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Adaptive control of underactuated planar pronking 9

Adaptive control of underactuated planar pronking

引用

9th IEEE RAS/EMBS international conference for Biomedical Robotics and Biomechatronics (BioRob)

作者： Er, Guner Dilsad Ankarali, Mustafa Mert Middle East Tech Univ Dept Elect & Elect Engn Ankara Turkey METU Robot & AI Technol Applicat & Res Ctr METU R Ankara Turkey

ISBN: (数字)9781665458498

ISBN: (纸本)9781665458498

Underactuated legged robots depict highly nonlinear and complex dynamical behaviors that create significant challenges in accurately modeling system dynamics using both first principles and system identification approaches. Hence, the design of stabilizing controllers becomes more challenging due to inaccurate modeling. Suppose physical parameters on mathematical models have miscalibrations due to uncertainty in identifying and modeling processes. In that case, designed controllers could perform poorly or even result in unstable responses. Moreover, these parameters can change over time due to operation and environmental conditions. In that respect, analogous to a living organism modifying its behavior in response to novel conditions, adapting/updating system parameters, such as spring constant to compensate for modeling errors, could provide the advantage of constructing a stable gait level controller without needing "exact" dynamical parameter values. This paper presents an online, model-based adaptive control approach for an underactuated planar hexapod robot's pronking behavior adopted from antelope species. We show through systematic simulation studies that the adaptive control policy is robust to high levels of parameter uncertainties compared to a non-adaptive model-based dead-beat controller.

关键词： Legged locomotion Adaptation models Uncertain systems Uncertainty Transmission line matrix methods Systematics Mathematical models

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A Design of Test Equipment on Gun control systems and Autoloaders

A Design of Test Equipment on Gun Control Systems and Autolo...

引用

2021 international conference on Advanced Manufacturing Technology and Electronic Information, AMTEI 2021

作者： Liu, Hong-Tian Song, Chao Cao, Yang Zhang, Wan-Jun Wang, Dong-Jun Wu, Hong-Wei Department of Weapons and Control Army Academy of Armored Forces Beijing China

In response to a series of problems in the actual use of a certain type of tank fire control system and autoloader, such as many sudden failures, difficulties in diagnosing and locating failures, and complex maintenance and guarantee, a testing equipment is designed for the gun control box and autoloader, which is used to monitor the status of the gun control box and autoloader, and store the test data in real time. By comparing the test data and analysing the abnormal problems that occur in the work of the gun control box and the autoloader, it realises the monitoring of the working condition of the tank gun control box and the autoloader components, providing effective data support for the next step of repair. © Published under licence by IOP Publishing Ltd.

关键词： Fire control systems

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A Stochastic Model Predictive control Approach to Deal with Cancerous Tumor Growth 9

A Stochastic Model Predictive Control Approach to Deal with ...

引用

9th international conference on control, Decision and Information Technologies, CoDIT 2023

作者： Hernández-Rivera, A. Velarde, P. Zafra-Cabeza, A. Maestre, J.M. University of Seville Systems Engineering and Automation Department Spain Universidad Loyola Andalucía Departamento de Ingeniería Spain

ISBN: (纸本)9798350311402

Tumor growth models can help predict the response of tumors to different treatments. This work presents a generic mathematical model that combines tumor growth, the pharmacokinetics of the drugs administered, and the evolution of the possible side effects of the treatment. Tumors are complex systems, and they can exhibit different growth patterns under the same initial conditions. To deal with these uncertainties, a stochastic model predictive strategy has been developed to reduce the tumor size while minimizing side effects. Thus, probabilistic constraints have been incorporated into the optimization problem, giving rise to a chance-constrained model predictive approach. A one-year treatment simulation assessment is performed to compare the stochastic model predictive controller with the standard implementation. The results demonstrate that the proposed approach improves the performance of the controller, satisfying the marked objectives. Overall, while tumor growth modeling can provide valuable insights into the behavior of tumors, it is important to incorporate sources of uncertainty to ensure that the models accurately capture the behavior of all tumors. © 2023 IEEE.

关键词： Tumors

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Test Case Generation for Simulink Models using Model Fuzzing and State Solving 24

Test Case Generation for Simulink Models using Model Fuzzing...

引用

39th ACM/IEEE international conference on Automated Software Engineering (ASE)

作者： Su, Zhuo Yu, Zehong Wang, Dongyan Chang, Wanli Gu, Bin Jiang, Yu Tsinghua Univ Sch Software BNRist KLISS Beijing Peoples R China Renmin Univ China Informat Technol Ctr Beijing Peoples R China Hunan Univ Coll Comp Sci & Elect Engn Changsha Peoples R China Beijing Inst Control Engn Beijing Peoples R China

ISBN: (数字)9798400712487

ISBN: (纸本)9798400712487

Simulink plays an important role in the industry for modeling and synthesis of embedded systems. Ensuring system stability requires using numerous test cases to validate the functionality and safety of the models. However, as requirements increase, the complexity of the models poses new challenges to traditional testing methods. Traditional methods such as constraint solving and random search run into significant obstacles when navigating the complex branching logic and states within models. In this paper, we introduce HybridTCG, a test case generation method by collaborating model fuzzing and state solving for Simulink models. First, HybridTCG starts a code-based fuzzer to generate high-coverage test cases rapidly. Then, it refines the test cases generated by the fuzzer, preserving only those that can achieve new model coverage. These selected test cases are input into the state-solving engine to derive corresponding states and resolve the constraints of subsequent branches. Ultimately, the test cases produced by the solving engine will be fed back into the fuzzer as high-quality seeds to enhance the fuzzing process. We have implemented HybridTCG and conducted a comprehensive evaluation using various benchmark Simulink models. Compared to the built-in Simulink Design Verifier and state-of-the-art academic work SimCoTest and STCG, HybridTCG achieves an average improvement of 54%, 108% and 24% on Decision Coverage, 50%, 62% and 6% on Condition Coverage, 291%, 282% and 45% on Modified Condition Decision Coverage, respectively. Moreover, HybridTCG is also much more efficient in testing than other tools.

关键词： Test case generation Simulink Constraint solving Model fuzzing

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Mathematical modeling of Differential Equations as Applied to problems of Physics and Electrical Engineering 3

Mathematical Modeling of Differential Equations as Applied t...

引用

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

作者： Semenova, Mariya Vasilyeva, Anastasiya Lukina, Galina Popova, Ulyana Zagolilo, Sergey Yakushev, Il'Ya in Mirny North-Eastern Federal University Named after M.K. Ammosov Mirny Russia

ISBN: (纸本)9781665439817

Mathematical modeling of differential equations as applied to problems of physics and electrical engineering in the MatLab/Simulink environment is considered. The MatLab software package is designed to provide analytical and numerical solutions for various mathematical problems and simulate complex technical objects and systems. The Simulink app is one of the tools within the MatLab package. It has major structured, object-oriented, and visual programming capabilities. We reviewed both the simplest equations (a first-order differential equation) and more complex linear and nonlinear differential equations of the first and second orders. For the first-order linear differential equation, we have a complete correlation of modeling results. When solving the second-order non-linear differential equation, we observed small result deviations due to the method selected and the integration step. We used the example of the practical application of the MatLab/Simulink environment to calculate the parameters of an electric circuit. Found the relationship between the current and the modeling time in the series-oscillatory circuit with a harmonic alternating voltage source. It is reduced to solving a nonhomogeneous linear differential equation with constant second-order coefficients describing the forced current change in the oscillatory circuit following the second Kirchhoffs law. © 2021 IEEE.

关键词： Simulink

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Research on Cooperative Guidance Technology of Small Tactical Air-to-ground Missile 4

Research on Cooperative Guidance Technology of Small Tactica...

引用

4th international conference on Defence Technology, ICDT 2024

作者： Yang, K. Wang, G.P. He, Y. Peng, Y.L. Xi’an Modern Control Technology Research Institute Xi’an710065 China Jiangnan Industry Group Co Ltd Xiangtan411100 China

To explore the feasibility of collaborative guidance for small tactical air-to-ground missiles and enhance their ability to cope with future complex battlefield systems, this article first elaborated on the principle of multi missile collaborative guidance. Then, based on the operational mission of air-to-ground missiles, several collaborative guidance combat modes were proposed. For specific combat modes, time and angle collaborative guidance laws suitable for air-to-ground missiles were designed and developed. Overcoming the problems of short flight time, fast speed and inability to adjust of air-to-ground missiles, and completing mathematical simulation calculations, the results show that this method can effectively solve the problem of coordinated guidance of air-to-ground missiles, achieve simultaneous attack, rapid attack, and multi target attack, and improve the penetration ability, battlefield survival ability, and strike ability of air-to-ground missiles against targets. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Guided missiles

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MoLDy: Open-Source Library for Data-Based modeling and Nonlinear Model Predictive control of Soft Robots

MoLDy: Open-Source Library for Data-Based Modeling and Nonli...

引用

IEEE international conference on Soft Robotics (RoboSoft)

作者： Daniel G. Cheney Marc D. Killpack Robotics and Dynamics Laboratory Brigham Young University

Aggressive and accurate control of complex dynamical systems, such as soft robots, is especially challenging due to the difficulty of obtaining an accurate and tractable model for realtime control. Learned dynamic models are incredibly useful because they do not require derivation of an analytical model, they can represent complex, nonlinear behavior directly from data, and they can be evaluated quickly on graphics-processing units (GPUs). In this paper, we present an open-source Python library to further current research in model-based control of soft robot systems. Our library for modeling of Learned Dynamics (MoLDy), is designed to generate learned forward models of complex systems through a data-driven approach to hyperparameter optimization and learned model training. Included in the MoLDy library, we present an open-source version of NEMPC (Nonlinear Evo-lutionary Model Predictive control), a previously published control algorithm validated on soft robots. We demonstrate the ability of MoLDy and NEMPC to accurately perform model-based control on a physical pneumatic continuum joint. We also present a benchmarking study on the effect of the loss metric used in model training on control performance. The results of this paper serve to guide other researchers in creating learned dynamic models of novel systems and using them in closed-loop control tasks.

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Passivity-Based Robust Stability control of Heterogeneous DGs in Microgrid 4

Passivity-Based Robust Stability Control of Heterogeneous DG...

引用

4th international conference on Smart Power and Internet Energy systems (SPIES)

作者： Yuan, Wenkai Chen, Laijun Deng, Sicheng Mei, Shengwei Tsinghua Univ Dept Elect Engn Beijing Peoples R China Qinghai Univ New Energy Photovolta Ind Res Ctr Xining Peoples R China

ISBN: (纸本)9781665489577

Microgrid is usually a nonlinear system composed of heterogeneous distributed generators and has complex stability problems. The traditional passivity-based control methods are facing challenges due to the complexity and uncertainty of the components in microgrid. In this paper, output-differential (OD) passivity, feedback passification and robust stability control of distributed generators are addressed. First, a sufficient condition for nonlinear systems to be robust OD passive is derived by data-driven matrix inequality (DMI) method. Then, a feedback passification design is proposed to render the system robust OD passive. Based on that, we provide a passivity-based robust control method to guarantee the stability of microgrids. Finally, a numerical example is illustrated to demonstrate the effectiveness of the results.

关键词： output-differential passivity robust control heterogeneous dynamics power system stability DMI

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A System for Pressure controlling the Common Steam Line of CHP 4

A System for Pressure Controlling the Common Steam Line of C...

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4th international conference on control systems, Mathematical modeling, Automation and Energy Efficiency, SUMMA 2022

作者： Eremin, Eugenie L. Nikiforova, Larisa V. Telichenko, Denis A. Shelenok, Evgeniy A. Amur State University Information and Control Systems Department Blagoveshchensk Russia Corporation Dgk Blagoveshchensk Cogeneration Station Amur Generation Branch of Public Blagoveshchensk Russia Pacific National University Automation and System Engineering Department Khabarovsk Russia

ISBN: (数字)9781665456593

ISBN: (纸本)9781665456593

The paper solves the problem of building a control system for steam pressure at a Combined Heat and Power Plant (CHP). Functioning of the regulator in terms of practical implementation is analyzed. The main features of the technological process which affect the effective management of the automation object are identified. It is considered complex coal-fired CHP plants with common steam line and drum boiler in a combined cycle of generating electricity and heat which provides a common primary frequency control in the power system. Authors was obtained the mathematical model of the plant for one of the boiler units of the Blagoveshchensk CHP. Data processing was carried out by authors with the help of the method of passive experiment. Analysis of the system operation was shown that the control plant can be described with a sufficient degree of accuracy by a parametrically undefined model with changing structure and delay. Various Matlab simulation sessions demonstrate the good quality of the proposed solutions when changing both the parameters and structure of the system. © 2022 IEEE.

关键词： Steam piping systems

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Liquid Slosh Suppression by Implementing Data-Driven Fractional Order PID controller based on Marine Predators Algorithm

Liquid Slosh Suppression by Implementing Data-Driven Fractio...

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2023 IEEE international conference on Automatic control and Intelligent systems, I2CACIS 2023

作者： Tumari, Mohd Zaidi Mohd Mustapha, Nik Mohd Zaitul Akmal Ahmad, Mohd Ashraf Saat, Shahrizal Ghazali, Mohd Riduwan Universiti Teknikal Malaysia Melaka Faculty of Electrical & Electronics Engineering Technology Hang Tuah Jaya Melaka Malaysia Universiti Malaysia Pahang Faculty of Electrical & Electronics Engineering Technology Pahang Pekan Malaysia

ISBN: (纸本)9798350321302

Traditionally, the control system development of liquid slosh problems usually employed a model-based approach which is difficult to utilize practically since the fluid motion in the container is very chaotic and hard to model perfectly. Thus, this research paper proposed the development of a data-driven fractional-order PID controller based on marine predators algorithm (MPA) for liquid slosh suppression system. The MPA is used as a data-driven tuning tool in finding the optimal FOPID controller parameters based on fitness function which consists of total norm of tracking error, total norm of slosh angle as well as total norm of control input. The motor-driven liquid container performing a horizontal movement is used as a mathematical modeling to justify the suggested data-driven control approach. The effectiveness of the FOPID controller tuning method based on MPA was assessed by evaluating the performance criteria in terms of convergence curve of the average fitness function, statistical results, and Wilcoxon's rank test. We have shown that the proposed data-driven tuning tool has a good ability in producing better results for the majority of the performance criteria as compared to other recent metaheuristic optimization algorithms. © 2023 IEEE.

关键词： Proportional control systems

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