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

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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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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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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Advanced technologies in High Education in Cooperation with High-Tech Companies ⁎

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IFAC-PapersOnLine 2019年第9期52卷 312-317页

作者： Anton A. Pyrkin Alexey A. Bobtsov Alexey A. Vedyakov Sergey V. Shavetov Yuriy S. Andreev Oleg I. Borisov ITMO University Faculty of Control Systems and Robotics 49 Kronverksky Pr. St. Petersburg 197101 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

The paper discusses advanced educational technologies in control engineering implemented at ITMO University. They are module-based education, project-based bachelor’s degree program and project tracks based on academia-industry collaboration. All of them are oriented on the students needs and aimed to update the educational processes, reduce its bureaucracy and improve its outcome. The positive experience of such initiatives is already confirmed by a number of successful participations of the students in top level world competitions on robotics.

关键词： Education Control education Projects Teaching Industrial control

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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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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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Spatial computing in structured spiking neural networks with a robotic embodiment

arXiv

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arXiv 2021年

作者： Lobov, Sergey A. Mikhaylov, Alexey N. Berdnikova, Ekaterina S. Makarov, Valeri A. Kazantsev, Victor B. Lobachevsky State University of Nizhny Novgorod Gagarin Ave. 23 Nizhny Novgorod603950 Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Universitetskaya Str. 1 Innopolis420500 Russia Center For Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia Instituto de Matemática Interdisciplinar F. de Ciencias Matemáticas Universidad Complutense de Madrid Madrid28040 Spain

One of the challenges of modern neurosciwence is creating a "living computer" based on neural networks grown in vitro. Such an artificial device is supposed to perform neurocomputational tasks and interact with the environment when embodied in a robot. Recent studies have identified the most critical challenge, the search for a neural network architecture to implement associative learning. This work proposes a model of modular architecture with spiking neural networks connected by unidirectional couplings. We show that the model enables training a neuro-robot according to Pavlovian conditioning. The robot's performance in obstacle avoidance depends on the ratio of the weights in inter-network couplings. We show that besides STDP, critical factors for successful learning are synaptic and neuronal competitions. We use the recently discovered shortest path rule to implement the synaptic competition. This method is ready for experimental testing. Strong inhibitory couplings implement the neuronal competition in the subnetwork responsible for the unconditional response. Empirical testing of this approach requires a technique for growing neural networks with a given ratio of excitatory and inhibitory neurons not available yet. An alternative is building a hybrid system with in vitro neural networks coupled through hardware memristive connections. © 2021, CC BY.

关键词： Neural networks

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On Choosing Structure for a Machine Learning-based Reaction Force Predictor for Walking Robots

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Journal of Physics: Conference Series 2021年第1期1831卷

作者： E Zalyaev S Savin A Salikhzyanov S Golousov Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis 420500 Russia Edge Vision Ltd. Innopolis 420500 Russia Technology Arrival Ltd Banbury London UK

This paper focuses on the topic of contact reaction prediction for walking robots, namely on the analysis of performances on different structures of the machine-learning-based predictors. Predicting reaction forces is important due to the fact that it can allow us to retrieve a simplified model of the contact scenario, as was proposed in the literature preciously. This allows to turn the problem of contact model identification into a data collection and processing problem. In order to do it effectively, both a data compression (feature extraction) and regression strategies might be used. This research provides an analysis of both with respect to the discussed problem.

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Chaos and hyperchaos in the chain of quantum coherent elements

Chaos and hyperchaos in the chain of quantum coherent elemen...

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School on Dynamics of Complex Networks and their Application in Intellectual robotics (DCNAIR)

作者： Alexander Balanov Andrey Andreev Mark Fromhold Mark Greenaway Alexander Hramov Weibin Li Vladimir Makarov Alexandre Zagoskin Department of Physics Loughborough University Loughborough United Kingdom Neuroscience and Cognivite Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia School of Physics and Astronomy University of Nottingham Nottingham United Kingdom Department of Theoretical Physics and Quantum Technologies National University of Science and Technology MISIS Moscow Russia

ISBN: (数字)9781728172866

ISBN: (纸本)9781728172873

We study the chain of coupled quantum coherent systems with energy pumping and dissipation. Examples of such systems include the coupled Rydberg atoms with laser driving and spontaneous emission or electromagnetically driven artificial qubits with decoherence and dissipation. We found out that such system is able to demonstrate spontaneous onset of chaotic and even hyperchaotic oscillations, which are characterized by one or several positive Lyapunov exponents. Remarkably, the number of the positive Lyapunov exponents grows with the number of the chain elements. Hence a large chain is able to demonstrate highly irregular behavior. We investigate transition from regular to chaotic behavior and reveal the related instabilities.

关键词： Quantum mechanics Neuroscience Robots mechatronics Chaotic communication Control systems

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Approach of Flow Control Around Unmanned Underwater Robot

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IFAC-PapersOnLine 2018年第30期51卷 452-457页

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

The development of a prototype of an underwater robot with a variable geometry of the body is a major complex task, including a whole series of tasks of a scientific, technical, engineering and applied nature, and the creation of new automatic systems for managing it. The creation of such a robot will ensure its high autonomy and maneuverability. In this paper, the development of a solid model of a biomimetic robot hybrid and AUV with a variable geometry of the hull is presented. Also presented is a basic pneumatic circuit integrated into the robot body, which drives the pneumatic muscles fixed to the ribs of the robot's robust body. The experimental part includes the investigation of the vertical and horizontal components of the deformation of the walls of the shell, depending on the pressure supplied by the pneumatic system to the pneumatic cusps. © 2016

关键词： Robots Biomimetics Geometry Pneumatic control Pneumatic equipment Pneumatics Anisotropic bodies Automatic systems Bio mimetic robot Horizontal components Pneumatic muscle Underwater robotics Underwater robots Variable geometry

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