stability of the control system is guaranteed, improving the per... more In the control theory, after the stability of the control system is guaranteed, improving the performance of the system has always been a hot topic. In this paper, based on the Plug-and-Play process monitoring and control architecture (PnP-PMCA), without changing the previously designed controller, new actuators plugged into original system will be presented. In addition, feedforward controller (one of the components of PnP-PMCA) related to tracking performance will also be designed. After the new actuator is inserted into the original system, the feedforward controller is adjusted by iterative method to achieve the desired tracking performance and the original controller is not modified. For the implementation of plug-and-play actuators and the effectiveness of the iterative feedforward controller, the three tank system benchmark experiment will be used to verify the feasibility of the above study.
Centralized direct digital control systems have several drawbacks, for example, massive wiring re... more Centralized direct digital control systems have several drawbacks, for example, massive wiring requirements, difficult diagnosis, and difficult fault detection procedures. Most of these drawbacks may impose heavy costs on the maintenance of the control system. These disadvantages have given rise to the development of NCSs. In a network-based control system, sensors, actuators, controllers, human–machine interfaces, and other possible components of the system share their data over a network [1]. In this chapter, adaptive network sliding mode fuzzy logic control system approach is explained. Lyapunov stability analysis is used to analyze the stability of the studied controller.
Control of a system—for example, operation of a robot—through a communication link from a distant... more Control of a system—for example, operation of a robot—through a communication link from a distant location is called teleoperation. Remote operations in hazardous and unreachable areas are crucial and inevitable; examples of such areas are complex and challenging tasks in disaster areas, space robotic applications, remotely operated vehicles (e.g., deep ocean robotics), and remote surgery applications. This chapter deals with sliding mode fuzzy logic teleoperation controllers.
Three-tank system is an important benchmark in industrial process. However, so far, the research ... more Three-tank system is an important benchmark in industrial process. However, so far, the research on the three-tank system is mainly limited to simulation studies, and the use of virtual simulators. In this article, a real-time three-tank system setup is used for practical investigations. Differing with the virtual simulator of a three-tank system, the setup can enable the setting of different types of faults (such as cloggings and leaks in the system, sensor faults, and actuator faults) through manual manipulation, users can choose the combinations of different valves and knobs in the setup, which is helpful to evaluate and compare methods for process monitoring and control. The relevant codes or modules can be applied directly that are developed in the MATLAB/Simulink environment. On this setup, two methods are used to verify the effectiveness in this study. One method is to solve the problem of process monitoring and fault detection; due to the fluctuation of the liquid level caused by flow, the input/output (I/O) data are preferred to be decomposed to different subspaces, which aims to identify the data-driven stable kernel representation. Moreover, the original controller of the three-tank system cannot match the system accurately, and therefore, needs to be modified. To solve the problem, a plug-and-play process control method (the other method used in this article) is applied, which adds a stable Youla parameterization matrix on the basis of the original controller. All controllers that internally stabilize the control loop improves the performance of the system without changing the original controller of the three-tank system. The experimental results of the two methods indicate that the proposed approach has strong practicality.
In order to ensure the safe and efficient operation of modern industrial systems and to tackle co... more In order to ensure the safe and efficient operation of modern industrial systems and to tackle common existing nonlinearity, uncertainty and the operating point change of industrial systems, this paper focuses on observer based residual generator design using adaptive algorithms for LTI systems. The basic idea is to track the changes of the system by updating the key parameters of the residual generator rather than identify the whole system. Thus we can identify the parameter matrixes of the system. In order to improve accuracy under the circumstances where there exist random disturbances in input or output signals, sliding window method is designed for adaptive residual generator. The accuracy and effectiveness of the proposed method can be demonstrated by using a numrical system.
Abstract Short-term water demand forecasting (StWDF) is the foundation stone in the derivation of... more Abstract Short-term water demand forecasting (StWDF) is the foundation stone in the derivation of an optimal plan for controlling water supply systems. Deep learning (DL) approaches provide the most accurate solutions for this purpose. However, they suffer from complexity problem due to the massive number of parameters, in addition to the high forecasting error at the extreme points. In this work, an effective method to alleviate the error at these points is proposed. It is based on extending the data by inserting virtual data within the actual data to relieve the nonlinearity around them. To our knowledge, this is the first work that considers the problem related to the extreme points. Moreover, the water demand forecasting model proposed in this work is a novel DL model with relatively low complexity. The basic model uses the gated recurrent unit (GRU) to handle the sequential relationship in the historical demand data, while an unsupervised classification method, k-means, is introduced for the creation of new features to enhance the prediction accuracy with less number of parameters. Real data obtained from two different water plants in China are used to train and verify the model proposed. The prediction results and the comparison with the state-of-the-art illustrate that the method proposed reduces the complexity of the model six times of what achieved in the literature while conserving the same accuracy. Furthermore, it is found that extending the data set significantly reduces the error by about 30%. However, it increases the training time.
A boundary control approach is used to control a two-link rigid-flexible wing in this article. It... more A boundary control approach is used to control a two-link rigid-flexible wing in this article. Its design is based on the principle of bionics to improve the mobility and the flexibility of aircraft. First, a series of partial differential equations (PDEs) and ordinary differential equations (ODEs) are derived through the Hamilton's principle. These PDEs and ODEs describe the governing equations and the boundary conditions of the system, respectively. Then, a control strategy is developed to achieve the objectives including restraining the vibrations in bending and twisting deflections of the flexible link of the wing and achieving the desired angular position of the wing. By using Lyapunov's direct method, the wing system is proven to be stable. The numerical simulations are carried out with the finite difference method to prove the effectiveness of designed boundary controllers.
In the deployment of interval type-2 fuzzy systems, one of the most important steps is the type r... more In the deployment of interval type-2 fuzzy systems, one of the most important steps is the type reduction. The commonly used center of sets type reducer requires the solution of two nonlinear constrained optimization problems. Frequently used approaches to solve them are the Karnik–Mendel algorithms and their variants. However, these algorithms suffer from the need for sorting, which is known to be computationally very expensive. Using the reformulations proposed in this paper for center of sets type reducer, it is possible to eliminate the need for sorting. This makes interval type-2 fuzzy systems more appropriate for cost-sensitive real-time applications. Extensive simulations are presented to illustrate the faster convergence speed of the proposed method over six other enhanced variants of the Karnik–Mendel algorithm as applied to center of sets type reduction of interval type-2 fuzzy systems.
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Papers by Okyay Kaynak