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第43届中国控制会议

作者： Dancheng Mao Yugang Niu Jiarui Li Kun Xu The Key Laboratory of Smart Manufacturing in Energy Chemical Process (East China University of Science and Technology) Ministry of Education Department of Electrical Automation Logistics Engineering CollegeShanghai Maritime University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This work investigates the sliding mode quantized control problem for networked control system(NCS) under Markov-conforming hybrid *** system state is first quantized via a dynamic uniform quantizer,whose parameter is adaptively updated via a state-dependent adjusting strategy.A one-to-one mapping technique is used to cope with the hybrid attacks obeying Markov chains in sensor-controller(S-C) and controller-actuator(C-A) *** then,a sliding mode control(SMC) scheme is designed by means of the available quantized state signals via a compensation ***,sufficient conditions are derived to attain the stability of the closed-loop system and the reachability of the specified sliding surface ***,the practical simulation results are provided to illustrate the proposed security control strategy.

关键词： Hybrid cyber-attack Sliding mode security control Adaptive quantization

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Optimization with genetic algorithms of individual pitch control design with and without azimuth offset for wind turbines in the full load region

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IFAC-PapersOnLine 2023年第2期56卷 342-347页

作者： Manuel Lara Juan Garrido Jan-Willem van Wingerden Sebastian Paul Mulders Francisco Vázquez Department of Electrical Engineering and Automation University of Cordoba Campus of Rabanales 14071 Cordoba Spain Delft Center for Systems and Control Faculty of Mechanical Engineering Delft University of Technology Mekelweg 2 2628 CD Delft The Netherlands

The reduction of fatigue loadings in wind turbines to increase their lifetime has become of special interest from a control viewpoint. Individual Pitch control (IPC) is a well-known approach used to mainly mitigate periodic blade loads, and it is usually implemented with the assistance of the multi-blade coordinate (MBC) transformation, which transforms and decouples the measured blade load signals from a rotating frame into a non-rotating tilt-axis and yaw-axis. Nevertheless, these axes still show coupling between them in practical scenarios adversely affecting the system performance. Previous studies have demonstrated the benefits of including an extra tuning parameter in the MBC, the azimuth offset, in improving the performance achieved by the IPC. However, the tuning of this parameter and its real improvements that can be obtained compared to the IPC without this offset require more research. Here, two 1P+2P IPC, with and without additional azimuth offset, are designed and applied to the 5 MW reference turbine model developed by NREL using the FAST software as a simulation platform. The controller parameter tuning is formulated as an optimization problem that minimizes the blade fatigue load according to the Dirlik index and that is resolved through genetic algorithms. To fairly analyze the improvement entailed by the addition of the azimuth offset, both optimized IPC schemes, with and without azimuth offset, are compared qualitatively and quantitatively using a classical controller as the baseline case. From the simulation results, it can be stated that the optimal IPC scheme with azimuth offset compared with the IPC scheme without offset achieves improvements of around 11% in load reduction and pitch signal effort.

关键词： control system design control of renewable energy resources wind turbine control individual pitch control genetic algorithms

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Consistency Evaluation of IoT Smart Meter’s Metering Accuracy considering Ambient Temperature and Load Current

Consistency Evaluation of IoT Smart Meter’s Metering Accura...

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System Reliability and Safety engineering (SRSE), International Conference on

作者： Weiming Liu Cen Chen Zhifei Wang Xiaosheng Zhang Guofu Zhai Wei Zheng Department of Electrical Engineering & Automation Harbin Institute of Technology Harbin China Beijing Aerospace Automatic Control Institute Beijing China

The energy meter is a widely used digital-analog electronic system. However, metering accuracy is inevitably influenced by factors such as ambient temperature, load current, and component tolerance. This paper introduces a method utilizing digital twin models to analyze the consistency of metering accuracy in a new single-phase smart meter prototype. An electro-thermal coupling model incorporating a temperature compensation algorithm is established, and the metering accuracy is solved using a surrogate model. By employing the Monte Carlo method, a batch of product samples is generated to determine the impact of varying ambient temperature and load current conditions on the metering accuracy’s consistency within the maximum operating range. The results of this study provides a valuable foundation for robust design and reliability optimization of the energy meter.

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Decentralized Parametric Stability Certificates for Grid-Forming Converter control

arXiv

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arXiv 2025年

作者： Häberle, Verena He, Xiuqiang Huang, Linbin Dörfler, Florian Low, Steven Automatic Control Laboratory ETH Zurich Zurich8092 Switzerland Department of Automation Tsinghua University Beijing100084 China College of Electrical Engineering Zhejiang University Hangzhou310027 China Department of Computing and Mathematical Sciences the Department of Electrical Engineering Caltech PasadenaCA91125 United States

We propose a decentralized framework for guaranteeing the small-signal stability of future power systems with grid-forming converters. Our approach leverages dynamic loop-shifting techniques to compensate for the lack of passivity in the network dynamics and establishes decentralized parametric stability certificates, depending on the local device-level controls and incorporating the effects of the network dynamics. By following practical tuning rules, we are able to ensure plug-and-play operation without centralized coordination. Unlike prior works, our approach accommodates coupled frequency and voltage dynamics, incorporates network dynamics, and does not rely on specific network configurations or operating points, offering a general and scalable solution for the integration of power-electronics-based devices into future power systems. We validate our theoretical stability results through numerical case studies in a high-fidelity simulation model. Copyright © 2025, The Authors. All rights reserved.

关键词： Decentralized control

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Formal control Synthesis via Safe Reinforcement Learning Under Real-Time Specifications

Formal Control Synthesis via Safe Reinforcement Learning Und...

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International Conference on control and automation (ICCA)

作者： Peng Lv Guangqing Luo Zhou He Xianwei Li Xiang Yin Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China School of Electrical and Control Engineering Shaanxi University of Science and Technology Xi'an China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

In recent years, reinforcement learning techniques have gained widespread application in control synthesis. However, in the context of safety-critical systems, employing trial-and-error based reinforcement learning may be unacceptable due to the potential risks it poses during the learning process. Consequently, the development of safe reinforcement learning techniques has become imperative. This paper addresses the challenge of safe reinforcement learning for controller synthesis, particularly when safety specifications are intricately linked to the real-time behavior of the system. To articulate time-sensitive requirements, we leverage Metric Interval Temporal Logic (MITL). To ensure safety throughout the learning process, we introduce an additional reactive controller called a shield. Specifically, the shield functions to reject any behavior that violates the real-time specifications, thus mitigating potential risks. The efficacy of our proposed approach is demonstrated through simulation results, highlighting its ability to satisfy safety constraints in the dynamic environment of controller synthesis.

关键词： Measurement Heuristic algorithms Simulation process control Reinforcement learning Real-time systems Safety

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Asynchronous Distributed Optimization via ADMM with Efficient Communication

Asynchronous Distributed Optimization via ADMM with Efficien...

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IEEE Conference on Decision and control

作者： Apostolos I. Rikos Wei Jiang Themistoklis Charalambous Karl H. Johansson Department of Electrical and Computer Engineering Division of Systems Engineering Boston University Boston MA US Hong Kong China Department of Electrical and Computer Engineering School of Engineering University of Cyprus Nicosia Cyprus Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden

In this paper, we focus on an asynchronous distributed optimization problem. In our problem, each node is endowed with a convex local cost function, and is able to communicate with its neighbors over a directed communication network. Furthermore, we assume that the communication channels between nodes have limited bandwidth, and each node suffers from processing delays. We present a distributed algorithm which combines the Alternating Direction Method of Multipliers (ADMM) strategy with a finite time quantized averaging algorithm. In our proposed algorithm, nodes exchange quantized valued messages and operate in an asynchronous fashion. More specifically, during every iteration of our algorithm each node (i) solves a local convex optimization problem (for the one of its primal variables), and (ii) utilizes a finite-time quantized averaging algorithm to obtain the value of the second primal variable (since the cost function for the second primal variable is not decomposable). We show that our algorithm converges to the optimal solution at a rate of O (1/ k) (where $k$ is the number of time steps) for the case where the local cost function of every node is convex and not-necessarily differentiable. Finally, we demonstrate the operational advantages of our algorithm against other algorithms from the literature.

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Linear matrix inequality based Type-III compensator synthesis for DC-DC converters

arXiv

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arXiv 2023年

作者： Keskin, Rıdvan Aliskan, Ibrahim Department of Electrical and Electronics Engineering Zonguldak Bülent Ecevit University Zonguldak67100 Turkey Department of Control and Automation Engineering Yildiz Technical University Istanbul34220 Turkey

Boost, buck-boost, and fly-back DC-DC converters which are utilized in power lines of any electric vehicles, solar energy, and power factor correction applications require control systems to regulate the output voltage under mismatched disturbances i.e. load current and input voltage. In continuous current mode operation, the converters, however, are bandwidth-limited control systems due to their non-minimum phase nature. Disturbance rejection performance of such bandwidth-limited control system is an open problem especially where input voltage and load current disturbances cannot be measured. A third-order integral-lead (Type-III) compensator with a disturbance observer (DOB) can suppress the disturbances and unmodeled dynamics of the converters. However, synthesizing such a fixed-order control system under performance constraints is generally challenging. This paper proposes a simultaneous design of a Type-III compensator and a fixed order DOB based on H∞ control approach using convex optimization. The optimization problem is formulated in a convex-concave procedure by including the estimated disturbance and sensor noise functions. We proposed a two-stage iterative algorithm to solve the problem in a convex optimization framework. Convex programming can therefore be used to synthesize an optimal fixed-order control system by removing the non-convex constraints on the parameter space. The approach leads to an easily resolvable control algorithm with linear matrix inequality constraints over parameterized controller parameters due to the convexity of the problem. The proposed control system is implemented on a 200 W DC-DC multi-phase interleaved boost converter prototype using a TMS320F28335 digital signal processor. The performance of the approach is compared with the well-known K-factor design approach for the Type-III compensators. © 2023, CC0.

关键词： Convex optimization

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Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

Design of a Flexible Robot Arm for Safe Aerial Physical Inte...

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IEEE International Conference on Soft Robotics (RoboSoft)

作者： Julien Mellet Andrea Berra Achilleas Santi Seisa Viswa Sankaranarayanan Udayanga G.W.K.N. Gamage Miguel Ángel Trujillo Soto Guillermo Heredia George Nikolakopoulos Vincenzo Lippiello Fabio Ruggiero Department of Electrical Engineering and Information Technology PRISMA Lab University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Department of Computer Robotics and AI Team Electrical and Space Engineering LuleåUIniversity of Technology Luleå Sweden Department of Electrical Engineering and Photonics Automation and Control Group Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors' integrity. Notably, the arm's damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction.

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FlowDSnet: An End-to-End Scene Flow Based LiDAR De-Skewing Network

FlowDSnet: An End-to-End Scene Flow Based LiDAR De-Skewing N...

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2023 China automation Congress, CAC 2023

作者： Wu, Xinrui Zhu, Yixiang Wang, Siyi Yu, Zhenjun Wang, Guangming Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai China Shanghai Jiao Tong University Department of Electrical Engineering Shanghai China Shanghai Jiao Tong University Department of Measurement Control Technology Shanghai China SJTU-ParisTech Elite Institude of Technology Shanghai Jiao Tong University Shanghai China University of Cambridge Department of Engineering CambridgeCB2 1PZ United Kingdom

ISBN: (纸本)9798350303759

The motion distortion of LiDAR is the phenomenon caused by the movement of the LiDAR carrier. Such phenomenon makes the LiDAR point cloud information unreliable and seriously degrades the tasks that rely on LiDAR such as 3D object perception, localization, and mapping. In this work, a novel end-to-end network named FlowDSnet is proposed to compensate for the distortion of LiDAR point clouds in an end-to-end way. The proposed pipeline takes the original adjacent two frames of point clouds as input and recovers the undistorted coordinates of each point by predicting the scene flow in 3D space. Different from the traditional distortion removal algorithm, our method does not rely on the information of other sensors, such as the Inertial measurement unit (IMU), but applies a novel flow embedding algorithm combined with spatiotemporal interpolation to conduct distortion correction. And the input is two adjacent frames of raw LiDAR measurement. Besides, both qualitative and quantitative experiments on automative driving datasets are conducted to prove the effectiveness of the proposed pipeline. The experimental results show that this network can accomplish the LiDAR de-skewing task well, especially in a scene with many dynamic objects. © 2023 IEEE.

关键词： Pipelines

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Autonomy for Ferries and Harbour Buses: a Collision Avoidance Perspective

arXiv

引用

arXiv 2023年

作者： Enevoldsen, Thomas T. Blanke, Mogens Galeazzi, Roberto Automation and Control Group Department of Electrical and Photonics Engineering Technical University of Denmark Kgs. LyngbyDK 2800 Denmark

This paper provides a collision avoidance perspective to maritime autonomy, in the shift towards Maritime Autonomous Surface Ships (MASS). In particular, the paper presents the developments related to the Greenhopper, Denmark’s first autonomous harbour bus. The collision and grounding avoidance scheme, called the Short Horizon Planner (SHP), is described and discussed in detail. Furthermore, the required autonomy stack for facilitating safe and rule-compliant collision avoidance is presented. The inherent difficulties related to adhering to the COLREGs are outlined, highlighting some of the operational constraints and challenges within the space of autonomous ferries and harbour buses. Finally, collision and grounding avoidance is demonstrated using a simulation of the whole Greenhopper autonomy stack. © 2023, CC BY-NC-ND.

关键词： Collision avoidance

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