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Comparative Study of Parametric Disturbances Effect on Cart-Inverted Pendulum System Stabilization 1

International Conference on Modern Electronics Devices and Communication Systems, MEDCOM 2021

作者： Verma, Neelam Valluru, Sudarshan K. Department of Electrical Engineering Center for Control of Dynamical Systems and Computation Delhi Technological University Delhi India

ISBN: (数字)9789811963834

ISBN: (纸本)9789811963827

The main motivation behind the present work was to validate the impact of pendulum mass, cart mass, and length of pendulum on stabilization and swing-up of cart-inverted pendulum. Inverted pendulum system is a classic benchmark example of underactuated electro-mechanical systems, where the degree of freedom is less than the number of inputs available. PID controller was designed for a set of parameter values of the system. MATLAB simulation was carried out for different values of pendulum mass (0.2–0.25 kg), pendulum length (0.3–0.34 m), and cart mass (2.3–2.45 kg). The performance of considered cart- inverted pendulum system is demonstrated with simulation results for a different set of results, and a comparative analysis was made to comment on their effects on swing-up and stabilization. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Stabilization

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Second-Order Sliding Mode Design Based on the Integration of Proportional-Integral and Nonlinear controllers for Load Frequency control 31

Second-Order Sliding Mode Design Based on the Integration of...

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31st International Conference on Electrical engineering, ICEE 2023

作者： Samari, Behrad Yazdanpanah, Mohammad Javad University of Tehran Department of Electrical Engineering Tehran Iran School of Ece University of Tehran Control & Intelligent Processing Center of Excellence Tehran Iran

ISBN: (纸本)9798350312560

This article addresses the load frequency control (LFC) problem of control-area-partitioned power networks. An equivalent generator with second-order turbine-governor dynamics is utilized to model each control area, and power flows establish nonlinear couplings between control areas. As a consequence of the integration of the proportional-integral (PI) controller and the nonlinear controller, a novel suitable sliding manifold for enhancing dynamic performance is first proposed. Then, a decentralized second-order sliding mode (SOSM) controller is designed for LFC in power networks, which regulates the frequency and sustains the net inter-area power flows at the predetermined values. The simulation results demonstrate the efficacy of the proposed control strategy. © 2023 IEEE.

关键词： Decentralized control

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computation of Hopf Bifurcation Points in the Magnetic Levitation System 4th

Computation of Hopf Bifurcation Points in the Magnetic Levit...

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4th International Conference on Information and Communication Technology for Intelligent Systems, ICTIS 2020

作者： Valluru, Sudarshan K. Gupta, Anshul Verma, Aditya Center for Control of Dynamical Systems and Computation Department of Electrical Engineering Delhi Technological University Delhi110042 India

ISBN: (纸本)9789811570773

This research brief aims to study the bifurcation analysis of an electromagnetic levitation (maglev) system. The bifurcation analysis involves first performing the numerical analysis, and then the simulations using MATLAB are analyzed to verify the results. The study requires derivation of a mathematical model for the maglev system, which can be used for the bifurcation analysis. The bifurcation analysis involves a numerical comparison of the system equations with the predefined constraints. The input voltage is being used as the bifurcation parameter, which is by ball’s position, ball’s velocity, and the current flowing through the circuit. The analysis allows us to compute a combination of values of parameters, when simulations are performed to check system characteristics, periodic oscillations at these values are obtained. Hence, it proves the existence of Hopf bifurcation at the computed value of system parameters. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Hopf bifurcation

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Data-Efficient System Identification via Lipschitz Neural Networks

arXiv

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arXiv 2024年

作者： Wei, Shiqing Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Department of ECE NYU Tandon School of Engineering 5 MetroTech Center BrooklynNY11201 United States

Extracting dynamic models from data is of enormous importance in understanding the properties of unknown systems. In this work, we employ Lipschitz neural networks, a class of neural networks with a prescribed upper bound on their Lipschitz constant, to address the problem of data-efficient nonlinear system identification. Under the (fairly weak) assumption that the unknown system is Lipschitz continuous, we propose a method to estimate the approximation error bound of the trained network and the bound on the difference between the simulated trajectories by the trained models and the true system. Empirical results show that our method outperforms classic fully connected neural networks and Lipschitz regularized networks through simulation studies on three dynamical systems, and the advantage of our method is more noticeable when less data is used for training. © 2024, CC BY.

关键词： Neural network models

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Non-euclidean monotone operator theory and applications

The Journal of Machine Learning Research

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The Journal of Machine Learning Research 2024年第1期25卷 14872-14904页

作者： Alexander Davydov Saber Jafarpour Anton V. Proskurnikov Francesco Bullo Center for Control Dynamical Systems and Computation University of California Santa Barbara Santa Barbara CA Department of Electrical Computer and Energy Engineering University of Colorado Boulder Boulder CO Department of Electronics and Telecommunications Politecnico di Torino Turin Italy

While monotone operator theory is often studied on Hilbert spaces, many interesting problems in machine learning and optimization arise naturally in finite-dimensional vector spaces endowed with non-Euclidean norms, such as diagonally-weighted ℓ1 or ℓ1 norms. This paper provides a natural generalization of monotone operator theory to finitedimensional non-Euclidean spaces. The key tools are weak pairings and logarithmic norms. We show that the resolvent and reected resolvent operators of non-Euclidean monotone mappings exhibit similar properties to their counterparts in Hilbert spaces. Furthermore, classical iterative methods and splitting methods for finding zeros of monotone operators are shown to converge in the non-Euclidean case. We apply our theory to equilibrium computation and Lipschitz constant estimation of recurrent neural networks, obtaining novel iterations and tighter upper bounds via forward-backward splitting.

关键词： non-Euclidean norms monotone operator theory fixed point equations nonexpansive maps

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Fast Verification of Petri Net-Based Model of Industrial Decision-Making Systems: A Case Study

Fast Verification of Petri Net-Based Model of Industrial Dec...

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2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Wiśniewski, Remigiusz Patalas-Maliszewska, Justyna Wojnakowski, Marcin Topczak, Marcin Zhou, Mengchu Institute of Control and Computation Engineering Univ. of Zielona Góra Zielona Góra Poland Inst. of Mechanical Eng. Univ. of Zielona Góra Zielona Góra Poland Institute for Machine Tools and Production Processes Chemnitz University of Technology Germany Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland The Doctoral School of Exact and Techn. Sciences University of Zielona Góra Zielona Góra Poland New Jersey Institute of Technology Ece Department NewarkNJ07102 United States

ISBN: (纸本)9798350337020

This work deals with the verification of a decision-making system for additive manufacturing (AM) technology adoption specified by a Petri net. An innovative verification technique of a Petri net-based system is oriented toward practical applications, and can detect errors at the early design and modelling stage. The idea is illustrated by a real-life case study of supporting decision making in AM technology adoption affecting supply chain management (SCM). Two main issues are addressed. Firstly, making optimal decisions about AM technology requires models rarely possessed within a company. Therefore, this work proposes a model supporting the decision making related to the implementation of AM technology, based on a Petri net, by utilizing its main advantages: graphical modelling, and strong mathematical support of formal verification techniques. Contrary to the most popular analysis methods (which are bounded exponentially in a general case), it is proved that the presented method is bounded by a cubic polynomial with net size. Secondly, an investment in AM technology is often financially assessed and does not affect other processes, as in our SCM case. Hence, strong connectivity within the proposed Petri net-based model is examined. © 2023 IEEE.

关键词： additive manufacturing technology boundedness and deadlock decision support system linear algebra Petri net place invariants verification

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On the Equivalence of Multi-Agent 2D Coverage control and Leader-Follower Consensus Network

On the Equivalence of Multi-Agent 2D Coverage Control and Le...

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American control Conference (ACC)

作者： Xiaotian Xu Alexander Davydov Yancy Diaz-Mercado Department of Mechanical Engineering University of Maryland College Park MD USA Department of Mechanical Engineering and the Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA

Coverage control algorithms seek to spatially distribute agents in a domain of coverage, e.g., to minimize proximity to all points. Leader-follower consensus network algorithms use local coordination rules to influence the behavior of a multi-agent system (MAS) as a whole through explicit control of a subset of agents (called leaders) and neighbor interactions. In this paper, the equivalence of these two classes of distributed algorithms for swarm robotics, that were once considered inherently different, is established. We present a swarm robotics application, where the real agents (i.e., the robots) in the domain of coverage are followers; and virtual agents (i.e., the leaders) are introduced based on the domain of coverage. The dynamics of followers are shown to be in the form of a weighted, state-dependent consensus protocol and the dynamics of the leaders (dependent on the evolution of the domain) are provided. Formulating a standard coverage algorithm (i.e., Lloyd’s algorithm) over 2D polygonal domains as a leader-follower consensus protocol makes the structure of the ensemble-level dynamics for the MAS explicit with respect to neighbor interaction. The resultant weighted graph Laplacian may contribute to the future investigation on the performance guarantees of a MAS tracking a time-varying domain. The equivalence of the two classes of algorithms is validated in simulation.

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Comparative Analysis of GOA, WCA and PSO Tuned Fractional Order-PID controller for Cart-Inverted Pendulum

Comparative Analysis of GOA, WCA and PSO Tuned Fractional Or...

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Power and Renewable Energy Conference (IPRECON), IEEE International

作者： Neelam Verma Sudarshan K. Valluru Department of Electrical Engineering Center for Control of Dynamical Systems and Computation Delhi Technological University Delhi India

control of cart based inverted pendulum system is a classical problem of control system and is widely used to verify the effectiveness of control algorithms. In this paper, fractional order PID (FOPID) controller has been used to control the cart position and pendulum angle. Three optimization algorithms namely, particle swarm optimization (PSO), water cycle algorithm (WCA) and grasshopper optimization algorithm (GOA) has been used to tune the parameters of the FOPID controller for underline problem. Results shows that, FOPID controller was able to control both cart position and pendulum angle effectively. Further, it has also been shown that GOA tuned FOPID controller performs better as compared to WCA and PSO tuned FOPID controller. The entire system was simulated using MATLAB2018a.

关键词： Renewable energy sources Software packages control systems Particle swarm optimization Optimization Matlab

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Second-Order Sliding Mode Design Based on the Integration of Proportional-Integral and Nonlinear controllers for Load Frequency control

Second-Order Sliding Mode Design Based on the Integration of...

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Iranian Conference on Electrical engineering (ICEE)

作者： Behrad Samari Mohammad Javad Yazdanpanah Department of Electrical Engineering University of Tehran Tehran Iran Control & Intelligent Processing Center of Excellence School of ECE University of Tehran Tehran Iran

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Firing Rate Models as Associative Memory: Excitatory-Inhibitory Balance for Robust Retrieval

arXiv

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arXiv 2024年

作者： Betteti, Simone Baggio, Giacomo Bullo, Francesco Zampieri, Sandro Department of Information Engineering Università degli Studi di Padova Padova35131 Italy Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa BarbaraCA93106 IT United States

Firing rate models are dynamical systems widely used in applied and theoretical neuroscience to describe local cortical dynamics in neuronal populations. By providing a macroscopic perspective of neuronal activity, these models are essential for investigating oscillatory phenomena, chaotic behavior, and associative memory processes. Despite their widespread use, the application of firing rate models to associative memory networks has received limited mathematical exploration, and most existing studies are focused on specific models. Conversely, well-established associative memory designs, such as Hopfield networks, lack key biologically-relevant features intrinsic to firing rate models, including positivity and interpretable synaptic matrices that reflect excitatory and inhibitory interactions. To address this gap, we propose a general framework that ensures the emergence of re-scaled memory patterns as stable equilibria in the firing rate dynamics. Furthermore, we analyze the conditions under which the memories are locally and globally asymptotically stable, providing insights into constructing biologically-plausible and robust systems for associative memory *** Codes 37N25 (Primary) 34D45, 34D23 (Secondary) © 2024, CC BY.

关键词： Associative storage

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