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20th international Scientific conference "Dynamical System modeling and Stability Investigation", DSMSI 2023 - Volume 1: Mathematical Foundations of Information Technologies

作者： Benner, Peter Chuiko, Sergey Chuiko, Viktor Max Planck Institute for Dynamics of Complex Technical Systems Sandtorstrasse 1 Magdeburg39106 Germany Donbass State Pedagogical University Donetsk region st. General Batyuk 19 Slaviansk Slavyansk84116 Ukraine Taras Shevchenko National University of Kyiv Volodymyrska St 64/13 Kyiv01601 Ukraine

Among numerous studies of functional-differential equations, research on periodic boundary value problems for differential equations with concentrated delay holds a special place. This is primarily due to the wide application of periodic boundary value problems for differential equations with concentrated delay in physics, economics [3], biology [4], and mechanics [5]. By applying the Adomian decomposition method, we have derived the necessary and sufficient conditions for the existence of solutions to the weakly nonlinear periodic boundary value problem for a system of differential equations with concentrated delay in the critical case. © 2023 Copyright for this paper by its authors.

关键词： Boundary value problems

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Development of Self-Tuning control systems for Electric Drives of Underwater Manipulators Based on Brushless DC Motors

Development of Self-Tuning Control Systems for Electric Driv...

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2023 international Russian Automation conference, RusAutoCon 2023

作者： Zuev, Aleksander V. Kopylov, Denis V. Timoshenko, Aleksander A. Far Estern Federal University M.D. Ageev Institute of Marine Technology Problems Far East Branch of Russian Academy of Sciences Vladivostok Russia M.D. Ageev Institute of Marine Technology Problems Far East Branch of Russian Academy of Sciences Vladivostok Russia

ISBN: (纸本)9798350345551

The paper develops a self-adjusting control system for electric drives with brushless DC motors installed in the joints of multi-link underwater manipulators (UM) described by complex nonlinear differential equations. These systems, through the use of additional observers with a variable structure, make it possible to accurately estimate the values of external moments acting on the output shafts of electric drives and caused by the influence of a viscous environment on the UM links when their working bodies move along prescribed trajectories. Further, the identified moment effects on electric drives of all degrees of mobility of the UM are compensated with the help of self-adjusting corrective devices introduced, which, due to additional control action, stabilize the dynamic properties of these drives at the nominal level. A numerical simulation of the system, synthesized by using the developed method for a multi-link UM, was performed, which showed an increase in the accuracy of the movement of the working body when using the synthesized system. © 2023 IEEE.

关键词： Electric drives

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"Nodes of problems" as a Component of the Smart Technology of City Monitoring as a Dynamic System 2nd

"Nodes of Problems" as a Component of the Smart Technology o...

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2nd international conference on Smart Technologies in Urban Engineering, STUE 2023

作者： Danylov, Serhii Fomenko, Oksana Vigdorovich, Olga Vinnychenko, Tetiana O.M. Beketov National University of Urban Economy in Kharkiv 17 Marshala Bazhanova Street Kharkiv61002 Ukraine

ISBN: (纸本)9783031468766

This paper considers "Nodes of problems" as a graph-analytical method of data output. This is an integral part of the "Software complex for modeling the city as a dynamic system", which is currently being developed at the O.M. Beketov National University of Urban Economy in Kharkiv. The software complex is focused on information maintenance of strategic decision-making processes for the implementation of the principles of sustainable development and Smart City and refers to programs for managing large data sets. The purpose of this toolkit is to forecast and monitor the architectural structure of the city as a dynamic system. The relevance of its implementation lies in the optimization of the principles of functioning of the architectural structure of the city with the calculation of its influence on the functioning processes of other urban planning subsystems. The essence of the "Nodes of problems" compilation method is to reflect a set of contradictions between the principles of functioning of the elements of the city system. The city itself is considered as a collection of artifacts belonging to the social, man-made or natural subsystem. Dynamic processes of city functioning occur as a result of the interaction of these subsystems. The article demonstrates the principles of compiling the «node of problems» using the example of a block of morally outdated housing. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Architecture Quarters of morally outdated housing Smart city Software complex “Nodes of problems”

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Warming Up A Backup control Barrier Function

Warming Up A Backup Control Barrier Function

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2024 China Automation Congress, CAC 2024

作者： Wang, Weijia Meng, Tao Zhao, Xiaofeng Lei, Jiakun Wang, Kun Zhejiang University School of Aeronautics and Astronautics Zhejiang Hangzhou China Modeling and Simulation of Complex Systems National Key Laboratory Beijing China Hagnzhou International Innovation Institute of Beihang University Zhejiang Hangzhou China Beihang University Hangzhou Innovation Istitute Zhejiang Hangzhou China

ISBN: (纸本)9798350368604

Backup control barrier function (Backup CBF) is a tractable formulation that ensure the feasibility of CBF-based quadratic programming (QP) problems through implicitly defined control invariant set. Backup CBF is based on two fundamental ingredients: a known backup set and a fixed backup policy, and the implicitly defined control invariant set is evaluated through forward integration by backup policy in a finite horizon online. However, there is a lack of systematic methods for providing the backup set and backup policy for a system with input constraints, making it difficult to synthesize a backup CBF. In this paper, we propose a method for second-order systems to obtain backup policy and backup set practically, rather than empirical choice, by constructing a more conservative explicit CBF-QP with auxiliary velocity constraints integrated. The proposed method warms up a backup CBF by an explicit conservative CBF-QP under mild assumptions, while without excessive conservatism, allowing the tasks of safety and feasibility to be guaranteed theoretically. We demonstrate the efficacy of the proposed method in simulation. © 2024 IEEE.

关键词： Quadratic programming

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WMSCI 2024 - 28th World Multi-conference on Systemics, Cybernetics and Informatics, Proceedings

WMSCI 2024 - 28th World Multi-Conference on Systemics, Cyber...

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28th World Multi-conference on Systemics, Cybernetics and Informatics, WMSCI 2024

ISBN: (纸本)9781950492794

The proceedings contain 56 papers. The topics discussed include: negative effects on productivity and life satisfaction through social media;navigating the digital frontier: Ukraine's E-governance curriculum amidst crisis and EU integration;analysis on the rejection and device passivity problems with myoelectric prosthetic hand control;amazon virtual forest – a GameTour of one of the most biodiverse places on the planet;psychological evaluation of the effect of exposure to projector light while viewing art;construction of immersive art space and its evaluation using ECG data;autonomous navigation of drones using explainable deep reinforcement learning in complex environments;and exploring a hybrid system combining AI and human intervention for subtitle creation in entertainment content.

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Sensorless control Strategy of Hybrid Stepper Motor Based on Improved Sliding Mode Observer

Sensorless Control Strategy of Hybrid Stepper Motor Based on...

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international conference of Electrical, Electronic and Networked Energy systems, EENES 2024

作者： Zhang, Yuchen Lu, Peng Huang, Keying Hu, Mingliang Zhao, Jun Fan, Ping Chen, Bo Aeronautics Computing Technique Research Institute Xi’an China School of Automation Northwest Polytechnical University Xi’an China

ISBN: (纸本)9789819618552

The open-loop control of the stepper motor is simple, but it has low positioning accuracy, large torque pulsation, and low energy efficiency. While the sensorless closed-loop field-oriented control has high precision, small torque pulsation, and high energy efficiency, it has problems such as complex structure and a large calculation. To achieve a speed closed-loop, a sensorless control method combining an improved sliding mode back electromotive force observer is pro-posed, combining a high-order super-twisting sliding mode observer (SMO) and a third-order phase-locked loop (PLL). Super-twisting SMO improves the chattering problem of traditional one-order SMO, and third-order PLL can eliminate steady-state errors during acceleration and deceleration processes, enhancing the estimation accuracy and stability of the rotor position and speed. Finally, an experimental platform on the basis of a two-phase hybrid stepper motor was built to verify the effectiveness and reliability of the control strategy. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Stepping motors

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Analysis on the inertia and the damping characteristics of DFIG under multiple working conditions based on the grid-forming control

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ENERGY REPORTS 2022年 8卷 591-604页

作者： Hu, Jianzu Lei, Yu Chi, Yongning Tian, Xinshou China Elect Power Res Inst Beijing 100192 Peoples R China North China Elect Power Univ Energy & Power Innovat Res Inst Beijing 102206 Peoples R China

The rapid development of wind power not only provides clean energy, but also brings new challenges to the reliable operation of power system, the high proportion of wind power connected to the grid has caused significant changes in the power supply composition structure of the power system. The wind power has become the major power sources of the power system, which brings great challenges to the dynamic process and stability of the system. In order to deal with the problems of inertia reduction, system frequency dynamic deterioration and stability reduction caused by the grid connection of wind turbines under the traditional PLL control, the wind turbines based on the grid-forming control can realize synchronous operation with the power grid without relying on the phase-locked loop. Providing active support for power grid and other excellent characteristics are being widely studied and applied in academia and industry. The dynamic characteristics of the grid-forming control wind turbine will gradually become an important factor determining the dynamics of power system. The influence of the inertia and damping characteristics on the performance of the grid-forming wind turbines is significant. Therefore, the research on the dynamic characteristics of the grid-forming wind turbine and its influence on the system dynamic process has important significance and value. Taking the DFIG based on the grid-forming control as the research object, this paper analyzes and studies the modeling, inertia characteristics and damping characteristics of the grid-forming DFIG under multiple working conditions. The simulation results show that there is a coupling relationship between the inertia and the damping, the inertia and the damping under different working conditions have different characteristics. (c) 2022 Published by Elsevier Ltd. Peer-review under responsibility of the scientific committee of the international conference on Energy Storage Technology and Power systems, ESPS,

关键词： Wind power The grid-forming control The inertia The damping

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A bio-inspired design of real-time control learning algorithm in model-free drone manipulation

A bio-inspired design of real-time control learning algorith...

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2024 international conference on Optics, Electronics, and Communication Engineering, OECE 2024

作者： Wang, Jiaguo Li, Wenheng Pei, Yang Northwestern Polytechnical University Shaanxi Xi’an710072 China AVIC Xi’an Aeronautics Computing Technique Research Institute Shaanxi Xi’an710068 China

ISBN: (纸本)9781510685437

In recent years, neural-network-based adaptive dynamic models are commonly used to estimate and control flight dynamics for drones and multi-copters. However, most of them simply use networks to optimize few parameters in control policy. There are still large improvements on the structural layout for robust model-free control applications. Therefore, to achieve a similar intelligence of human is still challenging due to their difference in basic mechanisms and difficulty in network modeling. In this paper, we design a control learning algorithm which combines reinforcement learning with neural networks simplified from human cerebellar motor learning model. The algorithm learns parameters by statistically measuring the performance and analyzing the input-output relationship on real-time episodes. In local linear systems, parameters are learned with respect to a spatial function of environment state and subjective expectation. Compared with other methods using static models, the most obvious advantage of this algorithm is that it can learn complex dynamics of alternative degrees of freedom while the dynamics are difficult to be formulated by equation set. Besides, the algorithm is suitable for individual systems, without prior knowledge about system geometry, centre of gravity as well as installation error, since it learns the dynamic effects directly relevant to the optimal guidance and control behavior in unknown or partially known environments instead. Experiment verifies the algorithm in a practical way. In the experiment, the algorithm is implemented to a quad-copter and it can learn the flight control policy from zero-state without any prior knowledge. The flight quality is tested to be equal to accurate control model at outdoor flight experiences. By repeated experiment, the algorithm is demonstrated to have good robustness to control different physical models and the potential to explore alternative dimensionality. © 2024 SPIE.

关键词： Drones

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Lateral and longitudinal coupling control of autonomous vehicles using adaptive integral terminal super-twisting sliding mode control 7

Lateral and longitudinal coupling control of autonomous vehi...

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7th CAA international conference on Vehicular control and Intelligence, CVCI 2023

作者： Lu, Linying Wang, Wei Zhang, Ting Jiao, Xiaohong School of Electrical Engineering Yanshan University Qinhuangdao China

ISBN: (纸本)9798350340488

Vehicle motion control is one of the key technologies to achieve automatic vehicle driving, including lateral and longitudinal control. However, obtaining an accurate mathematical model of the vehicle is problematic because it is a complex nonlinear system and there are problems of external disturbances, model uncertainty, and parameter perturbations during the motion. For these challenges, this paper proposes an adaptive integral terminal super-twisting sliding mode control strategy based on a nonlinear disturbance observer for the vehicle's lateral and longitudinal coordinated trajectory tracking system. External disturbances and system modeling errors are considered integrated disturbances, and a nonlinear disturbance observer compensates for their impact on control performance. An integral-type terminal sliding mode surface is designed, and introducing a global term enhances the convergence performance of the system. The controller outputs the front wheel turning angle and the longitudinal drive to control the automatic vehicle steering and regulate the vehicle speed, respectively, ensuring coupled path and speed tracking. Finally, the effectiveness of the designed strategy is validated by the co-simulation platform of Carsim and MATLAB/Simulink. © 2023 IEEE.

关键词： autonomous vehicles nonlinear system sliding mode control trajectory tracking

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Method of Forming Paths for Uniform Surface Treatment for Objects of complex Shape 25

Method of Forming Paths for Uniform Surface Treatment for Ob...

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25th IEEE international conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Grigorev, Ivan Mursalimov, Eduard Laboratory of Intelligent Information Systems for Marine Robots M.D. Ageev Institute of Marine Technology Problems FEB RAS Vladivostok Russia Laboratory of Robotics and Intelligent Control Systems Sevastopol State University Laboratory of Intelligent Information Systems for Marine Robots M.D. Ageev Institute of Marine Technology Problems FEB RAS Vladivostok Russia

ISBN: (纸本)9798350389234

In most cases, tool impact paths for surface treatment (painting, milling, laser hardening, etc.) represent a set of continuous spatial curves lying on the surface to be treated. For uniform processing, adjacent curves from this set must be equidistant from each other. This paper presents a new method for covering a given polygonal mesh with equidistant lines based on given initial lines (in the form of a set of vertices on this mesh) and a given distance between adjacent lines, that is measured by Euclidean distance. The method is based on constructing spheres from each vertex of the initial line and removing the vertices of the mesh that fall into at least one of the spheres: the desired equidistant line will be represented by not removed vertices lying on the spheres. To construct each subsequent equidistant line, the last constructed line is used as the initial one: thus, the entire mesh is covered along the surface, despite the fact that the distance between adjacent lines is measured in space. Due to this, the proposed method, unlike the existing ones, works with surfaces of any complexity and requires less computing resources. Ordering the points of the constructed lines, to obtain the reference points of the paths that can be executed by the manipulator, is also presented. © 2024 IEEE.

关键词： Spheres

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