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arXiv 2017年

作者： Shi, Guodong Altafini, Claudio Baras, John S. Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW Australia Division of Automatic Control Department of Electrical Engineering Linköping University LinköpingSE-58183 Sweden Institute for Systems Research Department of Electrical and Computer Engineering University of Maryland College ParkMD20742 United States

A signed network is a network with each link associated with a positive or negative sign. Models for nodes interacting over such signed networks, where two different types of interactions take place along the positive and negative links, respectively, arise from various biological, social, political, and economic systems. As modifications to the conventional DeGroot dynamics for positive links, two basic types of negative interactions along negative links, namely the opposing rule and the repelling rule, have been proposed and studied in the literature. This paper reviews a few fundamental convergence results for such dynamics over deterministic or random signed networks under a unified algebraic-graphical method. We show that a systematic tool of studying node state evolution over signed networks can be obtained utilizing generalized Perron-Frobenius theory, graph theory, and elementary algebraic recursions. Copyright © 2017, The Authors. All rights reserved.

关键词： Algebra

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Preface

Advances in Intelligent Systems and Computing

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Advances in Intelligent Systems and Computing 2017年 540卷 VII-X页

作者： Rodić, Aleksandar Borangiu, Theodor Robotics Laboratory Mihajlo Pupin Institute Belgrade Serbia Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania

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Receding-horizon planning using recursive Monte Carlo Tree Search with Sparse Action Sampling for continuous state and action spaces

Receding-horizon planning using recursive Monte Carlo Tree S...

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American control Conference

作者： Moritz Schneider Laboratory of Control Methods and Robotics Institute of Automatic Control and Mechatronics Dept. of Electrical Engineering and Information Technology Technische Universit?t Darmstadt Germany

ISBN: (纸本)9781467386838

This paper introduces a recursive, sampling-based Monte Carlo Tree Search (MCTS) approach to planning, i.e. receding horizon control, in continuous state and action nonlinear set-point control problems. Usually, predictive control methods for nonlinear systems aim at (sub-)optimal control behavior through solving a dynamic optimization problem over a fixed prediction horizon in every time step. Tree-based methods, which have recently gained interest in planning, model-based reinforcement learning and path planning, replace the optimization problem by an incremental probabilistic search for (sub-)optimal open-loop control sequences in the space of variable-length closed-loop trajectories. The benefit of using a weaker optimization procedure is that the algorithm is very simple to understand/apply and works for general nonlinear systems. This article is concerned with increasing the control performance and sampling-efficiency of MCTS in continuous state and action spaces based on ideas from the field of standard nonlinear model predictive control.

关键词： Search problems Planning Aerospace electronics Optimization Trajectory Monte Carlo methods Prediction algorithms

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The method of frequency determination of impulse response components based on cross-correlation vs. fast Fourier transform

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Diagnostyka 2016年第1期17卷 59-64页

作者： Kotowski, Adam Faculty of Mechanical Engineering Department of Automatic Control and Robotics Bialystok University of Technology ul. Wiejska 45C Bialystok15-351 Poland

The paper presents results of impulse response spectral analysis that has been obtained using a method based on cross-correlation. The impulse response spectrum is achieved by correlating the impulse response and reference single-harmonic signals and using Hilbert transform to obtain an envelope of cross-correlation. Then, surface area under the envelope is calculating and its plot in frequency domain is making. The spectrum obtained this way has its advantage over the fast Fourier transform (FFT) that its spectral resolution does not depend on length of impulse response. At the same time, the spectral resolution can be much greater than spectral resolution resultant from FFT. Obtained results show that presented method gives possibilities to determine frequencies of impulse response components more accurate in comparison to FFT particularly for short-time impulse responses.

关键词： Impulse response

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Maximal input limits for independent SISO control in modal space under consideration of actuator constraints

Maximal input limits for independent SISO control in modal s...

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American control Conference

作者： Nico Mansfeld Christian Ott Sami Haddadin Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Institute of Automatic Control Leibniz University Hanover (LUH) Germany

ISBN: (纸本)9781467386838

Modal decoupling is a common approach in engineering to analyze the dynamic behavior of mechanical systems and simplify the controller design. By bringing the system dynamics into diagonal form, one obtains SISO systems for which independent feedback strategies can be implemented. Furthermore, there exist control laws that utilize the available control inputs up to their limits, e.g. optimization-based controllers. While these limits can be applied easily in original space, a still open question is which bounds are feasible in modal space, as one property of the (linear) decoupling transformation is that the actuator constraints become coupled. In this paper, we address the problem of finding the largest possible input limits in modal space that allow independent SISO control and meet the real actuator saturations at the same time. We identify how the controller structure influences the search for the modal constraints and find the limits via optimization. The methods are developed for the general n-DOF case and applied to 2-, 3-, and 7-DOF examples in simulation.

关键词： Aerospace electronics Actuators Symmetric matrices Robot kinematics Dynamics Damping actuators avionics Robot kinematics Symmetric matrix absorption of shock controller structure dynamics single input single output systems controller design Limit

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Semi-virtual Plant for the Modelling, control and Supervision of batch-processes. An example of a greenhouse irrigation system

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IFAC-PapersOnLine 2015年第29期48卷 123-128页

作者： Rodríguez, F. Castilla, M. Sánchez, J.A. Pawlowski, A. Department of Computer Science Automatic Control Robotics and Mechatronics Research Group University of Almería Agrifood Campus of International Excellence CeiA3 Spain Department of Computer Science and Automatic Control ETSII UNED Madrid Spain

In this work, a hardware-software architecture for control engineering education is proposed and a case of study regarding a greenhouse irrigation virtual process has been implemented. This specific process is especially useful for subjects related to industrial automation, since it is characterized by mixed dynamics (continuous/discrete) and can be controlled by a Programmable Logic controller (PLC). In such a case, there is no need to access to the real process that is not always available for practical exercises. Moreover, the developed scheme eliminates the maintenance costs related to real process, being a very important advantage for academic institutions. The developed architecture for the industrial process simulation uses Labview, OPC, MODBUS, SolidWorks and Schneider Modicon M340 PLC for the control of virtual processes. The developed example is applied to the greenhouse fertirrigation control that enables the agricultural engineering students to design the irrigation control system. The control strategy is implemented on the PLC which interacts with the virtual process by carrying out the necessary actions in order to control the appropriate variables of the process. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Process control Batch data processing Engineering education Greenhouses Irrigation Academic institutions control strategies Industrial automation Industrial process simulation Irrigation controls Irrigation systems Programmable Logic controller (PLC) Virtual plants

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Analytical method for design and thermal evaluation of a long-term flywheel energy storage system

Analytical method for design and thermal evaluation of a lon...

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International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM

作者： Maksim A. Sokolov Rafal P. Jastrzebski Seppo E. Saarakkala Marko Hinkkanen Arkadiusz Mystkowski Juha Pyrhönen Olli Pyrhönen Department of Electrical Engineering and Automation Aalto University Department of Electrical Engineering Lappeenranta University of Technology Department of Automatic Control and Robotics Bialystok University of Technology

This paper presents a novel analytical method for electro-mechanical design of a high speed long-term flywheel energy storage system and thermal evaluation of possible operating modes of the system. Flywheel's composite shell rotor along with the motor/generator unit are assumed to be placed into a sealed vacuum chamber, which presents a challenge of heat transfer, produced by rotor losses. Developed method takes into account thermal radiation properties of the rotor and is realised using Mathcad software, which allows for quick investigation of any flywheel configuration. The method involves calculations for preliminary rotor sizing and determining achievable operation modes, while keeping the rotor under a specified temperature limit. Results of using this method for studying dependencies of thermal performance on initial system parameters are presented and conclusions are drawn. Based on the conducted study, recommendations on system design considerations are given.

关键词： Rotors Energy storage Temperature Mathematical model Design methodology Heating Thermal analysis

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Generalized Norm Optimal Iterative Learning control with Intermediate Point and Sub-interval Tracking

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International Journal of Automation and computing 2015年第3期12卷 243-253页

作者： David H.Owens Chris T.Freeman Bing Chu Department of Automatic Control and Systems Engineering University of Sheffield School of Electronics and Computer Science University of Southampton Advanced Robotics Division Italian Institute of Technology

Norm optimal iterative learning control(NOILC) has recently been applied to iterative learning control(ILC) problems in which tracking is only required at a subset of isolated time points along the trial duration. This problem addresses the practical needs of many applications, including industrial automation, crane control, satellite positioning and motion control within a medical stroke rehabilitation context. This paper provides a substantial generalization of this framework by providing a solution to the problem of convergence at intermediate points with simultaneous tracking of subsets of outputs to reference trajectories on subintervals. This formulation enables the NOILC paradigm to tackle tasks which mix "point to point" movements with linear tracking requirements and hence substantially broadens the application domain to include automation tasks which include welding or cutting movements, or human motion control where the movement is restricted by the task to straight line and/or planar segments. A solution to the problem is presented in the framework of NOILC and inherits NOILC s well-defined convergence properties. Design guidelines and supporting experimental results are included.

关键词： Iterative learning control learning control optimization linear systems robotics.

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Root locus design for the synchronization of multi-agent systems in general directed networks 5

Root locus design for the synchronization of multi-agent sys...

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5th IFAC Workshop on Distributed Estimation and control in Networked Systems, NecSys 2015

作者： Khodaverdian, Saman Lanfermann, Felix Adamy, Jürgen Institute of Automatic Control and Mechatronics Control Methods and Robotics Lab Technische Universität Darmstadt Germany

This paper considers the synchronization problem of multi-agent SISO systems with general unidirectional communication structures. A distributed control strategy is presented which relies on relative output differences of neighboring agents and, thus, does not need relative state information. We propose a root locus design method to determine the synchronization gain. Since in directed networks the characteristic equation for synchronization might be complex valued, we use tools from the complex root locus technique to solve the synchronization task. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multi agent systems

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PLC-PIDTuner: Application for PID tuning with SIMATIC S7 PLC controllers

PLC-PIDTuner: Application for PID tuning with SIMATIC S7 PLC...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Witold Kolaj Jakub Mozaryn Michal Syfert Siemens Sp. z o.o Warsaw Politechnika Warszawska Warszawa PL Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw

There is presented PLC-PIDTuner application developed for tuning PID controller in S7 Simatic PLCs. It allows plant identification, calculation of controller parameters and verification of the control system using different quality indexes. It provides data collection from the real process and computer simulation of designed control system. Such solution allows to customize systems properties without carrying out costly experiments. Proposed application allows user to easily develop different algorithms for each stage of PID control system design. Finally, there is presented example of using developed PLC-PIDTuner platform in simulated process described by third order system with delay.

关键词： Tuning Process control control systems Mathematical model Delay effects Indexes Algorithm design and analysis

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