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2nd Modeling, Estimation and control conference (MECC)

作者： Leblebicioglu, Damla Atesoglu, Ozgur Cakmakci, Melih ROKETSAN Missiles Inc TR-06780 Ankara Turkey Bilkent Univ Mech Engn Dept TR-06800 Ankara Turkey

The increasing demand for target tracking, environmental surveys, surveillance and mapping requires multi-axis gimbal systems with high tracking and stabilization performance. In this study, a new torque estimation structure is proposed to compute the complex disturbances negatively affecting the performance of the system. Two different control strategies based on Active Disturbance Rejection control (ADRC) and Estimated Torque Model are implemented on a two-axis gimbal system. In the first strategy, the purpose is to improve the robustness, environmental adaptability and tracking accuracy of the system. The tuning effort of the ADRC is reduced by integrating a Neural Network (NN) based disturbance compensator (NN assisted ADRC). In the second strategy, NN is replaced with an Estimated Torque Model (ETM assisted ADRC), whose inputs come from plant outputs. The simulation results show that, both NN and ETM assisted control structures decrease the tracking errors. However, the improvements achieved by the physics-informed neural network-based estimator are more significant. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0)

关键词： missile guidance and control modeling physics-informed neural network applications

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control-oriented Model of HVAC and Battery Cooling systems in Electric Vehicles 2nd

Control-oriented Model of HVAC and Battery Cooling Systems i...

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2nd Modeling, Estimation and control conference (MECC)

作者： Chen, Youyi Kwak, Kyoung Hyun Kim, Jaewoong Jung, Dewey D. Kim, Youngki Univ Michigan Mech Engn Dearborn MI 48128 USA Hyundai Kia Motor Co Hwaseong Si South Korea

Energy-efficient thermal management of heating, ventilation, and air-conditioning (HVAC) and battery cooling systems is essential for an enhanced driving range of electric vehicles. With recent advances in vehicle connectivity technologies and vehicle computation units, a predictive model has been emphasized in control design. However, the system complexity due to refrigerant circuits and coupling with the battery cooling system makes it challenging to develop a computationally inexpensive model for potential model predictive control applications. This paper presents a novel control-oriented model to capture the behavior of a combined HVAC and battery cooling system for electric vehicles. To reduce the complexity due to the nonlinear two-phase flow heat transfer, the refrigerant circuit is modeled based on the assumption of a quasi-steady ideal vapor-compression cycle. The proposed model is calibrated with a three-step optimization process and then validated against a high-fidelity physics-based model with open-loop simulations. The simulation results show the effectiveness of the proposed model with four states and five actuators: the root mean square errors (RMSE) of the battery temperature and the coolant temperature are 0.41 degrees C and 0.35 degrees C, respectively, and the normalized RMSEs of the heat transfer rate at the heat exchangers are within the range of 2.8% to 10.6%. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-nd license (https://***/licenses/by-nc-nd/4.0)

关键词： heating, ventilation, and air-conditioning modeling battery cooling modeling thermal management electric vehicle

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Deep Reinforcement Learning Based Adaptation of Pure-Pursuit Path-Tracking control for Skid-Steered Vehicles 2nd

Deep Reinforcement Learning Based Adaptation of Pure-Pursuit...

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2nd Modeling, Estimation and control conference (MECC)

作者： Joglekar, Ajinkya Sathe, Sumedh Misurati, Nicola Srinivasan, Srivatsan Schmid, Matthias J. Krovi, Venkat Clemson Univ Dept Automot Engn Greenville SC 29607 USA

The growing need for autonomous vehicles in the offroad space raises certain complexities that need to be considered more rigorously in comparison to onroad vehicle automation. Popular path control frameworks in onroad autonomy deployments such as the pure-pursuit controller use geometric and kinematic motion models to generate reference trajectories. However in the offroad settings these controllers, despite their merits (low design and computation requirements), could compute dynamically infeasible trajectories as several of the nominal assumptions made by these models don't hold true when operating in a 2.5D terrain. Outside of the notable challenges such as uncertainties and non-linearities/disturbances introduced by the unknown/unmapped 2.5D terrains, additional complexities arise from the use of vehicle architectures such as the skid-steer that experience lateral skidding for achieving simple curvilinear motion. Additionally, linear models of skid-steer vehicles often consist of high modeling uncertainty which renders traditional linear optimal and robust control techniques inadequate given their sensitivity to modeling errors. Nonlinear MPC has emerged as an upgrade, but needs to overcome real-time deployment challenges (including slow sampling time, design complexity, and limited computational resources). This provides an unique opportunity to utilize data-driven adaptive control methods in tailored application spaces to implicitly learn and hence compensate for the unmodeled aspects of the robot operation. In this study, we build an adaptive control framework called Deep Reinforcement Learning based Adaptive Pure Pursuit (DRAPP) where the base structure is that of a geometric Pure-Pursuit (PP) algorithm which is adapted through a policy learned using Deep Reinforcement Learning (DRL). An additional law that enforces a mechanism to account for the rough terrain is added to the DRL policy to prioritize smoother reference-trajectory generation (and thereby mor

关键词： Adaptive control Path tracking Offroad systems Pure pursuit Deep reinforcement learning Data-driven control

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A Novel Chaotic System based on Binomial Functions for Detection of Ultra Weak Signals 3rd

A Novel Chaotic System based on Binomial Functions for Detec...

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3rd ifac conference on Modelling, Identification and control of Nonlinear systems (MiCNON)

作者： Pancoatl-Bortolotti, Pedro Costa, Antonio H. Enriquez-Caldera, Rogerio Guerrero-Castellanos, Fermi Tello-Bello, Maribel Lopez-Hernandez, Monica Inst Nacl Astrofis Opt & Elect INAOE Puebla Mexico Univ Massachusetts Dartmouth Dept Elect & Comp Engn N Dartmouth MA 02747 USA Benemerita Univ Autonoma Puebla BUAP Fac Ciencias Elect Puebla Mexico Univ Anahuac Puebla Puebla Mexico

This research presents a new 2nd order non-linear chaotic system that is created using the Lienard Theorem and binomial functions. The systems parameters are properly chosen to assure a stable limit cycle and simultaneously bifurcation diagrams are conjugated together with Lyapunov exponents to generate chaotic and periodic trajectories in the phase space. Then the system is configured to operate in the state of intermittence for detection of ultra-weak signals. Computer model simulations provide encouraging results for detection of signals with signal-to-noise ratio of -45 dB. As a parallel result, a new method named Short Time Inspired Lyapunov exponent (STILE), is presented as an efficient way to detect intermittence in time sequences. Copyright (C) 2021 The Authors.

关键词： STILE Lienard systems Chaotic Oscillators Weak signal detection Binomial functions

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Finite- and fixed-time convergent algorithms: design and convergence time estimation

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ANNUAL REVIEWS IN control 2019年 48卷 209-221页

作者： Basin, Michael Autonomous Univ Nuevo Leon Sch Phys & Math Sci San Nicolas De Los Garza Nuevo Leon Mexico ITMO Univ St Petersburg Russia

This paper presents a review of finite- and fixed-time convergent algorithms for dynamic systems of various dimensions and relative degrees, with or without disturbances. The review mainly focuses on finite- and fixed-time convergent algorithms, which provide explicit and easily computable upper estimates for the corresponding convergence times. The finite- and fixed-time convergent algorithms are classified according to their actions and structural properties: regulators, observers (differentiators), controllers;discontinuous and continuous, non-smooth and smooth, non-adaptive and adaptive. Some fixed time convergent algorithms are illustrated by simulation examples displaying typical time histories of the state/estimate trajectories in each case. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： Finite- and fixed-time convergence Settling time estimation control and observer design

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A geometrical formulation to unify construction of Lyapunov functions for interconnected iISS systems

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ANNUAL REVIEWS IN control 2019年 48卷 195-208页

作者： Ito, Hiroshi Kyushu Inst Technol Dept Intelligent & Control Syst Iizuka Fukuoka 8208502 Japan

In recent years, the ability to accommodate various nonlinearities has become even more important to support systems design and analysis in a broad area of engineering and science. In this line of research, this paper discusses usefulness of the notion of integral input-to-state stability (iISS) in assessing and establishing system properties through interconnection of component systems. The focus is to construct Lyapunov functions which explain mechanism and provide estimate of stability and robustness of interconnected systems. Unique issues arising in dealing with iISS systems are reviewed in comparison with interconnections of input-to-state stable (ISS) systems. The max-separable Lyapunov function and the sum-separable Lyapunov function which are popular for ISS and iISS, respectively, are revisited. The max-separable function cannot be qualified as a Lyapunov function when component systems are not ISS. Level sets of the max-separable function are rectangles, and the rectangles cannot be expanded to encompass the entire state space in the presence of non-ISS components. The sum-separable function covers iISS components which are not ISS. However, it has practical limitations when stability margins are small. To overcome the limitations, this paper brings in a new idea emerged recently in the literature, and proposes a new type of construction looking at level sets of a Lyapunov function. It is shown how an implicit function allows us to draw chamfered rectangles based on fictitious gain functions of component systems so that they provide reasonable estimates of forward invariant sets producing a Lyapunov function applicable to both iISS and ISS systems equally. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： Nonlinear control systems Interconnected systems Integral input-to-state stability Lyapunov functions Small gain theorem

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Proposal of a user-centred approach for CPS design: pillbox case study

Proposal of a user-centred approach for CPS design: pillbox ...

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Merlo, C. Akle, A. Abi Llaria, A. Terrasson, G. Villeneuve, E. Pilniere, V. ESTIA ESTIA Rech Technopole Izarbel F-64210 Bidart France Bordeaux Univ UMR 5218 IMS Lab Integrat Mat Syst 351 Cours Liberat F-33405 Talence France

Product design greatly evolves for years, due to the increasing complexity of products, from simple monodisciplinary products to mechatronics systems then cyber-physical systems. Teams involved in the development of such systems are strongly interdisciplinary and require adequate engineering design methods. We propose hereafter a dedicated design process that integrates systems engineering approach, creativity tools and user-centered design methods. This design process has been implemented within a case study from e-health sector: a home-care provider asked us for developing and experimenting a 'connected' pillbox. After detailing main results of this development, we analyze them and propose methodological improvements. We finally conclude on some perspectives for studying engineering design in the context of global e-health systems. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： systems Engineering Human-Centered design Smart Human-Machine Interface System design CPS for Health Care

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Connected automated vehicle design among human-driven vehicles

Connected automated vehicle design among human-driven vehicl...

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Orosz, Gabor Univ Michigan Dept Mech Engn Ann Arbor MI 48105 USA

In this extended abstract, we discuss results regarding the experimental validation of connected automated vehicle design. We demonstrate experimentally that a connected automated vehicle can improve human-dominated traffic flow while being integral part of the flow. Our experiments emphasize the benefits of V2V-based control for driving automation without the support of an automated platoon. In fact, we show that benefits can also be gained even in scenarios where not all neighboring human-driven vehicles are equipped with V2V devices. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Automotive cooperated control Intelligent road transportation Semi-autonomous and mixed-initiative systems

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An Adaptive Virtual Training System Based on Universal design

An Adaptive Virtual Training System Based on Universal Desig...

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Loch, Frieder Fahimipirehgalin, Mina Czerniak, Julia N. Mertens, Alexander Villani, Valeria Sabattini, Lorenzo Fantuzzi, Cesare Vogel-Heuser, Birgit Tech Univ Munich Inst Automat & Informat Syst Garching Germany Rhein Westfal TH Aachen Inst Ind Engn & Ergon Aachen Germany Univ Modena & Reggio Emilia Dept Sci & Methods Engn Reggio Emilia Italy

The increasing complexity of manufacturing environments requires effective training systems to prepare the operation personnel for their tasks. Several training systems have been proposed. A common approach is the application of virtual environments to train interactions with an industrial machine in a safe, attractive, and efficient way. However, these training systems cannot adapt to the requirements of an increasingly diversified workforce. This paper introduces an approach for the design of an adaptive virtual training system based on the idea of universal design. The system is based on a two-step approach that consists of an initial adaptation to the user capabilities and real-time adaptations during training based on measurements of the user. The adaptations concern the use of different representations of lessons with different complexity and interaction modalities. The proposed approach provides a flexible training system that can adapt to the needs of a broad group of users. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Human-machine interface training virtual reality assembly man-machine systems

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An Ecological Interface design Based Visualization of the Energy Balance of Chemical Reactors

An Ecological Interface Design Based Visualization of the En...

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2nd International-Federation-of-Automatic-control (ifac) conference on Cyber-Physical and Human-systems (CPHS)

作者： Lindscheid, C. Sakthithasan, P. Engell, S. TU Dortmund Univ D-44227 Dortmund Germany

The operation of industrial process becomes more and more demanding due to tighter regulations and increased competition. The operators, who are responsible for the safe and reliable operation of the processes are required to supervise a larger number of units with a large number of measured values and actuators and are expected to steer the process towards an optimal, profitable and resource efficient operation. In order to help the operators in taking the right decisions, an interface design is needed which not only helps the operators in familiar situations but also provides support to handle unanticipated or non-routine events. The concept of Ecological Interface design (EID) was introduced for designing such interfaces, however it provides only guidelines and the actual implementation is left to the interface designer. In this contribution we propose to use dynamic models of the process in order to facilitate the Ecological Interface design process. Using the energy balance of a chemical reactor as an example, we show how a dynamic model can be used to guide the actual design of an interface that supports the operator in the handling of plants with several constraints and several actuators. The application of the concept is illustrated by the case study of a polymerization reactor. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Human-Machine Interaction Ecological Interface design Chemical Process control

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