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Robust Output Regulation of Disturbed Systems with Uncertainties and Input Constraints ⁎

IFAC-PapersOnLine 2019年第29期52卷 79-84页

作者： Oleg I. Borisov Mikhail A. Kakanov Anton A. Pyrkin Sergey V. Shavetov Vladislav S. Gromov Fatimat B. Karashaeva ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

In this paper a “state-space” revised version of the consecutive compensator control approach is proposed to regulate systems with uncertainties and input constraints affected by external disturbances. As a preliminary result the redesigned controller is applied to a system coupled with unmodeled dynamics. The main result enhances this approach by implementing the internal model and back-calculation anti-windup scheme in the control law. The paper throughly addresses the stability issues and provides a numerical example illustrating the proposed approach.

关键词： Robust control Output feedback Uncertain dynamic systems Constraints Robot control

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Output Adaptive Switching Controller Design with DREM-Based Multi-Harmonic Disturbance Cancellation ⁎

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IFAC-PapersOnLine 2019年第29期52卷 263-268页

作者： Dmitrii Dobriborsci Sergey Kolyubin Fatimat Karashaeva Alexey Bobtsov Faculty of Control systems and Robotics ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

A new DREM-based (Dynamic Regressor Extension and Mixing) modification for output adaptive controller with input multi-harmonic disturbance cancellation is proposed in this paper. This approach provides monotonic convergence of the disturbance internal model parameters’ estimates to its true values. We also introduce a novel algorithm for the DREM-based estimator gains tuning in order to improve convergence under poor excitation. Parallel kinematics Ball-and-Plate robotic system is considered as a test-bed, while the non-prehensile ball stabilization in a predefined coordinates under bounded disturbances is a task to be solved.

关键词： Adaptive control output control disturbance cancellation DREM ball-and-plate

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Experimental test bench for investigation of flow control around unmanned underwater robot

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IFAC-PapersOnLine 2018年第30期51卷 604-609页

作者： Galushko, Ilya D. Salmina, Vera A. Gafurov, Salimzhan A. Stadnik, Dmitry M. Ilukhin, Vladimir N. Samara National Research University Samara443086 Russia Innopolis University Center for Technologies of Robotics and Mechatronics Components Innopolis420500 Russia

For underwater robots in the past three decades, the problem of energy efficiency and acoustic noiselessness has arisen sharply. The solution of these problems is inextricably linked with the solution of the problems of dynamics and vibroacoustics arising in the flow of a liquid under the flow of underwater bodies. These problems include the problem of the pressure pulsations occurrence and velocity distributed over the surface of the object, as well as noise and vibrations caused by these pulsations. To create energy-efficient and low-noise underwater robots, it is necessary to create methods for influencing the structure of wall currents and the shape of the aerodynamic surfaces of the robot in order to reduce its surface friction, as well as impedance. In this paper, we consider the development of an experimental bench for testing the main executive systems of an underwater robot with an anisotropic hull, including a buoyancy variation system, a trim and roll change system, and a hull geometry changing system. © 2016

关键词： Energy efficiency Acoustic impedance Acoustic noise Anisotropy Pneumatics Robots Underwater acoustics Aerodynamic surfaces Anisotropic bodies Experimental test benches Noise and vibration Pressure pulsation Test benches Underwater robotics Variable geometry

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Erratum: "Extreme synchronization events in a Kuramoto model: The interplay between resource constraints and explosive transitions" [Chaos 31, 063103 (2021)]

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Chaos (Woodbury, N.Y.) 2021年第12期31卷 129901页

作者： Nikita Frolov Alexander Hramov Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University 420500 Innopolis The Republic of Tatarstan Russia.

This erratum corrects a mistake in the previously published paper.1

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Stator flux and load torque observers for PMSM ⁎

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IFAC-PapersOnLine 2020年第2期53卷 5051-5056页

作者： Alexey Bobtsov Anton Pyrkin Stanislav Aranovskiy Nikolay Nikolaev Olga Slita Olga Kozachek Dat Vo Quoc ITMO University Kronverksky av. 49 197101 Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Equipe Automatique CentaleSupélec - IETR Cesson-Sévigné France ITMO University Kronverksky av. 49 197101 Saint ersburg Russia

In this paper, a stator flux observer and constant load torque estimation methodare developed for non-salient permanent magnet synchronous motors. The methods described here are based on implementation of LTI filters ... 详细信息

关键词： Permanent magnet synchronous motor sensorless control stator flux observer load torque observer

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Parameter Estimation of Nonlinearly Parameterized Regressions: Application to System Identification and Adaptive Control

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IFAC-PapersOnLine 2020年第2期53卷 1206-1212页

作者： Romeo Ortega Vladislav Gromov Emmanuel Nuño Anton Pyrkin Jose Guadalupe Romero Laboratoire des Signaux et Systémes Supélec CNRS-SUPELEC Gif-sur-Yvette France Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Department of Computer Science CUCEI University of Guadalajara Guadalajara Mexico Department of Digital Systems ITAM Mexico City Mexico

We propose a solution to the problem of parameter estimation of nonlinearly parameterized regressions—continuous or discrete time—and apply it for system identification and adaptive control. We restrict our attention to parameterizations that can be factorized as the product of two functions, a measurable one and a nonlinear function of the parameters to be estimated. Another feature of the proposed estimator is that parameter convergence is ensured without a persistency of excitation assumption. It is assumed that, after a coordinate change, some of the elements of the transformed function satisfy a monotonicity condition. The proposed estimators are applied to design identifiers and adaptive controllers for nonlinearly parameterized systems, which are traditionally tackled using overparameterization and assuming persistency of excitation.

关键词： Adaptive control systems identification nonlinear control

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A Globally Convergent State Observer for Multimachine Power Systems with Lossy Lines

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IFAC-PapersOnLine 2020年第2期53卷 5028-5033页

作者： Alexey Bobtsov Romeo Ortega Nikolay Nikolaev Johannes Schiffer Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint Petersburg 197101 Russia LSS-Supelec 3 Rue Joliot-Curie 91192 Gif-sur-Yvette France Fachgebiet Regelungssysteme und Netzleitechnik Brandenburgische Technische Universität Cottbus – Senftenberg Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

We present the first solution to the problem of estimation of the state of multimachine power systems with lossy transmission lines. We consider the classical three-dimensional “flux-decay” model of the power system and assume that the active and reactive power as well as the rotor angle and excitation voltage at each generator is available for measurement—a scenario that is feasible with current technology. The design of the observer relies on two recent developments proposed by the authors: a parameter estimation based approach to the problem of state estimation and the use of the dynamic regressor extension and mixing technique to estimate these parameters. Thanks to the combination of these techniques it is possible to overcome the problem of lack of persistent excitation that stymies the application of standard observer designs. Simulation results illustrate the performance of the proposed observer.

关键词： Electric power systems Observers Nonlinear systems Dynamic state estimation

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Chimera-like behavior in a heterogeneous Kuramoto model: The interplay between the attractive and repulsive coupling

arXiv

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arXiv 2020年

作者： Frolov, Nikita Maksimenko, Vladimir Majhi, Soumen Rakshit, Sarbendu Ghosh, Dibakar Hramov, Alexander Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis The Republic of Tatarstan420500 Russia Physics and Applied Mathematics Unit Indian Statistical Institute 203 B. T. Road Kolkata700108 India

Interaction within an ensemble of coupled nonlinear oscillators induces a variety of collective behaviors. One of the most fascinating is a chimera state which manifests the coexistence of spatially distinct populations of coherent and incoherent elements. Understanding of the emergent chimera behavior in controlled experiments or real systems requires a focus on the consideration of heterogeneous network models. In this study, we explore the transitions in a heterogeneous Kuramoto model under the monotonical increase of the coupling strength and specifically find that this system exhibits a frequency-modulated chimera-like pattern during the explosive transition to synchronization. We demonstrate that this specific dynamical regime originates from the interplay between (the evolved) attractively and repulsively coupled sub-populations. We also show that the above mentioned chimera-like state is induced under weakly non-local, small-world and sparse scale-free coupling and suppressed in globally coupled, strongly rewired and dense scale-free networks due to the emergence of the large-scale connections. Copyright © 2020, The Authors. All rights reserved.

关键词： Heterogeneous networks

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Finite-time Frequency Estimator for Harmonic Signal

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IFAC-PapersOnLine 2020年第2期53卷 584-589页

作者： Alexey A. Bobtsov Anastasiia O. Vediakova Nikolay A. Nikolaev Olga V. Slita Anton A. Pyrkin Alexey A. Vedyakov Department of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Department of Computer Applications and Systems Saint Petersburg State University Saint Petersburg Russia

This paper is devoted to a frequency estimation of a pure sinusoidal signal in finite-time. The parameterization is based on applying delay operators to a measurable signal. The result is the first-order linear regression model with one parameter, which depends on the signal frequency. The proposed method of finite-time estimation consists of two steps. On the first step, the standard gradient descent method is used to estimate the regression model parameter. On the next step using algebraic equations, finite-time frequency estimate is found. The described method does not require measuring or calculating derivatives of the input signal and uses one integrator for the gradient method and another one for the finite-time estimation. The efficiency of the proposed approach is demonstrated through the set of numerical simulations.

关键词： parameter estimation observers frequency estimation finite-time estimation

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Interactive mobile robot in a dynamic environment1

Interactive mobile robot in a dynamic environment1

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作者： Rehman, Bakhtawar Yagfarov, Rauf Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Russia

In this work we introduced a robotic system to work in a sociable environment alongside humans. The robot is able to recognize information through sound and it is capable to speak in order to response or provide significant information. We implemented and compared different simultaneous localization and mapping (SLAM) algorithms available in Robot Operating System (ROS). We compared their results and showed performance in real time in an indoor environment using lidars as the core sensing module. Thus we came up with a mobile robot autonomously navigating in a dynamic environment capable of interaction and manipulation intelligently. © 2016

关键词： Mobile robots

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