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8th International conference on Information, control, and Communication Technologies, ICCT 2024

作者： Khapkin, Dmitry Feofilov, Sergey Tula State University Digital Control Systems Laboratory Tula Russia

ISBN: (纸本)9798331517564

Training stable neural network controllers for closed-loop tracking control systems remains a challenging task. Previously, the authors proposed a method to ensure the stability of a neural network control systems by finding for the Lyapunov function using mixed integer programming. However, in addition to stability, the transient performance is also crucial for control systems. In this paper, we propose an approach related to the introduction of additional requirements to the Lyapunov function, which allows to control the parameters of the transient process. © 2024 IEEE.

关键词： Transient stability

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Application of fuzzy learning in IoT-enabled remote healthcare monitoring and control of anesthetic depth during surgery

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INFORMATION SCIENCES 2023年第1期626卷 262-274页

作者： Farivar, Faezeh Jolfaei, Alireza Manthouri, Mohammad Haghighi, Mohammad Sayad Islamic Azad Univ Dept Comp & Mechatron Engn Sci & Res Branch Tehran Iran Inst Res Fundamental Sci IPM Sch Comp Sci POB 19395-5746 Tehran Iran Flinders Univ S Australia Coll Sci & Engn Adelaide SA 5042 Australia Shahed Univ Elect & Elect Engn Dept Tehran Iran Univ Tehran Sch Elect & Comp Engn Tehran Iran

Smart remote patient monitoring and early disease diagnosis systems have made huge pro-gresses after the introduction of Internet of Things (IoT) and Artificial Intelligence (AI) con-cepts. This paper proposes an AI-enabled IoT system to monitor and adjust the depth of anesthesia via network channels. More precisely, fuzzy learning systems are employed to develop a control system for the depth of anesthesia in surgeries. This scheme is com-posed of variable structure control and adaptive type-ii fuzzy systems. Therefore, the con-troller is adaptive and robust to any perturbations and disturbances that may happen during a patient's surgery. The adaptive type-ii fuzzy system is designed as an intelligent online estimator to approximate patient model uncertainties. This estimation helps in boosting the performance of the variable structure control system. An artificial neuron is also designed to reduce chattering for the proposed control system. The designed control system can efficiently adjust the anesthesia drug infusion rate and regulate the Bispectral index. The networked structure of the proposed system makes remote tuning of drug infusion possible. performance of the designed controller is evaluated on several patient models. Simulation results confirm the validity and effectiveness of the proposed remote drug delivery system.(c) 2023 Elsevier Inc. All rights reserved.

关键词： Remote healthcare Artificial intelligence Internet of things Anesthesia networked control system Fuzzy learning system

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performance Evaluation of 5G Core network control-Plane Using Open5GS and Kubernetes 17

Performance Evaluation of 5G Core Network Control-Plane Usin...

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17th International conference on COMmunication systems and networkS, COMSNETS 2025

作者： Sooraj Subramanian, M.S. Kanagarathinam, Madhan Raj Sivalingam, Krishna M. Indian Institute of Technology Madras Department of Computer Science and Engineering Chennai India Samsung R&D Institute India Connectivity R&D Department Bangalore India

ISBN: (纸本)9798331531195

The 5G network's control-plane, a critical component of modern telecommunications infrastructure, manages the signaling and control functions that enable seamless connectivity and service delivery. This paper presents a comprehensive and in-depth performance evaluation of a 5G core network's control-plane deployed using Open5GS and Kubernetes. The study systematically examines critical performance metrics, including latency, throughput, and resource utilization, across various load conditions, providing a nuanced understanding of the network's behavior under stress. Using empirical data from a large-scale testbed simulating more than 50, 000 User Equipment (UE), this paper offers detailed insights into the performance characteristics, scalability, and resource efficiency of the 5G core *** addition to performance analysis, this work generates real-time packet traces from the large-scale experiment, which will be publicly available. These traces serve as a valuable resource for the broader research community, enabling further exploration and validation of the behaviors and performance of the 5G network. The findings of this study are particularly valuable for network operators, infrastructure providers, and researchers, as they offer critical guidance on optimizing 5G deployments. The results inform decisions about a sizing a Kubernetes cluster for 5G Core workload and which network functions (NFs) should be prioritized for scaling to meet the demands of next-generation mobile applications. © 2025 IEEE.

关键词： 5G mobile communication systems

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AI-based Adaptive Nonlinear MPC for Quadrotors

AI-based Adaptive Nonlinear MPC for Quadrotors

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International conference on Unmanned Aircraft systems (ICUAS)

作者： Zhang, L. Huang, S. Xiang, C. Teo, R. Srigrarom, Sutthiphong Leong, W. W. L. Natl Univ Singapore Temasek Labs Singapore Singapore Natl Univ Singapore Elect & Comp Engn Dept Singapore Singapore

ISBN: (纸本)9798350357899;9798350357882

The UAV flight control tasks, especially their stabilities under large disturbances, are always complex and troublesome. In many application environments, drones are subject to both external interference and internal structural changes, which greatly affects the tracking accuracy. In this paper, an AI-based nonlinear control strategy was presented for unmanned aerial vehicles to achieve accurate tracking tasks. The basic idea is to combine neural network learning with traditional nonlinear model predictive control (NMPC). Moreover, some adaptive control algorithms are adopted for better robustness. First, existing MPC with L1 adaptive control is adopted as main controller for rejecting external disturbances. Second, considering path tracking performance, model reference adaptive control is added to the control policy to compensate internal structural changes. Third, to take advantage of the wealth of flight data, the neural network learning is adopted and the predictive error signal is fed back to the control system. Finally, the simulation studies are given to illustrate the effectiveness of proposed control strategy.

关键词： Model predictive control

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Research on Autonomous Driving Element Technology based on Low performance Embedded PC for Micro Lunar Exploration Rover 24

Research on Autonomous Driving Element Technology based on L...

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24th International conference on control, Automation and systems

作者： Kool, Keon-Woo Kim, Jaekwang Yun, Dongho Sungkyunkwan Univ Dept Appl Artificial Intelligence Seoul 03063 South Korea Korea Inst Ind Technol Purpose Built Mobil Grp Gwangju 61012 South Korea

ISBN: (纸本)9798331517939;9788993215380

In this study, we selected lightweight AI models such as LeNet, miniVGG-Net, Shallow-Net, AlexNet, MobileNet, and GoogLeNet. These models have been recently applied or considered for CubeSat space missions. The goal of this study is to identify SOTA (State-Of-The-Art) models that could be considered for use in implementing autonomous driving in extraterrestrial environments such as the Moon or Mars. The classification performance of these models was analyzed in a categorical classification problem, including label classes such as moving straight, turning right, and turning left. The results showed that the AlexNet model had the highest performance, with an ACC (Accuracy) of 0.9999 and an F-1 score of 0.9999, while the MobileNet model had the lowest performance, with an ACC of 0.8000 and an F-1 score of 0.4572. Consequently, AlexNet and LeNet were selected as the benchmarks for comparing and analyzing the performance of RoverNet-1, the AI for autonomous driving to be developed for future exploration rovers.

关键词： CNN (Convolutional Neural network) Cube Rover Micro-Rover Unmanned Rover Autonomous Driving

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network Based control systems for Six Axis Robot System 8

Network Based Control Systems for Six Axis Robot System

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8th IEEE International conference on Computing, Communication, control and Automation, ICCUBEA 2024

作者： Nikam, Ajit Argade, Sachin Kole, Dipak Nimbokar, Prajwal Jspm Rajarshi Shahu College Of Engineering Pune India

ISBN: (纸本)9798350391770

Principal network traffic in network-based control systems (NBCS) is driven by plant Sensor-controller-Actuator nodes operating in closed-loop. The performance provided by an NBCS's quality-of-control (QoC), and Every closed-loop operation is dependent on both the message scheduling method and the controller *** this paper, We discuss the problem of NBCS afterwards we describe the token ring scheduling algorithm solution ,sampling algorithm calculation and the simulation results. © 2024 IEEE.

关键词： Closed loop control systems

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Effects of Dynamic and Stochastic Travel Times on the Operation of Mobility-on-Demand Services 26

Effects of Dynamic and Stochastic Travel Times on the Operat...

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IEEE 26th International conference on Intelligent Transportation systems (ITSC)

作者： Wolf, Fynn Engelhardt, Roman Zhang, Yunfei Dandl, Florian Bogenberger, Klaus Tech Univ Munich Chair Traff Engn & Control D-80333 Munich Germany

ISBN: (纸本)9798350399462

Mobility-on-Demand (MoD) services have been an active research topic in recent years. Many studies focused on developing control algorithms to supply efficient services. To cope with a large search space to solve the underlying vehicle routing problem, studies usually apply hard time-constraints on pick-up and drop-off while considering static network travel times to reduce computational time. As travel times in real street networks are dynamic and stochastic, assigned routes considered feasible by the control algorithm in one time step might become infeasible in the next. Nevertheless, once the service is confirmed, it is imperative that those customers remain part of the assignment. Hence, damage control measures have to counteract this effect. This research integrates an elaborate simulation framework for MoD services with a microscopic traffic simulation to consider dynamic and stochastic network travel times. Results from a case study for Munich, Germany show, that the combination of inaccurate travel time estimation and damage control strategies for infeasible routes deteriorates the performance of MoD services - hailing and pooling - significantly. Moreover, customers suffer from unreliable pickup time and travel time estimations. Allowing re-assignments of initial vehicle schedules according to updated system states helps to restore system efficiency and reliability, but only to a minor extent.

关键词： Travel time

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Comparison of DC/AC Grid-Following and Grid-Forming Converters in Weak Power systems 9

Comparison of DC/AC Grid-Following and Grid-Forming Converte...

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9th Southern Power Electronics conference

作者： Vo, Thai Samarasinghe, Chandana GE Vernova APAC Onshore Wind Melbourne Vic Australia

ISBN: (纸本)9798350351163;9798350351156

The integration of inverter-based resources (IBRs) into the Australian National Electricity Market (NEM) has led to a gradual reduction in network strength. Currently, most renewable energy systems in Australia utilize Grid-Following (GFL) converter technology, a trend expected to continue in the near future. In response, regulators and policymakers are exploring solutions to support green energy integration while ensuring robust performance in weak power systems. One promising solution is the Grid-Forming (GFM) converter technology, which modifies the control algorithms or hardware of traditional GFL converters to improve grid stability and operational reliability. This analysis provides a comparative review of GFL and GFM converters, examining their performance in addressing challenges such as voltage regulation, frequency regulation, and fault ride-through capabilities in very weak network conditions.

关键词： Grid Forming (GFM) Grid Following (GFL) Inverter-Based Resource (IBR) network Strength National Electricity Market (NEM)

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Interconnecting Power Converter control Role Assignment in Grids With Multiple AC and DC Subgrids

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IEEE TRANSACTIONS ON POWER DELIVERY 2023年第3期38卷 2058-2071页

作者： Soler, Josep Arevalo Gross, Dominic Araujo, Eduardo Prieto Bellmunt, Oriol Gomis CITCEA UPC Barcelona 08028 Spain Univ Wisconsin Madison Elect & Comp Engn Madison WI 53706 USA

In emerging Multi-Terminal High Voltage Direct Current (MT-HVDC) systems interconnecting different Alternating Current (AC) asynchronous areas by means of Interconnecting Power Converters (IPC) different challenges arise. One of them is the control role assignment of IPCs present in these systems. Broadly speaking, the IPC controls can be classified into grid-forming or grid-following schemes for both AC and DC terminals of IPCs. This paper presents a methodology to optimize the control role assignment of the IPCs considering i) small-signal stability and, ii) control performance for different combinations of IPC roles and network power flows. The method considers multiple power flows, determines the steady-state deviations, and small-signal stability following selected events. While presenting this methodology different results on the small-signal and steady-state analysis of these systems are analyzed. Using high-fidelity linearized dynamical models, an optimization problem is formulated to assign control modes to IPCs to ensure stability and performance of the system for a set of given power flow scenarios.

关键词： Voltage control Load flow Load modeling Power system stability HVDC transmission Renewable energy sources Turbines MMC grid-forming grid-following HVDC control roles

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Theory and experiment for autonomous quadrotor flight via bounded robust finite-time homogeneous sliding mode control: A roadmap to search and rescue

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF systems AND control ENGINEERING 2025年第4期239卷 674-699页

作者： Messaoui, Aimen Abdelhak Mechali, Omar Louali, Rabah Nemra, Abdelkrim Ecole Mil Polytech Bordj El Bahri 16046 Algiers Algeria Ecole Super Ali CHABATI Reghaia Algeria Univ Elect Sci & Technol China Sch Aeronaut & Astronaut Chengdu Peoples R China

This paper introduces a new saturated robust control technique for quadrotor aircraft modeled by second-order Ordinary Differential Equations (ODEs), considering disturbances in the control channel (matched disturbances). The control design employs a Sliding Mode control (SMC) approach, featuring in: (i) a novel saturated homogeneous sliding manifold, (ii) a novel tracking controller, namely, Bounded Robust Finite-Time Homogeneous Sliding Mode control (BRFTHSMC). An Improved Fixed-time Convergent Extended State Observer (IFCESO) is incorporated into the control scheme to handle disturbances. Together the BRFTHSMC and the IFCESO establish a reliable Active Disturbance Rejection control (ADRC) framework. The latter ensures finite-time convergence of the errors quantities to the origin along with effective disturbance rejection. Rigorous stability analysis is conducted based on Lyapunov theory. Beside control design, another distinguishing theoretical outcome of this paper in the form of Corollary is the extension of the present results to integrator-type systems (higher-order systems). The study is substantiated through MATLAB (R)/Simulink simulations and Robot Operating System (ROS)/Gazebo implementation, validating the theoretical foundation. Extensive experimental tests on real hardware, including attitude and Cartesian trajectory tracking under various disturbances, further affirm the theoretical findings. The synthesized control system surpasses alternative methods in terms of control signal's boundedness, finite-time tracking stability, transient response performance, and steady-state precision. Notably, the control input circumvents singularity challenges observed in conventional SMC approaches. In addition to trajectory tracking experiments, the controller's effectiveness is demonstrated in real-world search and rescue scenarios. Therefore, a Deep Neural network (DNN) algorithm, based on a MS COCO-pretrained Single Shot Detector (SSD-Mobilenet-v2), is employed

关键词： Quadrotor system bounded/saturated control finite-time convergence homogeneous sliding mode control extended state observer active disturbance rejection control search and rescue

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