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3rd international conference on Artificial Intelligence and Autonomous Robot systems, AIARS 2024

作者： Song, Zepu Jing, Xiaodong Du, Jiafa Zhu, Gengjie Sang, Laifa Shandong Gold Mining Technology Co. Ltd Backfill Engineering Laboratory Laizhou261400 China

ISBN: (纸本)9798350376173

Deep sea mining is an effective method to explore deep sea mineral resources. During mining, robots that need to do complex path tracking are accurate. In order to achieve accurate mining control robot path tracking method in complex environment fuzzy control and fuzzy algorithm combination made some investigations. Robot Kinematics and dynamics modeling Deep sea mining robots, tracking and control using fuzzy algorithms to build system architecture path uncertainty and nonlinear analysis of the tracking process. Finally, execute a route. Fuzzy control and fuzzy control combined controller design pattern. Finally, the feasibility of the proposed algorithm is verified by computer simulation. This method is effective for dealing with uncertain and nonlinear problems of deep-sea mining trajectory tracking technology research robot. © 2024 IEEE.

关键词： Fuzzy control

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modeling of Temperature Distributions in Axisymmetric Elements of complex Metallurgical systems on the Basis of Nonlocal problems 15th

Modeling of Temperature Distributions in Axisymmetric Elemen...

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15th international conference on Advanced Mechanical and Power Engineering, CAMPE 2023

作者： Lyashenko, Viktor Todorov, Michail D. Kobilskaya, Elena Demyanchenko, Olga Statharas, Dimitrios Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine Technical University Sofia Bulgaria Azov Maritime Institute National Universit "Odessa Maritime Academy" Mariupol Ukraine University of Leicester Leicester United Kingdom

ISBN: (纸本)9783031829789

During the study and control of temperature distributions in moving and stationary axisymmetric elements of complex systems, mathematical models of heating processes play an important role. Unlike natural measurements of temperature in a finite number of points, these models help to analyze the temperature field in the entire heating area. The goal of this paper is to build a mathematical model of temperature distributions in moving and stationary axisymmetric elements of complex systems in the form of a nonlocal problem for the heat conduction equation with an integral condition, to develop a method for solving the nonlocal inverse problem. For the practical use and application of the mathematical model in the design of technological equipment, it is important to determine the control parameters of the temperature distribution. By introducing an integral condition to the mathematical model of the thermal process that occurs in a moving axisymmetric area, the control parameters of the temperature field are determined. In the paper, as additional information for formulating the inverse problem, a nonlocal integral condition is used, which is constructed based on the thermal energy balance condition in the heating area. This made it possible to increase the efficiency of temperature control in complex systems. A method for solving the nonlocal inverse problem of thermal conductivity was proposed. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Inverse problems

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GP-based modeling for PSD control of Emulsification Processes 28

GP-based Modeling for PSD Control of Emulsification Processe...

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28th international conference on System Theory control and Computing

作者： Suedhoff, Thorben Ebner, Leah Schmidt, Jochen Graichen, Knut Friedrich Alexander Univ Erlangen Nuremberg Chair Automat Control Erlangen Germany Friedrich Alexander Univ Erlangen Nuremberg Inst Particle Technol Erlangen Germany

ISBN: (纸本)9798350364309;9798350364293

Emulsification processes show a plethora of use cases in different industries. The complexity and intransparency of many emulsion systems make it hard to apply classic control approaches. The operation of these systems therefore often diverts towards a manual open-loop control. While population balance models (PBM) have been explored for multiple decades, they are rarely used in practice for closed-loop control due to the high computational effort. For this purpose a datadriven modeling approach specifically tailored to the control of complex emulsification devices is introduced. A new simplified description scheme of particle size distributions in combination with Gaussian process regression on a reasonably sized dataset can predict the system change. It additionally gives a useful measure of uncertainty for the predicted change, which is propagated onto the discrete distribution description. The concept is proven with leave-one-out cross-validation, before showing its potential in a model predictive control (MPC) simulation.

关键词： Open loop control

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Mathematical modeling in the Industrial Ventilation systems 6

Mathematical Modeling in the Industrial Ventilation Systems

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6th international conference on control systems, Mathematical modeling, Automation and Energy Efficiency, SUMMA 2024

作者： Valeria, Semina Grigory, Semin Valtchev, Stanimir Meshcheryakov, Victor Kryukov, Oleg Department of Higher Mathematics Lipetsk State Technical Univercity Lipetsk Russia Faculty of Sciences and Technology University NOVA of Lisbon Campus Caparica Portugal LLC "TSN-electro" Nizhny Novgorod Russia

ISBN: (纸本)9798331532178

The ventilation and air conditioning system is a complex system in production facilities. Mathematical modeling of the ventilation and air conditioning system requires modeling of the building itself, as well as the operation of nodes, units of indoor and outdoor ventilation equipment. This article is devoted to the application of neighborhood models which allow to carry out system analysis of connections between a set of subsystems and their elements, parametrically identify equations with a large number of unknown parameters. © 2024 IEEE.

关键词： energy saving mathematical modeling optimal control ventilation systems

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Model-Free Adaptive Pitch control for a Nonlinear Aerospace Laboratory Equipment 28

Model-Free Adaptive Pitch Control for a Nonlinear Aerospace ...

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28th international conference on System Theory control and Computing

作者： Baciu, Andrei Lazar, Comeliu Gheorghe Asachi Tech Univ Iasi Dept Automat Control & Appl Informat Iasi Romania

ISBN: (纸本)9798350364309;9798350364293

The Model Free Adaptive control (MFAC) control laws are attractive for applications involving complex plants. This is mainly due to the fact that no process modeling is required, which becomes more and more cumbersome, but only a dynamic linearization through the concept of pseudo partial derivatives (PPD), which it introduces. Using PPD, the control law uses only the input and output data of the process to understand and control it. systems in the aerospace category are increasingly complex, using a multitude of sensors, information that can be used very easily for applications involving MFAC. The paper proposes a test of an MFAC law conjugated with Sliding Mode control (SMC), to test this type of law in comparison with the classic MFAC-CFDL variant.

关键词： Model-Free Adaptive control Data Driven control Sliding Mode control Pitch control.

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Takagi-Sugeno fuzzy-based approach for modeling and control of an activated sludge process

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international JOURNAL OF DYNAMICS AND control 2024年第8期12卷 3123-3138页

作者： Arifi, Ali Bouallegue, Soufiene Natl Engn Sch Tunis Res Lab Automat Control Tunis 1002 Tunisia Univ Gabes Natl Engn Sch Gabes Gabes 6029 Tunisia Univ Gabes Higher Inst Ind Syst Gabes Gabes 6032 Tunisia

Wastewater treatment systems have recently taken on new trends resulting from the growing awareness of health and environmental risks. New strategies aimed at the recovery of treated water are increasingly being proposed. Given its better performance, biological treatment via an activated sludge process (ASP) represents the key phase in the overall treatment chain. In this work, a Takagi-Sugeno (TS) fuzzy-based modeling and control approach of an ASP is proposed and successfully carried out for the carbon removal. Using the formalism of linear parameter-varying state-space representation and convex polytopic transformation, a TS fuzzy model of the studied ASP is firstly established. Such a fuzzy model is then used to design advanced control laws that maintain the considered state variables, i.e., volume of the effluent and concentrations of the heterotrophic biomass, biodegradable substrate and dissolved oxygen, at the set-point values. Two stabilization control approaches, namely parallel distributed compensation and static output parallel distributed compensation, are proposed and successfully applied. All these control problems are reformulated as Lyapunov quadratic stability conditions and linear matrix inequality constraints. Demonstrative results are carried out and compared to show the effectiveness and superiority of the proposed TS fuzzy-based control approach of such complex and nonlinear biochemical processes.

关键词： Wastewater treatment systems Activated sludge process Carbon removal Takagi-Sugeno fuzzy modeling Parallel distributed compensation Static output feedback control

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Reset control to Suppress Chaotic Disturbance for Pneumatic control valve 24

Reset Control to Suppress Chaotic Disturbance for Pneumatic ...

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24th international conference on control, Automation and systems

作者： Iwai, Masataka Int Profess Univ Technol Osaka Chuou Ku Kobe Hyogo 6510073 Japan

ISBN: (纸本)9798331517939;9788993215380

In increasingly complex systems, it is becoming increasingly difficult to accurately identify the location of failures and the extent of their effects. Chaos engineering is a method to improve the reliability of the system by causing failures to reveal the problems. In this study, we propose a method of reset control that suppresses the failure of a pneumatic control valve by simulating the failure of the valve, incorporating the concept of chaos engineering. In this study, in order to study a new control method for the control parts of the positioner, simulations are shown in which a chaotic signal is superimposed as a simulated disturbance on the input signal of a mathematical model of a pneumatic control valve with an electronic positioner. As an appropriate control method for control parts of the positioner, we apply the reset control, which autonomously generates pulses from the control deviation as a feedback control. The parameters of the reset control are adjusted for this model, and the simulation results show this reset control with these parameters can suppress failures caused by the superimposition of simulated chaotic signals.

关键词： Chaos Engineering Pneumatic positioner valve Reset control FORE Chaos

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Bird's-Eye-View Trajectory Planning of Multiple Robots using Continuous Deep Reinforcement Learning and Model Predictive control

Bird's-Eye-View Trajectory Planning of Multiple Robots using...

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2024 international conference on Intelligent Robots and systems

作者： Ceder, Kristian Zhang, Ze Burman, Adam Kuangaliyev, Ilya Mattsson, Krister Nyman, Gabriel Petersen, Arvid Wisell, Lukas Akesson, Knut Chalmers Univ Technol S-41296 Gothenburg Sweden

ISBN: (纸本)9798350377712;9798350377705

Efficient motion planning and control for multiple mobile robots in industrial automation and indoor logistics face challenges such as trajectory generation and collision avoidance in complex environments. We propose a hybrid, sequential method combining Bird's-Eye-View vision-based continuous Deep Reinforcement Learning (DRL) with Model Predictive control (MPC). DRL generates candidate trajectories in complex environments, while MPC refines these trajectories to ensure adherence to kinematic and dynamic constraints of the robot, as well as constraints modeling humans' current and predicted future positions. In this study, the DRL utilizes a Deep Deterministic Policy Gradient model for trajectory generation, demonstrating its capability to navigate non-convex obstacles, a task that might pose challenges for MPC. We demonstrate that the proposed hybrid DRL-MPC model performs favorably in handling new scenarios, computational efficiency, time to destination, and adaptability to complex multi-robot situations when compared to pure DRL or pure MPC approaches.

关键词： Birds

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modeling, control, Simulation and Prototyping of Tracked Mobile Robot 10

Modeling, Control, Simulation and Prototyping of Tracked Mob...

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10th international conference on control, Decision and Information Technologies (CoDIT)

作者： Flores, Eugenio C. Vargas, Francisco J. Triveno INESCO SA Ingn & Diseno Av Alemana 2030 Santa Cruz Bolivia Univ Araraquara BR-14800370 Araraquara SP Brazil

ISBN: (纸本)9798350373981;9798350373974

Currently, many of the problems studied around mobile robotics aim to solve the provision of greater autonomy. This paper review the field of mobile robotics with sliding wheels and differential traction. The main contributions are: the use of specialized tools (software) to simulate the various stages of modeling and for the built of prototype. Specifically, the MatLab Simulink (R) software is used for the simulation of the model exported from SolidWorks to the Simulink environment integrated with the controller design. Also, as mentioned before, SolidWorks for the project and simulation of the robot's mechanical components (Simscape application for multi-body mechanical systems). Desired trajectories are generated through parametric functions, continuous lines from specific points through interpolation techniques and using desired speeds. control laws, and trajectory tracking are based on kinematic and dynamic models. The results of simulation are presented and analyzed. Finally, the prototype and the experimental results are presented.

关键词： Tracked Mobile Robot Software control Laws modeling

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Adaptive Motion control and Structural Design of a Spherical Robot Based on Feature modeling

Adaptive Motion Control and Structural Design of a Spherical...

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2024 international conference on Advanced control systems and Automation Technologies, ACSAT 2024

作者： Yang, Yawen Fan, Bishuang Duan, Hongsen Jiang, Chong Changsha University of Science & Technology State Key Laboratory of Disaster Prevention & Reduction for Power Grid Changsha China

ISBN: (纸本)9798331541668

Spherical robots (SRs), due to their enclosed shells and versatile motion capabilities, are attracting significant attention in fields such as pipeline inspection, planetary exploration, and military reconnaissance. However, SRs are underactuated, non-holonomic, and strongly coupled complex underactuated, non-holonomic, and strongly coupled complex systems, making modeling and control challenging. This paper introduces a dual-drive differential momentum wheel structure for SRs and proposes an adaptive control algorithm based on for SRs and proposes an adaptive control algorithm based on feature modeling. Considering the significant variations in the dynamic characteristics of SRs, adaptive amplitude limiting is achieved by regulating factors applied to the time-varying dynamic characteristics of SRs, adaptive amplitude limiting is achieved by regulating factors applied to the time-varying parameters of feature modeling. A golden-section adaptive control rate is employed to reduce computational complexity. Experimental results demonstrate that the proposed adaptive control method significantly outperforms the classical PID controller in terms of control performance and dynamic response, proving its effectiveness in enhancing the robustness of SRs against disturbances and dynamic environments. © 2024 IEEE.

关键词： Adaptive control systems

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