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检索条件"任意字段=2023 IEEE Conference on Control Technology and Applications, CCTA 2023"

共 4597 条记录，以下是91-100 订阅

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Wave Feedforward control for Large Floating Wind Turbines

Wave Feedforward Control for Large Floating Wind Turbines

引用

2023 ieee conference on control technology and applications, ccta 2023

作者： Hegazy, Amr Naaijen, Peter Van Wingerden, Jan-Willem Delft University of Technology Delft Center for Systems and Control Delft2628 CD Netherlands Maritime and Transport Technology Delft University of Technology Delft2628 CD Netherlands

ISBN: (纸本)9798350335446

Floating wind energy has attracted substantial interest since it enables the deployment of renewable wind energy in deeper waters. However, floating wind turbines are subjected to disturbances, predominantly from turbulence in the wind and waves hitting the platform. Wave disturbances cause undesired oscillations in speed and increase structural loading. This paper focuses on mitigating these disturbance effects with feedforward control using knowledge of the incoming wavefield. The control problem is formulated in an H∞ optimization framework designing two wave feedforward controllers: one to reduce rotor speed oscillations, and the other one to minimize the platform pitch motion. Mid-fidelity time-domain simulations demonstrate the improved performance of the proposed control algorithm regarding wave disturbance mitigation at the cost of higher actuator duty. © 2023 ieee.

关键词： Wind power

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Lifelong Learning control of Nonlinear Systems with Constraints Using Multilayer Neural Networks with Application to Mobile Robot Tracking

Lifelong Learning Control of Nonlinear Systems with Constrai...

引用

2023 ieee conference on control technology and applications, ccta 2023

作者： Ganie, Irfan Jagannathan, S. Missouri University of Science and Technology Dept. of Elec. and Comp. Engg RollaMO United States

ISBN: (纸本)9798350335446

This paper presents a novel lifelong multilayer neural network (MNN) tracking approach for an uncertain nonlinear continuous-time strict feedback system that is subject to time-varying state constraints. The proposed method uses a time-varying barrier function to accommodate the constraints leading to the development of an efficient control scheme. The unknown dynamics are approximated using a MNN, with weights tuned using a singular value decomposition (SVD)-based technique. An online lifelong learning (LL) based elastic weight consolidation (EWC) scheme is also incorporated to alleviate the issue of catastrophic forgetting. The stability of the overall closed-loop system is analyzed using Lyapunov analysis. The effectiveness of the proposed method is demonstrated by using a quadratic cost function through a numerical example of mobile robot control which demonstrates a 38% total cost reduction when compared to the recent literature and 6% cost reduction is observed when the proposed method with LL is compared to the proposed method without LL. © 2023 ieee.

关键词： Cost reduction

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Progressor Transformation of Dynamical Systems and Application to Dynamic Optimization

Progressor Transformation of Dynamical Systems and Applicati...

引用

2023 ieee conference on control technology and applications, ccta 2023

作者： Gabrielsen, Trym Arve L. Imsland, Lars S. Norwegian University of Science and Technology Department of Engineering Cybernetics Trondheim Norway

ISBN: (纸本)9798350335446

Motivated by dynamic optimization of aluminium extrusion, this paper demonstrates how a progressor transformation of dynamical models can simplify the implementation of simultaneous methods for dynamic optimization. The implementation of direct collocation becomes difficult when the model exhibits known discontinuous changes, but at unknown times. If the model changes happen at known values in another progressor, the model can be transformed and implemented effortlessly. An example from the extrusion process is given, where the extrusion process model is transformed from time to extrusion length. The transformation allowed the implementation of direct collocation. In addition, the predictability of the transformed model allowed nearly a 50 percent reduction in state variables for describing the aluminium billet throughout the extrusion phase. © 2023 ieee.

关键词： Extrusion

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Continual Learning-based Optimal Output Tracking of Nonlinear Discrete-time Systems with Constraints: Application to Safe Cargo Transfer

Continual Learning-based Optimal Output Tracking of Nonlinea...

引用

2023 ieee conference on control technology and applications, ccta 2023

作者： Farzanegan, Behzad Jagannathan, S. Missouri University of Science and Technology Dept. of Elec. and Comp. Engg RollaMO United States

ISBN: (纸本)9798350335446

This paper addresses a novel lifelong learning (LL)-based optimal output tracking control of uncertain non-linear affine discrete-time systems (DT) with state constraints. First, to deal with optimal tracking and reduce the steady state error, a novel augmented system, including tracking error and its integral value and desired trajectory, is proposed. To guarantee safety, an asymmetric barrier function (BF) is incorporated into the utility function to keep the tracking error in a safe region. Then, an adaptive neural network (NN) observer is employed to estimate the state vector and the control input matrix of the uncertain nonlinear system. Next, an NN-based actor-critic framework is utilized to estimate the optimal control input and the value function by using the estimated state vector and control coefficient matrix. To achieve LL for a multitask environment in order to avoid the catastrophic forgetting issue, the exponential weight velocity attenuation (EWVA) scheme is integrated into the critic update law. Finally, the proposed tracker is applied to a safe cargo/ crew transfer from a large cargo ship to a lighter surface effect ship (SES) in severe sea conditions. © 2023 ieee.

关键词： Navigation

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Discrete-Time Model Reference Adaptive control of Uncertain Dynamical Systems in the Presence of Coupled Dynamics

Discrete-Time Model Reference Adaptive Control of Uncertain ...

引用

2023 ieee conference on control technology and applications, ccta 2023

作者： Aly, Islam A. Kurttisi, Atahan Dogan, K. Merve Embry-Riddle Aeronautical University Daytona BeachFL32114 United States

ISBN: (纸本)9798350335446

An uncertain system with coupled dynamics can lead to poor tracking performance or even unstability when using control techniques that are classified as discrete-time or continuous-time. It should be noted that achieving the Lyapunov stability of the uncertain systems in the presence of coupled dynamics with discrete-time model reference adaptive control techniques typically result in unavoidable complexity. This makes it difficult to generalize successful continuous-time adaptive control results to discrete-time environments. Thus, this work proposes a model reference adaptive control architecture based on a discrete-time setting to deal with systems in the presence of uncertainties and coupled dynamics. This is achieved by using observer dynamics, where the tracking error between the system state and the reference model is shown to be asymptotically stable using a Lyapunov function composed of logarithmic and quadratic functions. An illustrative example is also presented to show the efficacy of the discrete-time model reference adaptive control architecture over the standard counterpart. © 2023 ieee.

关键词： Lyapunov functions

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Output Feedback Adaptive Optimal control of Affine Nonlinear systems with a Linear Measurement Model

Output Feedback Adaptive Optimal Control of Affine Nonlinear...

引用

2023 ieee conference on control technology and applications, ccta 2023

作者： Ogri, Tochukwu Elijah Nahid Mahmud, S.M. Bell, Zachary I. Kamalapurkar, Rushikesh Oklahoma State University School of Mechanical and Aerospace Engineering United States Purdue University School of Aeronautics and Astronautics West Lafayette47907 United States Air Force Research Laboratories Florida United States

ISBN: (纸本)9798350335446

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based reinforcement learning architecture that simultaneously learns and implements an optimal controller while maintaining stability during the learning phase. Using multiplier matrices, a convenient way to search for observer gains is designed along with a controller that learns from simulated experience to ensure stability and convergence of trajectories of the closed-loop system to a neighborhood of the origin. Local uniform ultimate boundedness of the trajectories is established using a Lyapunov-based analysis and demonstrated through simulation results, under mild excitation conditions. © 2023 ieee.

关键词： Closed loop systems

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Data-driven Adaptive Surface control for Automated Directional Drilling

Data-driven Adaptive Surface Control for Automated Direction...

引用

2023 ieee conference on control technology and applications, ccta 2023

作者： Hausser, Felix Himmel, Andreas Karvinen, Kai S. Findeisen, Rolf Technical University of Darmstadt Control and Cyber-Physical Systems Laboratory Darmstadt Germany Baker Hughes Inteq GmbH Celle Germany

ISBN: (纸本)9798350335446

Directional drilling is the process of drilling boreholes that adhere to a specified reference well plan as closely as possible while ensuring safe operation. This process is typically controlled by repeatedly manipulating the steering inputs of an underground bottom-hole assembly. In contrast, the surface inputs, such as the mud flow rate, the drill string rotation speed, or the hook load, are only occasionally adjusted, requiring expert knowledge. This is due to the fact that it is challenging to model the influence of the surface inputs on the drilling process - especially the downhole activity. To tackle this challenge, a data-driven adaptive two degree of freedom control concept is proposed. This control concept applies a simplified data-based surrogate model of the directional drilling process. The surrogate model is subsequently used in an adaptive two degree of freedom control concept, splitting the tasks into reference tracking and disturbance rejection. The control concept is tested in a virtual directional drilling test environment to automatically adjust the drill string rotation speed and hook load to achieve a desired trajectory curvature. © 2023 ieee.

关键词： Degrees of freedom (mechanics)

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Nonlinear Dynamic System Identification of Separation Unit for Raw Materials

Nonlinear Dynamic System Identification of Separation Unit f...

引用

2023 ieee conference on control technology and applications, ccta 2023

作者： Kosters, Tarek Nelles, Oliver University of Siegen The Lab Automatic Control Mechatronics Siegen Germany

ISBN: (纸本)9798350335446

This paper focuses on nonlinear dynamic modeling of the combine harvesters cleaning unit. Therefore, first, the cleaning sub process is characterized in detail. The main properties are the nonlinear dynamic process itself as well as the upstream transportation process resulting in an overall time delayed nonlinear dynamic process. Since no first principle models exist for the dynamics of the process a black box identification of the process is carried out in a two-step procedure. First, the time delay is estimated separately following a brute-force method and the data is compensated for it. Secondly, nonlinear dynamic system identification is performed. To find an appropriate model architecture, a benchmark of four data-driven models is accomplished. The compared models are chosen to realize different dynamic realizations ranging from more complex feedback structures (internal or external) as well as pure feedforward architectures. Additionally, the nonlinear approximator is varied. The benchmark shows that different architectures are capable to model the combine harvesters cleaning unit. Depending on the limitations for the number of parameters or training time an appropriate choice has to be made. Furthermore, the investigation points out the difficulty to deal with real measurement data influenced by external conditions which are not available in the modeling phase. © 2023 ieee.

关键词： Time delay

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Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example

Experimental Comparison of H-Infinity Synthesis and Feedback...

引用

2023 ieee conference on control technology and applications, ccta 2023

作者： Ozcelik, Mert Kurkcu, Burak Bayraktaroglu, Zeki Yagiz Aselsan Inc. Control Systems Design Department Ankara06750 Turkey University of California Department of Mechanical Engineering BerkeleyCA94720 United States Hacettepe University Department of Computer Engineering Ankara06800 Turkey Istanbul Technical University Department of Mechanical Engineering Istanbul34437 Turkey

ISBN: (纸本)9798350335446

This study investigates the controller types and effects of the design techniques on gimbal stabilization. Since implementing the controllers and determining the system's robustness is straightforward, the frequency domain design approaches are widely used with linear controllers in electro-optical inertial stabilized systems. Besides, the required system models can be obtained from experimental data easily. Nevertheless, the system model could change in the operational conditions. Therefore, nonlinear controllers are needed in this situation. In this investigation, we obtained a proper system model using system identification methods to design a mixed-sensitivity H∞ controller. Then, we proposed an input-output feedback linearization controller with a linear quadratic regulator (LQR) based state feedback controller design to stabilize the 2 degrees of freedom (DOF) gimbal. Finally, we compared these two controllers regarding reference tracking, sensitivity function, and disturbance rejection performances on the experimental setup under 6 DOF disturbance profiles. © 2023 ieee.

关键词： controllers

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Reference Model based Data-driven control of Power Amplifiers for High-precision Motion Systems

Reference Model based Data-driven Control of Power Amplifier...

引用

2023 ieee conference on control technology and applications, ccta 2023

作者： Xu, Duo Popescu, Mihai-Serban Lazar, Mircea Eindhoven University of Technology Control Systems Group Department of Electrical Engineering Netherlands

ISBN: (纸本)9798350335446

Motivated by the increasing requirements in positioning precision for lithography applications, this paper analyzes how the position error in a high-precision motion system is affected by the response of the controlled power amplifier that drives the motor. Based on the analysis, guidelines for designing a reference model in continuous or discrete time that satisfies certain requirements that would decrease the overall position error are presented. Then, a data-driven control method, namely Virtual Reference Feedback Tuning (VRFT), is employed to directly synthesize both feedback and feedforward controllers based on the designed reference model. The position error of the motion system with the data-driven controlled power amplifier is compared to the case when classical industrial controllers are employed in the control of the amplifier. If adequate reference models are designed, the VRFT-controlled power amplifier can significantly decrease the position error such that it is close to the ideal position error. All of the presented results are based on simulations. © 2023 ieee.

关键词： Power amplifiers

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