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检索条件"任意字段=3rd International Conference on Robotics and Control Engineering, RobCE 2023"

共 3899 条记录，以下是1461-1470 订阅

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Subspace Structured Neural Network for Rapid Trajectory Optimization 3

Subspace Structured Neural Network for Rapid Trajectory Opti...

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3rd Modeling, Estimation and control conference (MECC)

作者： Tituana, Luis Xu, Yunjun Univ Cent Florida Mech & Aerosp Engn Orlando FL 32826 USA

ISBN: (纸本)9781713872344

In this study, finite horizon constrained trajectory optimization is tackled by using Artificial Neural Network with an embedded subspace manifold. The resulting network takes advantage of the reduced dimension search space guided by a bio-inspired motion rule. The input nodes of the network are interpreted as collocation points over the time domain transcribed by a pseudospectral discretization method. The activation function for each node is the inverse of the dynamical system. The weights and biases to be optimized in the network are analogous to the parameters of the motion rule. The network is optimized during training by minimizing an augmented loss function where the constraints are considered penalties. The proposed method is simulated in a collision avoidance trajectory planning problem of a mobile robot with two driving wheels and an attitude slewing maneuver problem of an asymmetric rigid body spacecraft.

关键词： Trajectory Optimization Neural Networks Optimal control

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Review of Numerical Algorithms for Aircraft Trajectory Optimization 3rd

Review of Numerical Algorithms for Aircraft Trajectory Optim...

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3rd international conference on Autonomous Unmanned Systems, ICAUS 2023

作者： Jiang, Yunfei Liu, Jin Li, Fengyi Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (纸本)9789819711062

Flight trajectory optimization is a crucial aspect of aircraft design, and the numerical algorithms for trajectory optimization have always been a hot and challenging topic in domestic and international research. Starting from the classical classification of trajectory optimization methods and combining with recent advancements in the field of trajectory optimization, this paper provides an overview of various numerical algorithms for flight trajectory optimization, including their principles and applications. Furthermore, the characteristics of different methods and their suitability for solving specific problems are analyzed, offering valuable insights for the practical application of optimization methods. Finally, a brief analysis of the development of trajectory optimization is presented, along with a prospective outlook on the future direction of flight trajectory optimization algorithms. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Numerical methods

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Simulation of motion planning control of Ackerman intelligent vehicle based on ROS 3

Simulation of motion planning control of Ackerman intelligen...

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3rd international conference on Mechanical Design and Simulation, MDS 2023

作者： Zhihong, Tian Jiawang, Wang Xuejie, Han College of Electronic Information and Automation Tianjin University of Science & Technology Tianjin300222 China

ISBN: (纸本)9781510664890

The vehicle kinematics model based on Ackerman principle has a wide range of applications in the field of unmanned driving, and the motion planning control of autonomous mobile intelligent vehicles is of great significance for the research of unmanned driving. In this paper, the robot operating system (ROS) is used as the development platform to establish the simulation model of Ackerman intelligent vehicle, and the three-dimensional physical simulation software Gazebo is used to build the simulation environment. The improved rapid expansion random tree (RRT) algorithm is used as the global path planning algorithm, and the TEB algorithm is used for local path planning to complete the simulation verification of the motion planning and control of the Ackerman smart car. The simulation results show that the improved RRT algorithm can obtain the optimal global path, and its search efficiency and path smoothness are significantly improved. Ackerman intelligent vehicle uses this algorithm to move autonomously in the 3D physical simulation environment, and can avoid obstacles in real time, presenting a good simulation effect. © 2023 SPIE.

关键词： Motion planning

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Research on Optimal Management and Flexible control Method of Reactive Power Voltage for Distributed PV Users in Distribution Station Area 3

Research on Optimal Management and Flexible Control Method o...

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3rd international conference on Energy, Power and Electrical engineering, EPEE 2023

作者： Zhang, Bo Lei, Jie Feng, Xinzhen Xu, Yunhao Xu, Lingshuang Wuxi Power Supply Company of State Grid Jiangsu Electric Power Co. Ltd Wuxi China State Grid Shanghai Energy Interconnection Research Institute Co. Ltd Nanjing China

ISBN: (纸本)9798350318180

With the large-scale grid-connection of distributed PV, the distributed PV users at the end of the low-voltage distribution station area have the problem of voltage exceeding the limit, and even the situation of burning the photovoltaic inverter and the distribution transformer, which seriously affects the operation safety of the distribution network. Aiming at the problems such as high cost and difficult implementation of existing control methods, a reactive power and voltage optimal management and flexible control method and system of distributed photovoltaic inverters based on distribution transformer supervisory terminal unit (TTU) of the station are proposed. Based on the EC-IoT technology architecture, the method and system make full use of the residual reactive power capacity of photovoltaic inverters and combine with the reactive power compensation equipment in the station area to propose a unified and coordinated control strategy for voltage control in the station area. Finally, the actual output and load data of distributed PV users in a distribution area of China are used for simulation analysis, field tests and applications. The application results show that the distributed resource coordination control APP embedded in TTU proposed in this paper can realize real-time and accurate adjustment of the reactive power output of photovoltaic inverters, without transforming the distribution network lines or restricting the distributed photovoltaic active power output, effectively improve the voltage quality of the station area, and avoid the problems such as frequent start and stop of the inverter caused by grid-connected overvoltage of photovoltaic users, and voltage fluctuations or even oscillations caused by the self-regulation of multiple inverters and other problems. The method proposed in this paper provides a good reference case for solving the problem of end-user voltage over-limit caused by large-scale distributed PV grid-connection. © 2023 IEEE.

关键词： comprehensive management and flexible control distribution area photovoltaic inverter reactive power optimization Voltage over limit

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Data-driven proportional integral for primary frequency modulation control of gas turbines 3

Data-driven proportional integral for primary frequency modu...

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3rd international conference on Mechanical, Electronics, and Electrical and Automation control, METMS 2023

作者： Gao, Aimin Cui, Xiaobo Shu, Jianjun Yu, Guoqiang Yang, Xiaolong Zhang, Tianhai Zhang, Weiqing Xiao, Xinyu Jiangsu Frontier Electric Technology Co. Ltd Nanjing211102 China School of Energy and Power Engineering Nanjing Institute of Technology Nanjing211167 China

ISBN: (纸本)9781510666689

Due to the advantages of cleanness, high efficiency and rapid start-up, gas turbines play an important role in peak shaving and frequency modulation in China's power supply. The primary frequency modulation capability of gas turbines is of great significance to the safe operation and frequency stability of the power grid. To handle the control challenges of gas turbine primary frequency modulation, such as loop coupling and large overshoot, a data-driven proportional-integral (PI) control strategy is proposed for the gas turbine primary frequency modulation system, and a reasonable parameter tuning method is provided. The stability of data-driven PI is discussed by analyzing the distributions of data-driven PI parameter in the stability region. Finally, the proposed method is applied to the primary frequency modulation control of a typical heavy-duty gas turbine unit. The simulation results show that the gas turbine unit with the proposed method can obtain the best control performance of the primary frequency modulation with good robustness. The proposed method also has good practical application potential. © 2023 SPIE.

关键词： Two term control systems

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Cyber Threat Analysis and Design of IMC-PID Conventional controller of PWM DC-DC Buck Converter (Part A) 3

Cyber Threat Analysis and Design of IMC-PID Conventional Con...

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3rd IEEE international conference on Recent Advances in Systems Science and engineering, RASSE 2023

作者： Badavath, Anilkumar Kumar, Vivek Hote, Yogesh V. Raza, Md Masood Indian Institute of Technology Roorkee Department of Electrical Engineering Roorkee India Delhi Technological University Dept. of Electrical Engineering Delhi India

ISBN: (纸本)9798350341676

The main aim of attackers targeting Cyber-Physical Systems (CPS) is to compromise the control and monitoring applications facilitated by the cyber layer. The Gain (also called covert or DoS) attack and the Man-in-The-Middle(MitM) (also called false data injection) attack can disrupt the operation of control systems. In this paper, we have introduced Internal Model control (IMC) as one of the resilient control techniques for detecting and mitigating cyber-Attacks. Here, we considered a DC-DC PWM buck converter designed based on the state space averaging(SSA) technique as a plant model. Further, we developed an IMC-PID conventional controller for this model with introduced cyber-Attacks in the communication network. The final IMC controller is expressed in the discrete domain as a series combination of Proportional, Integral, and Derivative (PID) terms. The simulations are conducted in MATLAB/SIMULINK environment and validated on a hardware setup using the WAVECT controller. © 2023 IEEE.

关键词： Networked control systems

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Use of IOT in Computer control Using Hand Gesture Using AT Mega 328 over the Cloud 3

Use of IOT in Computer Control Using Hand Gesture Using AT M...

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3rd IEEE international conference on ICT in Business Industry and Government, ICTBIG 2023

作者： Rathod, Ishwarlal Rathod, Kunal Gupta, Neha Symbiosis University of Applied Sciences Computer Science and Information Technology Indore India Acropolis Institute of Technology and Research Computer Science and Engineering Indore India

ISBN: (纸本)9798350343274

In the realm of remote control, my preference is computer manipulation through hand gestures. Recent strides in technology showcase the feasibility of using manual gestures on Arduino platforms, facilitated by cloud computing. A Wi-Fi-based hand gesture computer control system was developed using an ESP-01 Wi-Fi module and an Arduino microcontroller, enabling remote control and monitoring without geographical constraints or time limitations. The ESP8266 Wi-Fi module played a crucial role in establishing wireless communication with an Android application (S Remote) for transmitting commands to regulate domestic appliances. The AT mega 328 AVR series Microcontroller R3, lacking built-in Wi-Fi, required the ESP-01 Wi-Fi module for wireless communication and programming. The Arduino IDE facilitated programming, incorporating ESP-01 and LCD components. Hand gesture-controlled robots and PC/laptop hand gesture control systems, both utilizing Arduino technology, exemplify similar applications. The Human Machine Interface (HMI) concept involves physical components and software enabling communication between users and machines. HMI devices, including LED indicators and touch screens, traditionally use keyboards and mice. This research implemented a hand gesture controller using Arduino technology, specifically for web browser features, video playback, and VLC media player audio adjustments. The ESP-01 Wi-Fi module, configured via AT instructions through a UART serial connection, played a key role in integrating a hand gesture system for effective computer control. Users can perform actions like playing or pausing videos and adjusting audio amplitude within the VLC media player solely through manual gestures. © 2023 IEEE.

关键词： Wi-Fi

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APU control PARAMETER OPTIMIZED BY MULTIPLE-STRATEGIES PARTICLE SWARM OPTIMIZATION ALGORITHM 3

APU CONTROL PARAMETER OPTIMIZED BY MULTIPLE-STRATEGIES PARTI...

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3rd international conference on Mechanical, Aerospace and Automotive engineering, CMAAE 2023

作者： Xing, Zhiyu Wei, Minxiang Ying, Shize Xu, Zhixin College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics 29 Yudao street Nanjing China

ISBN: (纸本)9781839539954

Aiming at the switching process of auxiliary power unit (APU), a multi-strategy dynamic control strategy of extended-range APU based on particle swarm optimization and fuzzy proportional integral differential (PID) control is proposed. In this algorithm, the interference strategy with adjustable probability, chaotic search strategy, inertia weight adaptive strategy and learning factor linear adjustment strategy are introduced into the conventional iterative process of particle swarm optimization, and the values of two key parameters in the algorithm, namely enhancing global search capability P and enhancing local search capability pp, are studied to make them more suitable for optimizing fuzzy PID control parameters with up to 187 dimensions. In order to verify the effectiveness of the control strategy, the APU simulation model is built. The simulation results show that the fuzzy PID control parameters optimized by multi-strategy fusion particle swarm optimization algorithm have greatly improved the dynamic performance of speed change, torque change and throttle opening change compared with classical PID. © The Institution of engineering & Technology 2023.

关键词： Iterative methods

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Composite Path Following control of AUV with Multiple Disturbances and Input Constraints 3rd

Composite Path Following Control of AUV with Multiple Distur...

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3rd international conference on Autonomous Unmanned Systems, ICAUS 2023

作者： Wang, Yanyun Miao, Jianming School of Ocean Engineering and Technology Sun Yat-sen University Guangzhou Zhuhai519000 China Guangdong Zhuhai519000 China

ISBN: (纸本)9789819710942

This study introduces an innovative control approach for path following of an autonomous underwater vehicle (AUV) in a horizontal plane, considering multiple disturbances and input constraints. The proposed method combines a stochastic disturbance observer (SDO), a fuzzy system, and auxiliary dynamic compensators. Firstly, to effectively address different disturbances on the system and choose appropriate control strategies, and achieve better control effects, multiple disturbances in marine environment are divided into two categories in this paper, i.e., the slow time-varying environmental disturbances with partial known information and the stochastic disturbances. Secondly, a new control strategy based on the SDO, fuzzy system and auxiliary dynamic compensators is constructed. The SDO to mitigate the slow time-varying environmental disturbances with partial known information in stochastic situation, the fuzzy system approximates the nonlinear terms of the AUV model, and the auxiliary dynamic compensators tackle the input constraints. Finally, through numerical simulations, we substantiate the efficacy of the control method, highlighting its novel design. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Fuzzy systems

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Intelligent control system for BLDC Motor Driven Solar Water Pumping System using Wode Algorithm 3

Intelligent Control system for BLDC Motor Driven Solar Water...

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3rd international conference on Artificial Intelligence and Smart Energy, ICAIS 2023

作者： Saravanan, A. Rekha, M. Subha, S.T. Arulanantham, D. Baskaran, S. Gomathi, S. Smk Fomra Institute of Technology Chennai India R.M.K Engineering College Chennai India Veltech Multitech Dr.Rangarajan Dr.Sakunthala Engineering College Chennai India Nandha Engineering College Erode India Jeppiaar Institute of Technology Chennai India Simats Saveetha School of Engineering Chennai India

ISBN: (纸本)9781665462167

Solar photovoltaic (SPV) panels-based water pumping system is proposed in this article. There is one global maximum power point on the power-voltage (P-V) curve of the SPV array, and there are also several local maximum power points (MPPs). In this article, the WODE search algorithm is used in the context of maximum power point tracking (MPPT) for photovoltaic (PV) systems. When compared to other approaches, the WODE search has a few benefits, such as its fast convergence and the small number of highly effective parameter tuning steps. These benefits originate from the search's ability to identify superior options. In a nutshell, the WODE method allows for rapid and consistent tracking of the peak's location, where the most potential exists. Unlike other evolutionary approaches, the output of this algorithm for Maximum Power Point Tracking (MPPT) under partial shading is a positive Luo converter, which eliminates power loss and oscillations due to factors like a larger number of search particles, steady state oscillation, a heavy computational burden, and so on. The Luo converter is a type of converter with high gain and low component count. The outcomes prove that WODE can track MPP in a variety of settings with less power loss and quicker convergence than other approaches. © 2023 IEEE.

关键词： Brushless DC motors

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