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56th International Symposium on Robotics, ISR Europe 2023

作者： Pham, Huy Xuan Heiß, Micha Tran, Dung Nguyen, Minh Anh Nguyen, Anh Quang Kayacan, Erdal Department of Electrical and Computer Engineering Aarhus University Aarhus C8000 Denmark Hanoi Viet Nam Automatic Control Group Department of Electrical Engineering and Information Technology Paderborn University Paderborn Germany

ISBN: (纸本)9783800761418

Deep learning-based methods have enhanced the performance of many robot applications thanks to their superior ability to robustly extract rich high-dimensional features. However, it comes with a high computational cost that often increases the latency of the overall system. On the other hand, traditional feature extraction methods, such as oriented FAST and rotated BRIEF (ORB), can be computed efficiently and remains the backbone of some critical robot algorithms, e.g. ORB-SLAM for robot state estimation. In this work, the usefulness of the aforementioned features for a robot navigation task is investigated. The features are experimentally incorporated with a deep-learning method, called ORB-Net1, which allows an agile aerial robot to learn a motion policy to complete a racing track in an autonomous drone racing context. The experimental studies demonstrate that it can be beneficial to reuse these computed features for end-to-end motion planning for the agile quadrotor, as the proposed method using combined input of ORB feature position and RGB images outperforms the baseline methods which use only RGB images. © VDE VERLAG GMBH Berlin Offenbach.

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Real-time control of a Magnetic Levitation System for Time-varying Reference Tracking

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IAENG International Journal of Applied Mathematics 2021年第3期51卷 1-7页

作者： Giraldo, Eduardo Department of Electrical Engineering Universidad Tecnológica de Pereira Research group in Automatic Control Pereira Colombia

In this work, a design and implementation of a modified PID for tracking time-varying references are designed. The modified PID structure allows the reduction of the zeros added by the classical PID structure. The design of the controller is performed by considering time features such as settling time and maximum overshoot. The proposed controller is implemented and evaluated over a Hardware-in-the-Loop structure for real-time control performance. The controller is designed around an operational point and is evaluated for initial conditions, constant references, and time-varying references in terms of settling time and maximum overshoot. As a result, the modified PID structure shows advantages over the classical PID structure in terms of settling-time, maximum overshoot, and fidelity to the designed features. © 2021. All Rights Reserved.

关键词： Real time control

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Physical-Inspired State Space Structure for Nonlinear Gray-Box Modeling

Physical-Inspired State Space Structure for Nonlinear Gray-B...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Hermann Klein Max Schüssler Oliver Nelles Department Mechanical Engineering Research Group Automatic Control - Mechatronics University of Siegen Siegen Germany

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

Nonlinear models in state space representation are powerful architectures for system identification. Modern blackbox state space models have shown high modeling performance, but comprehending the meaning of their parameters is often difficult. The goal is to increase the interpretability of a datadriven model. For that purpose, this paper presents a modeling strategy that applies a gray-box specific state space structure based on an arbitrary linear differential equation from frist-principles, which is provided by the user as prior knowledge. Furthermore, we use the applied structure to transport the prior knowledge from the linear differential equation to a nonlinear state space model with the help of the Local Model State Space Network (LMSSN). The gray-box modeling concept is demonstrated on a simulated system identification problem, where we show that the resulting gray-box structured model allows detailed physical insights.

关键词： Knowledge engineering Computational modeling Closed box Process control Differential equations Computer architecture Mathematical models System identification Information technology Parameter extraction

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Online Residual Learning from Offline Experts for Pedestrian Tracking

Online Residual Learning from Offline Experts for Pedestrian...

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IEEE Conference on Decision and control

作者： Anastasios Vlachos Anastasios Tsiamis Aren Karapetyan Efe C. Balta John Lygeros Department of Information Technology and Electrical Engineering Automatic Control Laboratory ETH Zürich Zürich Switzerland Control and Automation Group inspire AG 8005 Zürich Switzerland and with the Automatic Control Laboratory

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this paper, we consider the problem of predicting unknown targets from data. We propose Online Residual Learning (ORL), a method that combines online adaptation with offline-trained predictions. At a lower level, we employ multiple offline predictions generated before or at the beginning of the prediction horizon. We augment every offline prediction by learning their respective residual error concerning the true target state online, using the recursive least squares algorithm. At a higher level, we treat the augmented lower-level predictors as experts, adopting the Prediction with Expert Advice framework. We utilize an adaptive softmax weighting scheme to form an aggregate prediction and provide guarantees for ORL in terms of regret. We employ ORL to boost performance in the setting of online pedestrian trajectory prediction. Based on data from the Stanford Drone Dataset, we show that ORL can demonstrate best-of-both-worlds performance.

关键词： Pedestrians Aggregates Prediction algorithms Trajectory Drones

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Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space

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IEEE/CAA Journal of automatica Sinica 2022年第2期9卷 270-282页

作者： Xiaodong He Zhiyong Sun Zhiyong Geng Anders Robertsson State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of EngineeringPeking UniversityBeijing 100871China IEEE Department of Electrical Engineering Eindhoven University of Technology(TU/e)5600 MB Eindhoventhe Netherlands Department of Automatic Control LTHLund University22100 LundSweden

This paper investigates the stabilization of underactuated vehicles moving in a three-dimensional vector *** vehicle’s model is established on the matrix Lie group SE(3),which describes the configuration of rigid bodies globally and *** focus on the kinematic model of the underactuated vehicle,which features an underactuation form that has no sway and heave *** compensate for the lack of these two velocities,we construct additional rotation matrices to generate a motion of rotation coupled with ***,the state feedback is designed with the help of the logarithmic map,and we prove that the proposed control law can exponentially stabilize the underactuated vehicle to the identity group element with an almost global domain of ***,the presented control strategy is extended to set-point stabilization in the sense that the underactuated vehicle can be stabilized to an arbitrary desired configuration specified in ***,simulation examples are provided to verify the effectiveness of the stabilization controller.

关键词： Exponential stabilization logarithmic feedback matrix Lie group underactuated vehicle

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Steady-state analysis of networked epidemic models

arXiv

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arXiv 2023年

作者： Khong, Sei Zhen Su, Lanlan Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

Compartmental epidemic models with dynamics that evolve over a graph network have gained considerable importance in recent years but analysis of these models is in general difficult due to their complexity. In this paper, we develop two positive feedback frameworks that are applicable to the study of steady-state values in a wide range of compartmental epidemic models, including both group and networked processes. In the case of a group (resp. networked) model, we show that the convergence limit of the susceptible proportion of the population (resp. the susceptible proportion in at least one of the subgroups) is upper bounded by the reciprocal of the basic reproduction number (BRN) of the model. The BRN, when it is greater than unity, thus demonstrates the level of penetration into a subpopulation by the disease. Both non-strict and strict bounds on the convergence limits are derived and shown to correspond to substantially distinct scenarios in the epidemic processes, one in the presence of the endemic state and another without. Formulae for calculating the limits are provided in the latter case. We apply the developed framework to examining various group and networked epidemic models commonly seen in the literature to verify the validity of our conclusions. Copyright © 2023, The Authors. All rights reserved.

关键词： Cell proliferation

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Low-cost Arduino-based Hardware-In-the-Loop Platform for Simulation and control of Dynamic systems

IAENG International Journal of Computer Science

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IAENG International Journal of Computer Science 2023年第4期50卷 1312页

作者： Martinez-Armero, Yineth Lopez-Blandon, Sebastian Giraldo, Eduardo Electrical Engineering at Universidad Tecnológica de Pereira Research Group in Automatic Control Pereira Colombia Department of Electrical Engineering Universidad Tecnológica de Pereira Research group in Automatic Control Pereira Colombia

This work proposes a low-cost Arduino-based methodology for simulation and control of dynamic systems. The proposed methodology allows the real-time Hardware-In-the-Loop simulation of multivariable systems and the evaluation of multivariable control techniques. In order to obtain a HIL simulation, two Arduinos are interconnected. One Arduino is used to simulate the plant, and the other is used to implement the controller. In order to evaluate the performance of the proposed methodology, three multivariable dynamic systems are simulated in real-time: an RLC system, a twin rotor MIMO system, and a microgrid. A state feedback controller by using a state observer is used to implement the controller over each dynamic system. An additional I+PD control structure is also used to compare the state feedback control method. An additional software is designed to display the data in a graphical interface in real-time and to analyze and evaluate the performance of each proposed plant and controller. © 2023, International Association of Engineers. All rights reserved.

关键词： Hardware-in-the-loop simulation

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Mutriku's Offshore Wave Power Plant Capture Chamber Model Validation

Mutriku's Offshore Wave Power Plant Capture Chamber Model Va...

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Midwest Symposium on Circuits and systems (MWSCAS)

作者： Aitor J. Garrido Amparo Villasante Izaskun Garrido Dept. Aut. Control and Syst. Eng. Faculty of Engineering of Bilbao University of the Basque Country (UPV/EHU) Automatic Control Group - ACG. Inst. of Research and Development of Processes - IIDP. Bilbao Spain Automatic Control Group University of the Basque Country (UPV /EHU) Bilbao Spain

ISBN: (数字)9798350387179

ISBN: (纸本)9798350387186

The strategic vision outlined in the EU Energy Road Map suggests that, by the year 2050, the use of ocean wave energy could fulfill up to 15% of the European Union's energy demands, while allowing a substantial reduction in carbon dioxide emissions, estimated at 136 million metric tons per megawatt-hour. The Spanish Renewable Energies Plan echoes this vision, placing a particular emphasis on the role of wave energy within Spain's energy portfolio. In this milieu, Oscillating Water Column (OWC) converters are emerging as a leading technology for the conversion of wave energy, able to operate from both terrestrial and marine platforms. This study introduces a detailed analytical model for the wave capture chamber of a static OWC wave energy generator, which has been specifically developed and parameterized for the Mutriku Marine Offshore Wave Power Plant (Mutriku's MOWC), located on the coastline of the Basque Country in Spain. The validation of the proposed model is conducted through the utilization of in-situ measured wave input data, alongside the experimental power output data procured from the operational plant. This dual-faceted validation approach ensures the robustness and applicability of the model in real-world scenarios.

关键词： Renewable energy sources Power measurement Wave power Roads Sea measurements Predictive models Data models

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Online Residual Learning from Offline Experts for Pedestrian Tracking

arXiv

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arXiv 2024年

作者： Vlachos, Anastasios Tsiamis, Anastasios Karapetyan, Aren Balta, Efe C. Lygeros, John The Automatic Control Laboratory Department of Information Technology and Electrical Engineering ETH Zürich Zürich8092 Switzerland THe Control and Automation Group Inspire AG Zürich8005 Switzerland The Automatic Control Laboratory Switzerland

关键词： Prediction models

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Robust Sliding Mode control of a Quadrotor With Disturbance Rejection for Enhanced Stability and Performance

Robust Sliding Mode Control of a Quadrotor With Disturbance ...

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International Conference on Robotics and Artificial Intelligence (ICRAI)

作者： Hameed Ullah Owais Zarin Irfan Ahmad Sarfraz Ahmad Ansar Abbas Vincenzo Lippiello Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy Department of Electrical Engineering Riphah International University Islamabad Pakistan ACG Department of Automatic Control and Systems Engineering Automatic Control Group School of Bilbao - EIB/BIE University of the Basque Country - UPV/EHU Bilbao Spain Department of Electrical Engineering CEME National University of Sciences and Technology (NUST) Islamabad Pakistan

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

This research presents a comprehensive analysis of quadrotor stabilization and trajectory tracking control using Proportional-Integral-Derivative (PID) and Sliding Mode control (SMC) with integrated disturbance rejection. The nonlinear dynamics of the quadrotor are formulated using the Newton-Euler approach, accounting for six degrees of freedom. The PID controller is implemented as a baseline, while the SMC is designed for enhanced robustness to model uncertainties and external perturbations, with a disturbance observer for managing time-varying disturbances. A rigorous Lyapunov stability proof ensures global asymptotic stability of the SMC-controlled system. Extensive simulations evaluate both controllers in terms of tracking accuracy, control effort, and robustness to external disturbances. Results show that SMC outperforms PID in dis-turbance rejection, tracking accuracy, and robustness, making it ideal for UAV applications in complex environments.

关键词： Asymptotic stability Accuracy Uncertainty Trajectory tracking Robustness Stability analysis PD control Sliding mode control Quadrotors Lyapunov methods

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