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检索条件"任意字段=International Conference on Complex Systems: Control and Modeling Problems"

共 12248 条记录，以下是1361-1370 订阅

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Decentralized Self-triggered Approximate Optimal Tracking control of Modular Reconfigurable Robots Via Adaptive Dynamic Programming

Decentralized Self-triggered Approximate Optimal Tracking Co...

引用

complex systems and Intelligent Science (CSIS-IAC), international Annual conference on

作者： Xinyi He Tianjiao An Yu Cao Bing Ma Hongbo Dong Bo Dong Department of Control Science and Engineering Changchun University of Technology Changchun China

ISBN: (数字)9798331504755

ISBN: (纸本)9798331504762

This paper presents a decentralized self-triggered tracking control method for modular reconfigurable robots (MRRs) via adaptive dynamic programming (ADP). The Newton-Euler form dynamic modeling method is used to model the n- DOF MRR system. Based on self-triggering mechanism and local cost function, utilizing local critic neural network (NN) solve local Hamilton-Jacobi-Bellman (HJB) equation to obtain optimal tracking control. The self-triggered mechanism was introduced, which uses the system state at the triggering instant to predict the next triggering instant and update the control strategy, thereby reducing resource waste while avoiding the continuous moni-toring of system state under event-triggered conditions. Using Lyapunov theory for stability analysis ensures that the tracking error of the closed-loop MRR system is ultimately bounded (UUB). Finally, using 2-DOF MRR experimental platform to verify the proposed control is feasible.

关键词： Adaptation models Trajectory tracking 2-DOF Optimal control Artificial neural networks Mathematical models Stability analysis Dynamic programming Robots Monitoring

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Construction and verification of a power simulation system middle platform based on domain driven design and microservices

Construction and verification of a power simulation system m...

引用

2023 international conference on Artificial Intelligence, systems and Network Security, AISNS 2023

作者： Guo, Qi Zhang, Jie Lu, Yuanhong Tu, Liang Guo, Haiping Luo, Hui Huang, Libin CSG Electric Power Research Institute Co. Ltd State Key Laboratory of HVDC Electric Power Research Institute China Southern Power Grid Guangzhou510663 China National Energy Power Grid Technology RandD Centre Guangzhou510663 China State Key Laboratory of HVDC Electric Power Research Institute China Southern Power Grid Guangzhou510663 China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Guangzhou510663 China

ISBN: (纸本)9798400716966

Aiming at the problems of complex design, low scalability and low reusability of resources in the power simulation system, a middle-platform design scheme based on domain-driven design and microservice data is proposed. Through an in-depth study of domain-driven design theory and the characteristics of microservices, this paper proposes a middle-platform design scheme for the power simulation system based on exploring the structure of the power simulation system and the system domain-driven model, and combining the functional requirements and structural characteristics of the simulation software. Finally, this paper verifies that the middle-platform construction of the power simulation system based on domain-driven design and microservices has the characteristics of high scalability, high maintainability and high reusability of resources through the application and analysis of typical business scenarios of power simulation. © 2023 ACM.

关键词： Reusability

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Design and Development of controller for the Stability Improvement of Unmanned aerial vehicles System

Design and Development of Controller for the Stability Impro...

引用

international conference on Electrical Energy systems (ICEES)

作者： Sre Varshan B A Gurucharan Gurunath Natarajan S Arya Aniket D Subbulekshmi Select School of Engineering Vellore Institute of Technology Chennai India

ISBN: (数字)9798350353778

ISBN: (纸本)9798350353785

Quadrotors, with their versatility and maneuverability, have garnered significant interest in various fields ranging from aerial photography to search and rescue operations. However, ensuring stable flight control remains a challenging task due to the inherent complexities of their dynamics and environmental uncertainties. This paper proposes an innovative approach utilizing a Fuzzy Logic controller (FLC) to enhance the stability and control of quadrotor flight. The implementation of FLC offers a flexible and robust solution to address the nonlinearities and uncertainties present in quadrotor dynamics. By leveraging linguistic variables and fuzzy rule-based systems, the FLC adapts dynamically to varying operating conditions, thereby improving control performance in real-time. The fuzzy logic framework allows for intuitive modeling of complex relationships between input variables such as pitch, roll, yaw rates, and control outputs, enabling effective stabilization and maneuverability. Applications, including autonomous navigation, surveillance, and aerial manipulation tasks.

关键词： Fuzzy logic Uncertainty Surveillance Linguistics control systems Stability analysis complexity theory Vehicle dynamics Quadrotors Aerospace control

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High-precision trajectory tracking control for parallel robots based on the super-helical algorithm

High-precision trajectory tracking control for parallel robo...

引用

international conference on Computer Engineering and Applications (ICCEA)

作者： Haowei Jiang Lidi Quan Bing Li Ruchao Liu Engineering College HuZhou University HuZhou China

ISBN: (数字)9798350386776

ISBN: (纸本)9798350386783

With the growing demand for industrial automation, the application of high-performance parallel robot systems in complex operations has become increasingly important. However, these systems are often affected by unknown environmental disturbances and modeling uncertainties, making precise control a significant challenge. This paper proposes an adaptive super-helical integral terminal sliding mode control strategy to address the trajectory tracking problem of parallel robots in the face of complex disturbances. First, the dynamics model of the parallel robot is detailed, and a novel controller is designed based on this model. The control strategy integrates the approach law method, the super-helical algorithm, and the integral terminal sliding mode technique to enhance the system’s robustness and dynamic response speed. Simulation experiment results demonstrate that the proposed control strategy exhibits significant advantages in resisting disturbances and suppressing system vibrations compared to traditional PID control and fuzzy sliding mode control. The controller design in this study not only improves trajectory tracking accuracy but also demonstrates its potential value in practical industrial applications.

关键词： Vibrations Parallel robots Adaptation models Uncertainty Trajectory tracking Heuristic algorithms Robustness

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Optimization-based Trajectory Planning for Heat Conduction

Optimization-based Trajectory Planning for Heat Conduction

引用

international Carpathian control conference (ICCC)

作者： Stephan Scholz Lothar Berger Control and Process Engineering University of Applied Sciences Ravensburg- Weingarten Weingarten Germany

ISBN: (数字)9798350350708

ISBN: (纸本)9798350350715

Heating and cooling procedures are crucial tasks in several industrial processes, and they have to be steered exactly and energy-efficiently to ensure a high-quality production. Hence, the design of optimal (open-loop) control strategies for heat conduction problems is an active research field. Flatness-based control is a popular open-loop control approach to steer parabolic partial differential equations like the heat equation. The control input signal is computed by a power series including the derivatives of a specified reference signal. However, this method has some limitations regarding, e.g, expensive computation due to a high number of derivatives and a weak capability to handle input constraints or nonlinear expressions in the original equations. In this contribution, we present a procedure to derive a parametrized input signal from flatness-based control for a simplified model. This parametrized input function is adjusted such that it fits to our original complex model. In detail, we compute a prototype input function with flatness-based control for a one-dimensional heat equation and design a parametrized input signal which is based on this prototype. We explain how to find suitable parameters for a well tracking of the measured and mean temperature. Moreover, we show that our proposed input signal is also able to handle input constraints and nonlinear boundary conditions. Finally, we discuss how to decrease the maximum input value while ensuring a suitable open-loop dynamics.

关键词： Heating systems Temperature measurement Trajectory planning Computational modeling Prototypes Production Boundary conditions

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Distributed Multi-Task Assignment for Multi-Agent systems

Distributed Multi-Task Assignment for Multi-Agent Systems

引用

international conference on control, Automation and systems ( ICCAS)

作者： Soya Takamizawa Toru Namerikawa Shunsuke Tsuge Graduate School of Science and Technology Keio University Yokohama Japan AI and Flight Control Engineering Section Kawasaki Heavy Industries Ltd. Kakamigahara Japan

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

In this research, we solve the task assignment problem of multiple agents to multiple tasks in a multi-agent system. Regarding the problem of one agent versus multiple tasks, we use the concept of "grouping," in which each agent seeks a set of tasks that it can handle at once. On the other hand, for the problem of multiple agents versus one task, we use the concept of the "Timetable" with the goal of synchronizing the start time of each agent’s task. By combining the two concepts, it is possible to deal with complex assignment problems, such as each agent executing multiple tasks at the same time, or multiple agents executing one task at the same time. Furthermore, we show that this solution can respond if circumstances changes, such as when the number of agents decreases or the number of tasks increases.

关键词： Automation Multitasking control systems Multi-agent systems

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The Problem of Concept Learning and Goals of Reasoning in Large Language Models 18th

The Problem of Concept Learning and Goals of Reasoning in La...

引用

18th international conference on Hybrid Artificial Intelligence systems

作者： Chuganskaya, Anfisa A. Kovalev, Alexey K. Panov, Aleksandr Russian Acad Sci Fed Res Ctr Comp Sci & Control Moscow Russia AIRI Moscow Russia

ISBN: (纸本)9783031407246;9783031407253

Modern large language models (LLMs) show good performance in the zero-shot or few-shot learning. This ability ability is a significant result even on tasks for which the models have not been trained is in part due to the fact that by learning from textual internet-scale data, such models build a semblance of a model of the world. However, the question of whether the entities on which that the model operates are concepts in the psychological sense remains open. Relying on conceptual reasoning schemes allows to increase the safety of models in solving complex problems. To address this question, we propose to use standard psychodiagnostic techniques to assess the quality of conceptual thinking of models. We test this hypothesis, by conducting experiments on a dataset adapted for LLMs from the psychological techniques of Kettel and Rubinstein and comparing the effectiveness of each of them. In this paper, we have shown that it is possible to distinguish several types of model errors in incorrect answers to standard tasks on conceptual thinking and to evaluate the type according to the classifications of distortions of conceptual thinking adopted in cultural and historical approaches in psychology. This makes it possible to use the tool of psychodiagnostic techniques not only to evaluate the effectiveness of models, but also to develop training procedures based on such tasks.

关键词： Concept learning Large language models Psychology of thinking Purpose of the activity Sign-based world model

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Research on Industrial Robot Trajectory Tracking control System based on PID Feedforward Algorithm 2

Research on Industrial Robot Trajectory Tracking Control Sys...

引用

2nd IEEE international conference on Electronic Technology, Communication and Information, ICETCI 2022

作者： Liang, Jiaxuan School of Mechanical Engineering Nanjing University of Science and Technology Jiangsu Nanjing210094 China

ISBN: (数字)9781728181158

ISBN: (纸本)9781728181158

In the design process of industrial robots, multi-input and multi-output control algorithms are usually required for nonlinear systems. This kind of control system has time-varying characteristics, and its dynamic characteristics have nonlinear problems, so it is very difficult to design. However, the dynamic control process of the robot is very complex, and the trajectory tracking control system needs to be redesigned to ensure that the control system can effectively track the acceleration and speed characteristics of the robot. Therefore, this paper studies the tracking control algorithm for the motion trajectory of the industrial robot. The research process mainly includes the analysis of the motion trajectory of the industrial robot. On this basis, the simulation is used to simplify the model and design the control system, and the PID and the feedforward algorithm are used to compensate and adjust the control system to improve the accuracy of its control tracking. In addition, this paper optimizes the PID algorithm, uses a fuzzy algorithm, and reaches law to improve the accuracy and quality of the control algorithm. Optimizing the trajectory tracking algorithm's response time and tracking accuracy is achieved. © 2022 IEEE.

关键词： Industrial robots

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Tackling Data Heterogeneity: A New Unified Framework for Decentralized SGD with Sample-induced Topology 39

Tackling Data Heterogeneity: A New Unified Framework for Dec...

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39th international conference on Machine Learning (ICML)

作者： Huang, Yan Sun, Ying Zhu, Zehan Yan, Changzhi Xu, Jinming Zhejiang Univ Coll Control Sci & Engn Hangzhou Peoples R China Penn State Univ Sch Elect Engn & Comp Sci University Pk PA 16802 USA

We develop a general framework unifying several gradient-based stochastic optimization methods for empirical risk minimization problems both in centralized and distributed scenarios. The framework hinges on the introduction of an augmented graph consisting of nodes modeling the samples and edges modeling both the inter-device communication and intra-device stochastic gradient computation. By designing properly the topology of the augmented graph, we are able to recover as special cases the renowned Local-SGD and DSGD algorithms, and provide a unified perspective for variance-reduction (VR) and gradient-tracking (GT) methods such as SAGA, Local-SVRG and GT-SAGA. We also provide a unified convergence analysis for smooth and (strongly) convex objectives relying on a proper structured Lyapunov function, and the obtained rate can recover the best known results for many existing algorithms. The rate results further reveal that VR and GT methods can effectively eliminate data heterogeneity within and across devices, respectively, enabling the exact convergence of the algorithm to the optimal solution. Numerical experiments confirm the findings in this paper.

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modeling the Dynamics of the Territorial Structure of the Northern Part of the Volga-Akhtuba Floodplain 3

Modeling the Dynamics of the Territorial Structure of the No...

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3rd international conference on control systems, Mathematical modeling, Automation and Energy Efficiency, SUMMA 2021

作者： Voronin, Alexander A. Isaeva, Inessa I. Khoperskov, Alexander V. Kharitonov, Mikhail A. Volgograd State University Dept. of Fundamental Informatics and Optimal Control Volgograd Russia

ISBN: (纸本)9781665439817

A new approach to the analysis of the dynamics of the territorial structure of floodplain territories of regulated rivers, based on statistical processing of natural observation data, hydrodynamic and geoinformation modeling using high-performance computing, is described. The main tool of our analysis is a new model of the complex structure of the floodplain territory, which is a superposition of its hydrological, natural (ecological) and socio-economic structures. Hydrological simulation results are based on self-consistent models of surface water, sediment and groundwater dynamics using realistic digital terrain. © 2021 IEEE.

关键词： Banks (bodies of water)

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