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A distributed-parameter control system using electromagnetic neural stimulation for human-machine perception interface

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Journal of Control and Decision 2022年第1期9卷 23-34页

作者： Min Li Department of Mechanical and Civil Engineering Minnesota State University MankatoMankatoMNUSA

This article presents a new design of a distributed-parameter control system for human-machine perception interface,which is capable of precisely stimulating the neural systems with electromagnetic *** discretising the neural systems,a state-space representation of the electromagnetic stimulation is developed to facilitate the following design and analysis.A forward controller with multiple inputs and multiple outputs is consequently designed to estimate the excitation *** novel approach enables the applications of the well-established control theory to analyse the *** feasibility and accuracy of the control system are numerically illustrated and validated with the applications of Transcranial Magnetic Stimulation(TMS)and retinal *** results indicate that the newly designed control system can not only generate electromagnetic stimulation with better attenuation and focality than the most widely used Figure-8 coil,but also transmit the patterns extracted from images with electromagnetic stimulations to human retinas.

关键词： TMS retinal stimulation human-machine interface electromagnetic stimulation distributed-parameter system

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Neural-Network-Based Models Ensemble for Identification in distributed-parameter systems with Application to Elastic Materials Modeling

Neural-Network-Based Models Ensemble for Identification in D...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE) / IEEE World Congress on Computational Intelligence (IEEE WCCI) / International Joint Conference on Neural Networks (IJCNN) / IEEE Congress on Evolutionary Computation (IEEE CEC)

作者： Patan, Krzysztof Patan, Maciej Univ Zielona Gora Inst Control & Computat Engn Zielona Gora Poland

ISBN: (数字)9781728186719

ISBN: (纸本)9781728186719

The purpose of the paper is to develop the methodology of training procedures for neural modeling of distributed-parameter systems with special attention given to systems whose dynamics are described by a fourth-order partial differential equation. The work is motivated by applications from control of elastic materials, such as deformable mirrors, vibrating beams, smart materials, etc. The numerical methods for solving such systems usually are characterized by large-scale and heavy computational cost, therefore they cannot be used for real-time prediction and/or estimation. Here we propose the data-driven approach for modeling distributed-parameter system based on the state-space neural networks forming the ensemble imitating a spatial discretization of the finite element method for solving the partial differential equations. Then, for each spatial subdomain the networks are trained with local temporal data reconstructing the dynamic system response and maintaining the accuracy of original method. Thus, we obtain the efficient on-line prediction model with a possibility for reduction of system scale owing to generalization property of neural networks. Finally, implementability of the proposed approach is confirmed by numerical simulations on the dynamic displacements estimation of elastic membrane.

关键词： state-space model modeling neural network training distributed-parameter system

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Echo-state-network-based iterative learning control of distributed systems 22

Echo-state-network-based iterative learning control of distr...

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22nd World Congress of the International Federation of Automatic Control (IFAC)

作者： Patan, Krzysztof Patan, Maciej Univ Zielona Inst Control & Computat Engn Gora Ul Szafrana 2 PL-65246 Zielona Gora Poland

ISBN: (纸本)9781713872344

The paper proposes an effective modeling and control procedure for the distributed-parameter systems using the echo-state network. The main idea is to reconstruct the spatio-temporal dynamics defined in a given multi-dimensional domain. In the investigated problem positions of both sensors and actuators are fixed allowing to delegate the complex system dynamics to echo-state network. Imposing a proper partitioning of the spatial domain, a specific topology of a neural network is used to form a reservoir capable to follow not only temporal but also spatial dynamics of the system. Based on available historical data, neural network model is initially trained and then used to derive the control law in the framework of iterative learning control. The echo-state network can be retrained after a particular control iterate in order to reduce model uncertainty and to fit it to the current operating conditions as much as possible. The performance of the proposed approach is tested and evaluated on the example of the squared clamped plate control. Copyright (c) 2023 The Authors.

关键词： Neural networks modeling iterative learning control control system design training distributed-parameter system adaptive system.

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Wave dynamics intrinsic in symmetric four-channel bilateral teleoperation: Mutual impedance-based motion control

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MECHATRONICS 2024年 102卷

作者： Shikata, Kosuke Katsura, Seiichiro Keio Univ Dept Syst Design Engn 3-14-1 HiyoshiKohoku Yokohama 2238522 Japan

Bilateral teleoperation is a network control system that connects distant locations under force sensation and contributes to task execution. The motivation of this study is to focus on the importance of symmetry in bilateral teleoperation systems and to design controller configurations with symmetry. This study employs the acceleration control -based four -channel bilateral teleoperation (AC4BT). AC4BTs have the regulator to zero in resultant force and the controller in positional difference, which can precisely achieve bidirectional force transmission and position synchronization while maintaining its symmetric structure. However, the coupled design of the force regulator and position controller remains challenging. The mutual impedance -based motion control approach derives and discusses the intrinsic wave dynamics in AC4BT under communication delay. The mutual impedance determines the transmission characteristics of force and position in bilateral teleoperation since it corresponds to the characteristic impedance in distributed -parameter systems. This study proposes the force -proportional -integral (force PI) and position -proportional -derivative (position PD) controllers, with the gain settings canceling the frequency -dependent terms. Without interfering with the realization of the control objectives, this brings the phase relationship between the force and velocity in manipulation closer to that performed in a no -delay situation. Experimental results verify the proposed approach.

关键词： Motion control Bilateral teleoperation Time delay distributed-parameter system Impedance

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Versatile method for modeling geomagnetically induced currents in ground-based systems

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ELECTRIC POWER systemS RESEARCH 2023年第1期217卷

作者： Wang, Xuan Zhang, Shuming Tsinghua Univ Dept Elect Engn Beijing Peoples R China

Geomagnetic disturbances affect the normal operation of power systems, oil and gas pipelines, and railway systems. These disturbances are assessed based on the geomagnetically induced current (GIC), which is an important index that needs to be systematically calculated. In this study, we systematically perform GIC calculation for ground-based systems and consequently propose a versatile method for modeling GIC. Typically, a geophysical step aimed at the horizontal component of the geoelectric field and an engineering step intended for calculating the GIC are essential. One-, two-, two and half-, and three-dimensional models are used to determine the geoelectric field based on the different Earth model. Based on their characteristics, these systems are cate-gorized into lumped-and distributed-parameter systems. Power systems and traction networks are modeled based on lumped parameters, whereas gas and oil pipelines and rail systems are modeled based on distributed parameters. Regardless of the model used, the nodal admittance network is at the end of the model chain, and the associated parameters are determined. In addition, certain special cases, including power systems with multi-voltage levels, pipeline models with leakage points, and traction networks with different operation states, are considered. Furthermore, specific cases are presented to demonstrate the functioning of the model.

关键词： distributed-parameter system Geoelectric field Geomagnetically induced currents Lumped-parameter system

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Echo-state-network-based iterative learning control of distributed systems

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IFAC-PapersOnLine 2023年第2期56卷 1057-1062页

作者： Krzysztof Patan Maciej Patan

The paper proposes an effective modeling and control procedure for the distributed-parameter systems using the echo-state network. The main idea is to reconstruct the spatiotemporal dynamics defined in a given multi-dimensional domain. In the investigated problem positions of both sensors and actuators are fixed allowing to delegate the complex system dynamics to echo-state network. Imposing a proper partitioning of the spatial domain, a specific topology of a neural network is used to form a reservoir capable to follow not only temporal but also spatial dynamics of the system. Based on available historical data, neural network model is initially trained and then used to derive the control law in the framework of iterative learning control. The echo-state network can be retrained after a particular control iterate in order to reduce model uncertainty and to fit it to the current operating conditions as much as possible. The performance of the proposed approach is tested and evaluated on the example of the squared clamped plate control.

关键词： Neural networks modeling iterative learning control control system design training distributed-parameter system adaptive system

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Stabilization of a class of mixed ODE-PDE port-Hamiltonian systems with strong dissipation feedback

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AUTOMATICA 2022年 142卷

作者： Mattioni, Andrea Wu, Yongxin Le Gorrec, Yann Zwart, Hans Univ Bourgogne Franche Comte AS2M Dept CNRS FEMTO ST F-25000 Besancon France Univ Grenoble Alpes GIPSA Lab CNRS Grenoble INP F-38000 Grenoble France Univ Twente Dept Appl Math PO Box 217 NL-7500 AE Enschede Netherlands Eindhoven Univ Technol Dept Mech Engn POB 513 NL-5600 MB Eindhoven Netherlands

This paper deals with the asymptotic stabilization of a class of port-Hamiltonian (pH) 1-D Partial Differential Equations (PDE) with spatial varying parameters, interconnected with a class of linear Ordinary Differential Equations (ODE), with control input on the ODE. The class of considered ODE contains the effect of a proportional term, that can be considered as the proportional action of a controller or a spring in case of mechanical systems. In this particular case of study, it is not possible to directly add damping on the boundary of the PDE. To remedy this problem we propose a control law that makes use of a "strong feedback"term. We first prove that the closed-loop operator generates a contraction strongly continuous semigroup, then we address the asymptotic stability making use of a Lyapunov argument, taking advantage of the pH structure of the original system to be controlled. Furthermore, we apply the proposed control law for the stabilization of a vibrating string with a tip mass and we show the simulation results compared with the application of a simple PD controller. (c) 2022 Elsevier Ltd. All rights reserved.

关键词： distributed-parameter system Strong feedback control Asymptotic stability Numerical simulations Port-Hamiltonian systems

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An Active Control Method for Chatter Suppression in Thin Plate Turning

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2020年第3期16卷 1742-1753页

作者： Ma, Haifeng Guo, Jiajie Wu, Jianhua Xiong, Zhenhua Lee, Kok-Meng Shandong Univ Key Lab High Efficiency & Clean Mech Manufacture Sch Mech Engn Jinan 250061 Peoples R China Shanghai Jiao Tong Univ State Key Lab Mech Syst & Vibrat Sch Mech Engn Shanghai 200240 Peoples R China Huazhong Univ Sci & Technol Sch Mech Sci & Engn State Key Lab Digital Mfg Equipment & Technol Wuhan 430074 Peoples R China Shanghai Jiao Tong Univ Sch Mech Engn State Key Lab Mech Syst & Vibrat Shanghai 200240 Peoples R China Georgia Inst Technol George W Woodruff Sch Mech Engn Atlanta GA 30332 USA

This paper presents an active control method, consisting of an adaptive sliding-mode controller (ASMC) and a displacement field reconstruction (DFR) method, for chatter suppression in turning of thin-walled workpieces (such as compressor disks and casings in aircraft engines) where low workpiece stiffness renders machining with potential regenerative chatter. Due to the presence of multi-modal dynamics, variant modal parameters, and measurement difficulties, active chatter control of thin plate turning has been challenging. Unlike existing controls based on a lumped-parameter single degree-of-freedom cutting model, a distributed-parameter dynamic model of a rotating thin plate with multiple vibration modes is used to analyze the machining stability with the designed controller. Moreover, model parameters of the plate are not needed to construct the controller. The DFR is employed to capture the plate dynamic behavior for feedback to the ASMC during turning, overcoming the long existing difficulties to measure plate vibration at the cutting point. A fast tool servo is utilized in the control implementation. Theoretical analyses, numerical simulations, and experimental evaluation on a lathe demonstrate that chatter in thin plate turning can be effectively attenuated with the proposed active control method.

关键词： Turning Vibrations Force Dynamics Milling Stability analysis Active control displacement field reconstruction (DFR) distributed-parameter system regenerative chatter thin plate turning

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Feedforward control of the transverse strip profile in hot-dip galvanizing lines

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JOURNAL OF PROCESS CONTROL 2020年 92卷 35-49页

作者： Saxinger, Martin Marko, Lukas Steinboeck, Andreas Kugi, Andreas TU Wien Automat & Control Inst Christian Doppler Lab Model Based Proc Control St Gusshausstr 27-29 A-1040 Vienna Austria TU Wien Automat & Control Inst Gusshausstr 27-29 A-1040 Vienna Austria

Hot-dip galvanizing is a standard technology to produce coated steel strips. The primary objective of the galvanizing process is to establish a homogeneous zinc layer with a defined thickness. One condition to achieve this objective is a uniform transverse distance between the strip and the gas wiping dies, which blow off excessive liquid zinc. Therefore, a flat strip profile at the gas wiping dies is required. However, strips processed in such plants often exhibit residual curvatures which entail unknown flatness defects of the strip. Such flatness defects cause non-uniform air gaps and hence an inhomogeneous zinc coating thickness. Modern hot-dip galvanizing lines often use electromagnets to control the transverse strip profile near the gas wiping dies. Typically, the control algorithms ensure a flat strip profile at the electromagnets because the sensors for the transverse strip displacement are also located at this position and it is unfeasible to mount displacement sensors directly at the gas wiping dies. This brings along that in general a flatness defect remains at the gas wiping dies, which in turn entails a suboptimal coating. In this paper, a model-based method for a feedforward control of the strip profile at the position of the gas wiping dies is developed. This method is based on a plate model of the axially moving strip that takes into account the flatness defects in the strip. First, an estimator of the flatness defects is developed and validated for various test strips and settings of the plant. Using the validated mathematical model, a simulation study is performed to compare the state-of-the-art control approach (flat strip profile at the electromagnets) with the optimization-based feedforward controller (flat strip profile at the gas wiping dies) proposed in this paper. Moreover, the influence of the distance between the gas wiping dies and the electromagnets is investigated in detail. (C) 2020 The Authors. Published by Elsevier Ltd.

关键词： distributed-parameter system Model-based control Feedforward control Steel industry Hot-dip galvanizing line Electromagnetic strip stabilizer Zinc coating

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Observer Based Nonlinear Control of a Rotating Flexible Beam 21st

Observer Based Nonlinear Control of a Rotating Flexible Beam

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Mattioni, Andrea Toledo, Jesus Le Gorrec, Yann Univ Bourgogne Franche Comte FEMTO ST CNRS 24 Rue Savory F-25000 Besancon France

This paper presents an observer based nonlinear control for a flexible beam clamped on a rotating inertia. The considered model is composed by a set of Partial Differential Equations (PDEs) interconnected with an Ordinary Differential Equation (ODE), with control input in the ODE. The control problem consists in orienting the beam at the desired position, maintaining the flexible vibrations as low as possible. To this end, it is presented a nonlinear controller that depends on the beam's state. An Observer is designed to reconstruct the infinite dimensional state, and the estimated state is used in the nonlinear controller instead of the real one. Assuming well-posedness of the closed loop system, it is shown the exponential convergence of the estimated state, and the asymptotic stability of the closed loop system. Numerical simulations are presented to characterize the closed loop behaviour with different choices of observer's parameters. Copyright (C) 2020 The Authors.

关键词： distributed-parameter system Nonlinear control Observers Asymptotic stability port-Hamiltonian item

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