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Adaptive Dynamic Programming-Based Active Disturbance Rejection control for Autonomous Vehicle Tracking

Adaptive Dynamic Programming-Based Active Disturbance Reject...

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2023 IEEE international conference on Unmanned systems, ICUS 2023

作者： Geng, Jiale Li, Wenyu Duan, Feng College of Artificial Intelligence Nankai University Tianjin China

ISBN: (纸本)9798350316308

Nowadays, autonomous driving technology is more closely connected with human society, but the complex urban road environment puts higher requirements on the autonomous vehicle's robustness and fast response ability. To solve the problems mentioned above, this paper proposes a trajectory tracking control method with anti-interference and high real-time performance. The active disturbance rejection control approach is utilized to reject external disturbance and internal model uncertainties with the model predictive control controller. To speed up the computation, parameterized adaptive dynamic programming is used to estimate the optimal control sequence. A double-lane change demonstration is used to test and verify the proposed method. The experimental results show that our method improves the anti-interference ability of the system while speeding up the control speed. The proposed method can maintain the lateral error within 0.09m even with imposing 0.05rad disturbance to the input, and the single-step control time is half the traditional MPC. © 2023 IEEE.

关键词： Robust control

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RESEARCH ON ADAPTIVE control LAW OF HEAT STORAGE AND HEAT EXCHANGE SYSTEM FOR AIRBORNE ELECTRONIC EQUIPMENT

RESEARCH ON ADAPTIVE CONTROL LAW OF HEAT STORAGE AND HEAT EX...

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2024 CSAA/IET international conference on Aircraft Utility systems, AUS 2024

作者： Wang, Zhan Liu, Zhijie Lang, Lei Zhao, Yu Qin, Jiang School of Energy Science and Engineering Harbin Institute of Technology Harbin China Shenyang Aircraft Design and Research Institute Shenyang110031 China

With the rapid development of the aviation industry, the number of airborne electronic devices is gradually increasing, and the mismatch between heat dissipation power supply and demand has become a major problem that needs to be solved urgently. Among many cooling technologies, the phase change heat storage and exchange scheme has better performance and can solve the complex thermal management problems caused by long-term high-power operation and short-term high heat flux impact during aircraft flight. Based on numerical simulation and experimental research methods, simulation calculation models were constructed to study the influence of different parameters of phase change material (PCM) and acceleration overload issues on thermal storage heat transfer systems. Research has shown that the higher the enthalpy, thermal conductivity, the lower the phase change temperature of PCM during thermal storage, the better the temperature control effect on heating elements;When the acceleration direction is horizontal, it will cause deterioration of heat transfer. The temperature control effect of the system is average when it is vertical upwards, and the temperature control effect of the system is best when it is vertical downwards. When the acceleration direction is vertically downward, the greater the acceleration, the better the temperature control effect. © The Institution of Engineering & Technology 2024.

关键词： Lasers

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Research on wind turbine variable pitch control based on wind speed estimation 19

Research on wind turbine variable pitch control based on win...

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19th international conference on Future Networks and Communications, FNC 2024 / 21st international conference on Mobile systems and Pervasive Computing, MobiSPC 2024 / 14th international conference on Sustainable Energy Information Technology, SEIT 2024

作者： Li, Xiaokun Wang, Haoran Yue, Xuxin Liu, Ruibo Luo, Zhan Cai, Zhaobing Deng, Xiangtian Cai, Ruiqi Three Gorges Intelligent Industrial Control Technology Co. Ltd Wuhan430070 China Wuhan University of technology Wuhan430400 China

With the continuous promotion of the "double carbon" strategy, the capacity of wind turbines is increasing, and the dimensions of key parts such as the diameter of the wind turbine wheel, the height of the tower, and the radius of the tower tube are also increasing. Large wind turbines have a large inertia, so the execution time of the pitch actuator and the response time of the pitch action are usually longer, which leads to large fluctuations in the output power of the wind turbine when the wind speed changes rapidly under the working conditions above the rated wind speed and leads to complex loading problems. Therefore, in this paper, the design of pitch control is carried out by estimating the effective wind speed at the wind turbine surface and using the inverse system method to transform the nonlinear wind turbine system into a linear decoupled form. This method improves the pitch response speed, reduces the output power fluctuation, and better suppresses the load of the turbine to ensure the safe and stable operation of the turbine © 2024 The Authors. Published by Elsevier B.V.

关键词： Windmill

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international conference on Applied Nonlinear Dynamics, Vibration, and control, ICANDVC 2023

International Conference on Applied Nonlinear Dynamics, Vibr...

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international conference on Applied Nonlinear Dynamics, Vibration, and control, ICANDVC 2023

ISBN: (纸本)9789819705535

The proceedings contain 69 papers. The special focus in this conference is on Applied Nonlinear Dynamics. The topics include: Simultaneous Vibration Absorbing and Energy Harvesting Mechanism of the Tri-Magnet Bistable Levitation Structure: modeling and Simulation;design and Research of Triboelectric Energy Harvester for Low Frequency Nonlinear Vibration;energy Harvesting Study of Piezoelectric Vibration Harvester with Double Parallel Slender Structure;a Broadband Energy Harvester with Three-to-One Internal Resonance;optimization Design of High-Pressure Simulated Rotor;energy Transfer of Particle Impact Damper systems;an Empirical control Research on the Lexical Approach to Business Correspondence Writing in Vocational Colleges;study on the Dynamic Performance of X-shaped Vibration Isolator with Friction Damping Based on Incremental Harmonic Balance Method;analytical Analysis of Nonlinear Vortex-Induced Vibration of Pipes Conveying Fluid;RBF Neural Network for Feature Selection Using Sparsity Method;periodic Motions and Bifurcations of a Spring-Driven Joint System with Periodic Excitation;Enhanced Vibration Characteristics of Honeycomb Plates Composed of Metamaterials with NTE;vibration Reduction of Limited Series Nonlinear Energy Sink;understanding Neural Rhythmic Mechanisms Through Self-oscillations of complex Neural Networks and Their Adaptation;multi-attention Based Multi-scale Temporal Convolution Network for Remaining Useful Life Prediction of Rolling Bearings;dynamics Analysis of the Cooperative Dual Marine Lifting systems Subject to Sea Wave Disturbances;nonlinear Hierarchical control for Unmanned Quadrotor Transportation systems with Saturated Inputs;Predicting the Endless Stop-Band Behaviour of the NS-MRE Isolator;vibrations Induced by Rubbing Between Labyrinth and Rubber-Coating for Rotating Engine in Experiment;human-Mechanical Biomechanical Analysis of a Novel Knee Exoskeleton Robot for Rehabilitation Training;Generative Adversary Network Based on Cross-

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FAA+RTS: Designing Fault-Aware Adaptive Real-Time systems —From Specification to Execution— 24th

FAA+RTS: Designing Fault-Aware Adaptive Real-Time Systems —...

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24th international conference on Embedded Computer systems: Architectures, modeling, and Simulation, SAMOS 2024

作者： Miedema, Lukas Sapra, Dolly Novobilsky, Petr Altmeyer, Sebastian Grelck, Clemens Pimentel, Andy D. University of Amsterdam Amsterdam Netherlands Q-media s.r.o. Prague Czech Republic University of Augsburg Augsburg Germany Friedrich Schiller University Jena Jena Germany

ISBN: (纸本)9783031783760

Large-scale cyber-physical systems, such as those for subway transportation or air traffic control, are becoming increasingly complex and often need to operate without human intervention. At the same time, these systems are subject to high requirements on the timing behavior and fault-tolerance. Consequently, the detection and mitigation of both hard and soft errors is of high importance in the already complex systems design process. The main challenges towards fault-aware real-time systems is the overall system design, in which the sheer size of the state-space and the system’s complexity exceeds the capacity of today’s development tools. In this paper, we present a new holistic methodology called FAA+RTS, for designing fault-aware adaptive real-time systems. We cover the entire path from system specification using a coordination language, via design-space exploration and task scheduling to the adaptive fault-aware runtime environment. Mitigating both hard and soft errors addresses competing requirements. Improving soft error tolerance (through redundant execution) may accelerate the aging process of silicon, thus expediting hard error failures. FAA+RTS is a novel solution as it integrates previously-isolated methods for dealing with multiple constraints into a single framework, presenting a single overview of all possible trade-offs to the application designer. This integration ensures that all aspects of system design, from specification to execution, are cohesively addressed, resulting in a robust and reliable system. We exemplify FAA+RTS using industrial-sized autonomous subway transportation system as a use-case. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Air traffic control

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Fuzzy control for Simplified Lumbar Spine Robotic Mechanism Motion 20

Fuzzy Control for Simplified Lumbar Spine Robotic Mechanism ...

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20th IEEE international conference on Networking, Sensing and control, ICNSC 2023

作者： Paixao, Thuanne Alvarez, Ana Beatriz Florez, Ruben Palomino-Quispe, Facundo University of Acre Pavic Laboratory Rio Branco Brazil University of San Antonio Abad Del Cusco Liecar Laboratory Cuzco Peru

ISBN: (纸本)9798350369502

The fuzzy controller refers to a powerful intelligent control tool, which can provide control systems with a higher efficiency than other controllers, because it has in its characteristics, components that correspond to the requirements present in control problems involving complex and nonlinear systems, with the presence of computational inaccuracies related to the input parameters in the systems. This paper describes the development of a fuzzy controller for motion control of a simplified robotic lumbar spine model. The behavior of the controller was simulated using a simplified robotic model that reproduces the movement of two vertebrae. The results of the simulations of the experimental tests, show relevant characteristics of the controller about the response speed of the system, reduction of the tracking error of the system and minimal vibration in the tracking process, ensuring robustness in the motion path of the system. © 2023 IEEE.

关键词： Motion control

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The Process of Primary Frequency control of the Power systems Investigation Using modeling Methods 16

The Process of Primary Frequency Control of the Power System...

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16th IEEE international Scientific and Technical conference Actual problems of Electronic Instrument Engineering, APEIE 2023

作者： Fyodorova, Viktoriya A. Rusina, Anastasiya G. Kirichenko, Viktor F. Glazyrin, Gleb V. Dept. of Power Engineering Novosibirsk State Technical University Novosibirsk Russia

ISBN: (纸本)9798350330885

General primary frequency regulation (GPFR) is employed within the power system to limit frequency variation deviations from a reference value in positive and negative directions, ensuring safe power object operations and reducing the prevalence of power outages. Requirements for primary frequency regulation are presented in normative documents. They regulate the statism of regulation (from 4 to 6%) and the minimum time of increase/decrease of power plant capacity. However, in practice, undamped frequency fluctuations and unnecessary consumer and generation outages occur in frequency regulation in power systems in some emergency disturbances. In 2020, the Norilsk-Taimyr power system experienced an accident with an unbalanced active power of 40 MW. The frequency was regulated by two power plants - Ust-Khantai and Kurey HPPs. Low-frequency oscillations occurred for 27 seconds. Only with a statism of 25 percent, which does not match the standards, a stable frequency control could be achieved. This case highlights the problem of suboptimal GPFC laws in frequency control of multiple power plants. This paper presents the modelling of the power system in MATLAB environment to investigate the transients in GPFC. Based on the data obtained, the shortcomings of the control laws used can be noted and criteria for the creation of modernized control algorithms can be put forward. © 2023 IEEE.

关键词： Process control

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Meaningful and Formal Problem Statement of the Technologies Synthesis and Programs of Grass Feed Production Proactive Management 2nd

Meaningful and Formal Problem Statement of the Technologies ...

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2nd international conference on Agriculture Digitalization and Organic Production, ADOP 2022

作者： Sokolov, Boris Spesivtsev, Alexandr Sukhoparov, Alexey Zakharov, Valerii 39 14th Line St. Petersburg199178 Russia Federal Scientific Agroengineering Center VIM 1st Institutsky proezd 5 Moscow109428 Russia

ISBN: (纸本)9789811977794

The relevance of modern grass feed production problems is determined by a number of reasons related to the feed quality requirements growth, the dairy productivity growth, the subjectivity of assessments in the organization and control of technological processes, visual control based on personal experience, the growth of requirements for operational adaptation to weather and climatic anomalies of existing technologies, the complexity of logistics schemes in feed production, a variety of technologies and technical means of cultivation and harvesting, types and varieties of fodder crops. To improve the quality and efficiency of the grass feed production process management, the paper proposes a new holistic multi-criteria approach to modeling and optimization of this process. A new substantive and the problem formulation of the technologies synthesis and programs of grass feed production proactive management has been carried out. It is shown that this problem belongs to the class of multicriteria polystructural synthesis problems of the complex organizational and technical object appearance and programs of their proactive management functioning. The analysis is carried out. The ways of the formulated problem solving are determined. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Process control

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Dynamic Power control in a Hardware Neural Network with Error-Configurable MAC Units 6

Dynamic Power Control in a Hardware Neural Network with Erro...

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6th Iranian international conference on Microelectronics, IICM 2024

作者： Ghaderi, Maedeh Delavari, Arvin Ghoreishy, Faraz Mirzakuchaki, Sattar School of Electrical Engineering Iran University of Science and Tech. Tehran Iran

ISBN: (纸本)9798331511371

Multi-Layer Perceptrons (MLP) are powerful tools for representing complex, non-linear relationships, making them essential for diverse machine learning and AI applications. Efficient hardware implementation of MLPs can be achieved through many hardware and architectural design techniques. These networks excel at predictive modeling and classification tasks like image classification, making them a popular choice. Approximate computing techniques are increasingly used to optimize critical path delay, area, power, and overall hardware efficiency in high-performance computing systems through controlled error and related trade-offs. This study proposes a hardware MLP neural network implemented in 45nm CMOS technology, in which MAC units of the neurons incorporate error and power controllable approximate multipliers for classification of the MNIST dataset. The optimized network consists of 10 neurons within the hidden layers, occupying 0.026mm2 of area, with 5.55mW at 100MHz frequency in accurate mode and 4.81mW in lowest accuracy mode. The experiments indicate that the proposed design achieves a maximum rate of 13.33% decrease overall and 24.78% in each neuron's power consumption with only a 0.92% decrease in accuracy in comparison with accurate circuit. © 2024 IEEE.

关键词： Power systems computer aided design

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An accurate tuning model of spintronic memristor with different switching thresholds by logic judgment of domain wall motion 41

An accurate tuning model of spintronic memristor with differ...

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第41届中国控制会议

作者： Kun Wang Yajuan Hui Zhong Yang Xiangshui Miao School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan National Lab for Optoelectronics Huazhong University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Spintronic memristor possessing extraordinary advantages such as high-speed,low-power,highly scalable,and capable of constructing dynamic complex systems,which is a potential candidate for the next-generation memory *** many excellent models of spintronic memristor have been proposed,nonlinear model is not suitable for application analysis because of its complex *** this paper,an accurate tuning model of spintronic memristor with different switching thresholds by logic judgment of domain-wall motion is *** switching thresholds of current density are introduced to drive the domain-wall movement by judging the position of state value and real-time current density,which solves the general problems of boundary ***,by the simulation and verification via PSpice modeling,an accurate regulation of the resistance by voltage excitation is *** results pave the way for the applications of diversified circuit design for spintronic memristor.

关键词： Spintronic memristor Different switching thresholds SPICE model

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