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Necessary Optimality Conditions for Dynamic systems Described by Ordinary Stochastic Difference Equations

Necessary Optimality Conditions for Dynamic Systems Describe...

引用

international conference on problems of Cybernetics and Informatics (PCI)

作者： Kamil Mansimov Rashad Mastaliyev Laboratory of Methods of Control of Complex Dynamic Systems Institute of Control Systems Baku Azerbaijan Department of Mathematics and Informatics Azerbaijan University Laboratory of Methods of Control of Complex Dynamic Systems Institute of Control Systems Baku Azerbaijan

The stochastic optimal control problem of an ordinary non-linear discrete stochastic system is considered. The quality of control is estimated by the mathematical expectation of the Boltz type functional to be minimized. Considering that the control domain is open, first and second orders stochastic type necessary optimality criterions are formulated and proved, including stochastic Euler equation.

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Quasi-static Optimal control Strategy of Lattice Boom Crane Based on Large-Scale Flexible Non-linear Dynamics 1

引用

11th international conference on Simulation and modeling Methodologies, Technologies and Applications, SIMULTECH 2021

作者： Gao, Lingchong Dai, Xiaobing Kleeberger, Michael Fottner, Johannes Chair of Materials Handling Material Flow Logistics Technical University of Munich Boltzmannstrasse 15 Garching85748 Germany

ISBN: (数字)9783031231490

ISBN: (纸本)9783031231483

Lattice boom cranes are usually used to lift heavy loads with the optimized lattice structure of the boom structure. Considering the huge mass of the payload and the crane itself, the flexibility of the crane boom structure cannot be ignored. The elastic vibrations mainly accrue at the lattice boom, the luffing system, and the cables. In this paper, several flexible multibody dynamic models are established as the beam elements (spatial Timoshenko beam), the rod elements (strut tie model), and the rope elements (ideal cubic spline model). In addition, a super truss element formulation for the regular truss structure is proposed to reduce the number of degrees of freedom of the complex lattice boom components. For controlling the large-scale nonlinear dynamic system, a quasi-static optimal control strategy is designed to realize the controllable motions for the specified complex system. This method combines the static mapping relationship with the target optimal trajectory to generate the optimal trajectories of control inputs. Through the elementary motions, the dynamic calculation of the lattice boom crane is performed to simulate the lifting, the luffing, and the slewing stages. In the aspect of control, the static mapping relationship between the key state variables and the control variables is established. A specified lifting task is designed to verify the quasi-static optimal control strategy. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Degrees of freedom (mechanics)

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modeling and Linear Active Disturbance Rejection control of a New Morphing Quadrotor

Modeling and Linear Active Disturbance Rejection Control of ...

引用

international conference on Guidance, Navigation and control, ICGNC 2022

作者： Sun, Haosheng He, Chunhui Wu, Qingxiang Chen, He Sun, Ning Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China School of Artificial Intelligence Hebei University of Technology Tianjin300401 China

ISBN: (纸本)9789811966125

In many practical applications like rescues, the morphing quadrotors perform better than conventional quadrotors in complex and variable environments, such as traveling through narrow gaps. However, their dynamic properties are more complicated. In this paper, a new morphing quadrotor with foldable arms is presented. Then, the dynamic model of the morphing quadrotor is established. Moreover, the linear active disturbance rejection control (LADRC) method is used to achieve stable flight during morphing, and its performance is compared with the PID method with the simulations. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Disturbance rejection

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Intelligent System for Predicting the Integrity of Operating Pipelines

Intelligent System for Predicting the Integrity of Operating...

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international conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Kristina Evseenkova Galina Kuznetsova Department of Computer-Aided Design and Control Systems Saint-Petersburg State Institute of Technology Saint Petersburg Russian Federation

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

An intelligent system for monitoring the integrity of operating pipelines is presented. The software package is designed to assess the corrosion rate and calculate the residual life of pipelines, which takes into account the parameters of climatic and transported environments, the characteristics of pipelines and their insulating coatings. The complex allows us to consider different types of corrosion: atmospheric, electrochemical and mechanical. A functional structure is proposed that describes the operating principle of the software package, calculation results and examples of intelligent system interfaces are presented.

关键词： Software packages Atmospheric modeling Corrosion Pipelines Predictive models control systems Mathematical models Energy efficiency Intelligent systems Monitoring

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Adaptive control of Data Center Cooling using Deep Reinforcement Learning 3

Adaptive Control of Data Center Cooling using Deep Reinforce...

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3rd IEEE international conference on Autonomic Computing and Self-Organizing systems (ACSOS)

作者： Heimerson, Albin Sjolund, Johannes Brannvall, Rickard Gustafsson, Jonas Eker, Johan Lund Univ Lund Sweden Res Inst Sweden RISE Gothenburg Sweden Lund Univ Ericsson Res Lund Sweden

ISBN: (数字)9781665451420

ISBN: (纸本)9781665451420

In this paper, we explore the use of Reinforcement Learning (RL) to improve the control of cooling equipment in Data Centers (DCs). DCs are inherently complex systems, and thus challenging to model from first principles. Machine learning offers a way to address this by instead training a model to capture the thermal dynamics of a DC. In RL, an agent learns to control a system through trial-and-error. However, for systems such as DCs, an interactive trial-and-error approach is not possible, and instead, a high-fidelity model is needed. In this paper, we develop a DC model using Computational Fluid Dynamics (CFD) based on the Lattice Boltzmann Method (LBM) Bhatnagar-Gross-Krook (BGK) algorithm. The model features transient boundary conditions for simulating the DC room, heat-generating servers, and Computer Room Air Handlers (CRAHs) as well as rejection components outside the server room such as heat exchangers, compressors, and dry coolers. This model is used to train an RL agent to control the cooling equipment. Evaluations show that the RL agent can outperform traditional controllers and also can adapt to changes in the environment, such as equipment breaking down.

关键词： Reinforcement Learning CFD modeling Datacenter Cooling Adaptive control

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Joint international conference of the 13th IFToMM international Symposium on Science of Mechanisms and Machines, SYROM 2022 and 25th international conference on Robotics, ROBOTICS 2022

Joint International Conference of the 13th IFToMM Internatio...

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Joint international conference of the 13th IFToMM international Symposium on Science of Mechanisms and Machines, SYROM 2022 and 25th international conference on Robotics, ROBOTICS 2022

ISBN: (纸本)9783031256547

The proceedings contain 42 papers. The special focus in this conference is on Joint international conference of the international Symposium on Science of Mechanisms and Machines and international conference on Robotics. The topics include: Study of Vibrations of a Cantilever Beam with Uniformly Distributed Mass;considerations on the Proper Selection of Sensors for Vibroacoustic Study of the Vehicles;experimental Identification of Singularities in Parallel Manipulators;requirements and problems for Space Berthing System;A Kinematic Analysis of the TORVEastro Astronaut Robot Arm;Evaluation by Numerical Simulation of Friction Forces in Spherical Joints of a 6-DOF Parallel Topology Robot;comparative Analysis of Four Solutions for Command and control Applied to Anthropomorphic Grippers for Robots;Model-Free Reaching of a 2-DOF Robotic Arm Using Neural Networks;inverse Dynamic modeling of a Parallel Robot for Lower Limb Rehabilitation;a Study of Feasibility of a Mechanism for Rib-Vertebra-Sternum Prosthesis;kinematic and Dynamic Analysis of an Exoskeleton Robotic System;design and Operation of a Cable-Driven Robot for Lower-Limb Rehabilitation;a State of Art Overwiew on Wrist Rehabilitation Exoskeletons;design of an Exoskeleton for Rehabilitation Ankle Joint;requirements and Characteristics of Finger Motion Assistance;development of a Force Feedback control for Robotic Assisted Liver Cancer Treatment;Perspectives on Originally Designed Eco-Friendly Robotic Cell for PCB Dismantling;cloud-Based Digital Twin for Robot Health Monitoring and Integration in Cyber-Physical Production systems;a Novel Design of a Robotic System for Biological Fluid Aliquoting;multimodal Perceptual Cues for Context-Aware Human-Robot Interaction;a Review on Mechanisms Used for the Reconfigurable Wheelchairs.

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Nonlinear Mathematical Model of the systems Dynamics with Geometric Constraints and its Simplification Due to the Justified Linearization of Constraints

Nonlinear Mathematical Model of the Systems Dynamics with Ge...

引用

international conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Aleksandr Ya. Krasinskiy Anastasia N. Ilyina Dept. of Computer Modeling and Probability Theory Moscow Aviation Institute (National Research University) Moscow Russia

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

Success in examining the dynamics of any controlled object is determined to a decisive degree by the complexity of the study, which primarily depends on the quality of modeling. Analytical mechanics offers a wide range of coordinate types to describe the dynamics of mechanical components of mechatronic systems. modeling of the dynamics of systems with geometrical constraints requires a rigor which is unusual for technical practice. This is determined by the necessity of taking into account not only linear but also at least quadratic terms in the expansion of nonlinear constraint equations when identifying the first approximation of the equations of perturbed motion in stability and stabilization problems. The method of rigorous modeling of the dynamics of systems with geometric constraints is presented in detail in the article. Possible simplifications of the study are substantiated on the basis of these results. The effectiveness of the proposed approach is demonstrated by considering two variants of the stand Ball & Beam equilibrium.

关键词： Mechatronics Automation System dynamics Dynamics control systems Mathematical models Stability analysis Energy efficiency complexity theory Thermal stability

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On the Method of Solving Inverse problems Under Conditions of Inconstancy of the Kinetic Activity of a Chemical System

On the Method of Solving Inverse Problems Under Conditions o...

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international conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： D. R. Gizzatov Yu.B. Saburova D.A. Kornilov D. S. Yunusova G. K. Khisametdinova A. A. Kornilova Institute of Chemistry and Protection in Emergency Situations Ufa University of Science and Technology Ufa Russia

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

In this paper, a mathematical model is given for the polymerization process, taking into account the process features, such as polycentrality and the dynamics of active centers. Direct and inverse kinetic problems are set. Features of the solution method are indicated. The results of the computational experiment are given in the form of graphs for the main molecular characteristics.

关键词： Analytical models Inverse problems Process control control systems Mathematical models Energy efficiency Kinetic theory Chemical processes Polymers Chemicals

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Cost-Effective Mechanisms for Budgeting the Transport complex Development

Cost-Effective Mechanisms for Budgeting the Transport Comple...

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international conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Vladimir Tsyganov Laboratory of Active Systems V.A. Trapeznikov Institute of Control Sciences of RAS Moscow Russia

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

The problem of budgeting costs for the strategic development of a transport complex in conditions of change is considered. A concept for such budgeting is proposed based on the decomposition of the global strategic task of diminishing transport complex expenses into local tasks, with the subsequent formation of a cost-effective strategic adaptive mechanism for minimizing costs for solving each of the local tasks. A modular approach has been developed to build a cost-effective adaptive budgeting mechanism for the strategic development of the transport complex in conditions of change, based on actual costs and cost norns. The cost-effective mechanisms of the modules used are based on digital learning procedures. Optimal synthesis of the cost-effective mechanism of the “Pupil” module is considered.

关键词： Costs Automation Supervised learning Buildings Organizations control systems Mathematical models Energy efficiency complexity theory Arrays

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Evolving Cauchy Possibilistic Clustering for Data Stream modeling and Classification 16

Evolving Cauchy Possibilistic Clustering for Data Stream Mod...

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16th IEEE AFRICON, AFRICON 2023

作者： Skrjanc, Igor University of Ljubljana Laboratory of Control Systems and Cybernetics Faculty of Electrical Engineering Ljubljana Slovenia

ISBN: (纸本)9798350336214

This article proposes a novel approach to clustering called eCauchy, which is based on the Cauchy density function. This method is similar to the well-known possibilistic c-means clustering (PCM), which was developed to address the limitations of fuzzy c-means algorithms (FCM). Density-based clustering is particularly useful when dealing with noisy data and frequent outliers. The recursive measure of density can be adapted for various data mining tasks, including regression and classification. The eCauchy algorithm is simple to use and can handle big-data problems. It evolves dynamically by adding and removing clusters based on a few initial parameters, such as maximum and minimum density. This allows for the identification of clusters with different shapes and sizes and is robust to outliers and high levels of noise. The paper demonstrates the universality of this algorithm and its modifications through several simple examples that can also be found in more complex forms in real-world applications. © 2023 IEEE.

关键词： Big data

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