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arXiv 2021年

作者： Pytlak, Radoslaw Suski, Damian Faculty of Mathematics and Information Science Warsaw University of Technology Warsaw00-665 Poland Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw02-525 Poland

This paper concerns the numerical procedure for solving hybrid optimal control problems with sliding modes. The proposed procedure has several features which distinguishes it from the other procedures for the problem. First of all a sliding mode is coped with differential-algebraic equations (DAEs) and that guarantees accurate tracking of the sliding motion surface. The second important feature is the calculation of cost and constraints functions gradients with the help of adjoint equations. The adjoint equations presented in the paper take into account sliding motion and exhibit jump conditions at transition instants. The procedure uses the discretization of system equations by Radau IIA Runge–Kutta scheme and the evaluation of optimization functions gradients with the help of the adjoint equations stated for discretized system equations. In the first part of the paper we demonstrate the correspondence between the discrete adjoint equations and the discretized version of the continuous adjoint equations in the case of system equations described by ODEs. We show that the discrete adjoint state trajectories converge to their continuous counterparts in the case of ODEs. © 2021, CC BY.

关键词： Optimal control systems

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ALGORITHMS FOR OPTIMAL control OF HYBRID SYSTEMS WITH SLIDING MOTION

arXiv

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arXiv 2021年

This paper concerns two algorithms for solving optimal control problems with hybrid systems. The first algorithm aims at hybrid systems exhibiting sliding modes. The first algorithm has several features which distinguishes it from the other algorithms for problems described by hybrid systems. First of all, it can cope with hybrid systems which exhibit sliding modes. Secondly, the systems motion on the switching surface is described by index 2 differential–algebraic equations and that guarantees accurate tracking of the sliding motion surface. Thirdly, the gradients of the problems functionals are evaluated with the help of adjoint equations. The adjoint equations presented in the paper take into account sliding motion and exhibit jump conditions at transition times. We state optimality conditions in the form of the weak maximum principle for optimal control problems with hybrid systems exhibiting sliding modes and with piecewise differentiable controls. The second algorithm is for optimal control problems with hybrid systems which do not exhibit sliding motion. In the case of this algorithm we assume that control functions are L∞ measurable functions. For each algorithm, we show that every accumulation point of the sequence generated by the algorithm satisfies the weak maximum principle. © 2021, CC BY.

关键词： Maximum principle

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Numerical procedure for optimal control of hybrid systems with sliding modes, part II

arXiv

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arXiv 2021年

This paper concerns the numerical procedure for solving hybrid optimal control problems with sliding modes. A sliding mode is coped with differential-algebraic equations (DAEs) and that guarantees accurate tracking of the sliding motion surface. In the second part of the paper we demonstrate the correspondence between the discrete adjoint equations and the discretized version of the continuous adjoint equations in the case of system equations described by DAEs. We show that the discrete adjoint state trajectories converge to their continuous counterparts. Next, we describe the application of the proposed procedure to three optimal control problems. The first problem concerns optimal control of a simple mechanical system with dry friction. The second problem is related to the planning of a haemodialysis process. The third problem concerns the optimal steering of a racing car. © 2021, CC BY.

关键词： Optimal control systems

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Prototype and Simulation Model of a Robotic Hand

Prototype and Simulation Model of a Robotic Hand

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Mechatronics Systems and Materials (MSM)

作者： Rafal Kordaczek Adam Krzysztof Piłat Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland

ISBN: (数字)9781728169569

ISBN: (纸本)9781728169576

This elaboration describes the whole process of robotic hand design and modelling in order to improve some of the key performance aspects of tendon driven mechanisms. The hand model is simulated in Simscape Multibody Environment to accurately predict the performance of various designs. Some of developed mechanical solutions lead to reducing the wear, improving torque figures and enhancing rigidity.

关键词： Tendons Torque Prototypes Robots Thumb Pulleys Force

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Adaptive Design of a Cyber-Physical System for Industrial Risk Management Decision Support

Adaptive Design of a Cyber-Physical System for Industrial Ri...

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International Conference on control, Automation, robotics and Vision (ICARCV)

作者： Andrzej M.J. Skulimowski Paweł Łydek Decision Science Laboratory AGH University of Science and Technology Kraków Poland Progress & Business Foundation International Centre for Decision Sciences and Forecasting Kraków Poland Decision Science Laboratory AGH University of Science and Technology Chair of Automatic Control and Robotics Kraków Poland

ISBN: (纸本)9781665476881

This article presents an integrated design of intelligent decision support systems (DSSs) for industrial risk management. The need for this class of systems has been necessitated by resilience building and threat response planning problems faced by complex industrial installations in energy and mining sectors. The proposed DSS software architecture is AI-based and applies causal and anticipatory networks, multi-criteria analysis, information fusion and knowledge engineering techniques. The use of AI-tools follows the AI-alignment paradigm, where AI evolution provides clues regarding the most suitable techniques to solve anticipated industrial safety problems in different time scales. We propose a general scheme of industrial risk management which includes threats, sensors, information flows, and decision-making models. This scheme is complemented by the risk optimization module, which selects the actions and actuators to implement them. Signals received from sensors are fused and confronted with threat management scenarios contained in the knowledge base. The recommendations concerning prevention, protection, and threat mitigation measures are generated by the DSS and conveyed to human decision makers for approval. Selected actions can also be autonomously initiated. Previous activity assessments result on an improved configuration of sensors and actuators, as well as more effective first responder actions. Threat and risk management modules of the DSS are linked by a sequential machine learning procedure, so that the results of prior decisions can be used to learn managerial preferences and parameters of risk mitigating scenarios.

关键词： Decision support systems Economics Decision making Cyber-physical systems Hazards Sensors Risk management

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Comparison of Identified and SimScape Model of Human Leg Motion

Comparison of Identified and SimScape Model of Human Leg Mot...

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Mechatronics Systems and Materials (MSM)

作者： Hubert Milanowski Adam Krzysztof Piłat Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland

ISBN: (数字)9781728169569

ISBN: (纸本)9781728169576

This article describes the study on simulation model of exoskeleton robot based on real dataset acquired through human gait dynamic identification. Analysis of kinematic chain with emphasis on proper mapping of joints movement regarding to swing phase of gait has been conducted. Simulation model of proposed conceptual mechanism was developed using MATLAB SimScape MultiBody. The results of simulation studies were compared with the experimental one. Developed model is the starting point for further research on automatic exoskeleton and bipedal robot.

关键词： Mathematical model Exoskeletons Kinematics Legged locomotion Computational modeling Matlab

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RLS-based control algorithms for 3D zones of quiet 55

RLS-based control algorithms for 3D zones of quiet

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55th Open Seminar on Acoustics, OSA 2008

作者： Michalczyk, Malgorzata I. Serwin, Janusz Institute of Automatic Control Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Graduated in Automatic Control and Robotics Department of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland

ISBN: (纸本)8392166302

The paper summarises research on application of RLS-based adaptive control algorithms for single-channel active noise control (ANC) system, used to create three dimensional (3D) local zones of quiet in a reverberant enclosure by attenuation of tonal disturbances. Three different ANC system structures are concerned: classical and modified 'filtered-x' and 'adjoint' structure. The problem of parameterisation of six RLS-based adaptive control algorithms is evaluated, firstly, in simulations with the use of nonsimplified plant models and tonal disturbances. Next, research results are proved in real-world experiments. Finally, the efficiency of ANC systems using different control structures and RLS-based control algorithms is compared. © AIChE Southwest Process Technology Conference *** right reserved.

关键词： Active noise control

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Evaluation of a cost-effective photoelectric sensor for daylight harvesting in smart public lighting systems

Measurement: Energy

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Measurement: Energy 2024年 3卷

作者： Aytaç Gören Fatima Khanfar Ahmed Rachid Laboratory of Innovative Technologies University of Picardie Jules Verne Amiens 80000 France Automatic Control and Robotics Laboratories Department of Mechanical Engineering Dokuz Eylul University 35320 Izmir Turkey

Global warming concerns, along with international agreements and regulations, reflect a broader effort to change the public's high energy demand in recent years. Smart public lighting systems are gaining popularity due to their energy-saving capabilities, reduction in carbon dioxide emissions, and improved public comfort. However, transitioning to smart public lighting requires careful planning and multiple stages. This is not only to accommodate public behavior, revise scenarios, and test citizen acceptance but also due to the necessary infrastructure investments. Smart public lighting incorporates new technologies, often with a breakeven point that takes several years to reach. To promote the widespread adoption of smart public lighting, it is essential to produce relatively expensive components in large quantities and explore cost-effective solutions. This research focuses on investigating a cost-effective photoelectric sensor for smart public purposes. The primary originality of this study lies in identifying a cost-effective photoelectric sensor that can replace technically equivalent but more expensive sensor solutions for indoor and outdoor lighting control purposes.

关键词： Smart public lighting Daylight harvesting Photoelectric sensor Light quality

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Customizable Inverse Sensor Model for Bayesian and Dempster-Shafer Occupancy Grid Frameworks 20th

Customizable Inverse Sensor Model for Bayesian and Dempster-...

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20th Polish control Conference, PCC 2020

作者： Porębski, Jakub Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland Aptiv Services Poland S.A. Kraków Poland

ISBN: (纸本)9783030509354

Occupancy grid mapping is an important component in a road scene understanding for autonomous driving. It can encapsulate data from heterogeneous sensor sources like radars, LiDARs, cameras and ultrasonics. At the core of occupancy grid (OG) generation, there is usually an inverse sensor model (ISM), which infers the occupancy representation from the sensor readings. Traditional ISMs are characterized by a very rigid structure, suited only for one sensor type, and specific occupancy grid representation. This paper proposes a novel ISM framework, which offers a separation between free and occupied space, supporting both Bayesian and Dempster-Shafer OG representations. The framework is especially useful when dealing with multiple different sensors where custom or preselected probability distribution can be applied. The presented ISM architecture is modular and flexible, which is described in an illustrative example of application customized for different detection sources. © 2020, Springer Nature Switzerland AG.

关键词： Probability distributions

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Active wheel speed control to avoid lifting the swingarms in rocker-bogie suspension 3

Active wheel speed control to avoid lifting the swingarms in...

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3rd International Young Engineers Forum, YEF-ECE 2019

作者： Tomaszuk, P. Lukowska, A. Recko, M. Dzierzek, K. Straszynski, P. Faculty of Mechanical Engineering Bialystok University of Technology Department of Automatic Control and Robotics Bialystok Poland

ISBN: (纸本)9781538692820

Rocker-bogie is kind of suspension system where wheels from each side of the vehicle are connected with swingarm on the rotary axle. Both levers are connected with a differential mechanism. If the vehicle has not had turnable wheels and turns only using the velocity or heading difference of each side or the object, then increased traction on the most loaded wheels causes lifting of the swingarms in opposing directions. This situation is undesirable because it leads to the high inclination of the vehicle's body and threatens to fall over. This article shows the way of active adjusting each wheel's speed to avoid swingarms lifting. Presented algorithm increases or decreases the angular velocity of selected wheels depending on the robot's rotation speed, acceleration, and traction. Parameters are calculated from the velocity of swingarm lift angle changes compared to the vehicle's relative rotation speed. Theoretical description presents the geometry of vehicle suspension, used sensors, and wheels speed control circuitry. The algorithm is implemented on an existing vehicle, and experimental part contains a comparison of behavior with and without active control on different surfaces. © 2019 IEEE.

关键词： Automobile suspensions

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