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3rd International Conference on Computing and Network Communications, CoCoNet 2019

作者： Valluru, Sudarshan K. Singh, Madhusudan Center for Control of Dynamical Systems and Computation Department of Electrical Engineering Delhi Technological University Delhi110042 India

The present article makes an attempt to evaluate the computational performance of genetic meta heuristic optimized control algorithms. Here, the multi-objective bio inspired algorithm (MOGA) and adaptive particle swarm optimization (APSO) algorithm are used to tune linear PID (L-PID) and nonlinear PID(NL-PID) controllers to implement performance and execution control of permanent magnet brushed DC (PMBDC) motor actuated robotic manipulator. The MOGA, APSO optimised nonlinear and linear PID controllers have been validated for their response efficacy and compared in respect of the steady-state error, overshoot and settling time of PMBDC driven robotic Manipulator. The efficacy of metaheuristics such as APSO and MOGA tuned NL-PID controller are better as compared to the L- PID controlled objects. Experimental results show that the NL-PID controller mends the controlled objects' performace with a reduction in both the overshoot as well as the settling time, if tuned either with MOGA or APSO for L-PID controllers while NL-PID controller tuned with APSO gives satisfactory dynamic response of the system. © 2020 The Authors. Published by Elsevier B.V.

关键词： Permanent magnets

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Robust Training and Verification of Implicit Neural Networks: A Non-Euclidean Contractive Approach

arXiv

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arXiv 2022年

作者： Jafarpour, Saber Davydov, Alexander Abate, Matthew Bullo, Francesco Coogan, Samuel School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta United States Center for Control Dynamical Systems and Computation University of California Santa Barbara United States

This paper proposes a theoretical and computational framework for training and robustness verification of implicit neural networks based upon non-Euclidean contraction theory. The basic idea is to cast the robustness analysis of a neural network as a reachability problem and use (i) the `∞-norm input-output Lipschitz constant and (ii) the tight inclusion function of the network to over-approximate its reachable sets. First, for a given implicit neural network, we use `∞-matrix measures to propose sufficient conditions for its well-posedness, design an iterative algorithm to compute its fixed points, and provide upper bounds for its `∞-norm input-output Lipschitz constant. Second, we introduce a related embedded network and show that the embedded network can be used to provide an `∞-norm box over-approximation of the reachable sets of the original network. Moreover, we use the embedded network to design an iterative algorithm for computing the upper bounds of the original system’s tight inclusion function. Third, we use the upper bounds of the Lipschitz constants and the upper bounds of the tight inclusion functions to design two algorithms for the training and robustness verification of implicit neural networks. Finally, we apply our algorithms to train implicit neural networks on the MNIST dataset and compare the robustness of our models with the models trained via existing approaches in the literature. Copyright © 2022, The Authors. All rights reserved.

关键词： Iterative methods

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Multidimensional Opinion Dynamics with Heterogeneous Bounded Confidences and Random Interactions

arXiv

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arXiv 2024年

作者： Cheng, Jiangjiang Chen, Ge Mei, Wenjun Bullo, Francesco School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Mechanics and Engineering Science Peking University Beijing100871 China Department of Mechanical Engineering The Center of Control Dynamical-Systems and Computation University of California Santa BarbaraCA93106-5070 United States

This paper introduces a heterogeneous multidimensional bounded confidence (BC) opinion dynamics with random pairwise interactions, whereby each pair of agents accesses each other’s opinions with a specific probability. This revised model is motivated by the observation that the standard Hegselmann-Krause (HK) dynamics requires unrealistic all-to-all interactions at certain configurations. For this randomized BC opinion dynamics, regardless of initial opinions and positive confidence bounds, we show that the agents’ states converge to fixed final opinions in finite time almost surely and that the convergence rate follows a negative exponential distribution in mean square. Furthermore, we establish sufficient conditions for the heterogeneous BC opinion dynamics with random interactions to achieve consensus in finite time. Copyright © 2024, The Authors. All rights reserved.

关键词： Random processes

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THE YAKUBOVICH S-LEMMA REVISITED: STABILITY AND CONTRACTIVITY IN NON-EUCLIDEAN NORMS

arXiv

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arXiv 2022年

作者： Proskurnikov, Anton V. Davydov, Alexander Bullo, Francesco Department of Electronics and Telecommunications Politecnico di Torino Turin Italy Department of Mechanical Engineering The Center for Control Dynamical Systems and Computation University of California Santa Barbara United States

The celebrated S-Lemma was originally proposed to ensure the existence of a quadratic Lyapunov function in the Lur'e problem of absolute stability. A quadratic Lyapunov function is, however, nothing else than a squared Euclidean norm on the state space (that is, a norm induced by an inner product). A natural question arises as to whether squared non-Euclidean norms V (x) = ǁxǁ2 may serve as Lyapunov functions in stability problems. This paper presents a novel non-polynomial S-Lemma that leads to constructive criteria for the existence of such functions defined by weighted p norms. Our generalized S-Lemma leads to new absolute stability and absolute contractivity criteria for Lur'e-type systems, including, for example, a new simple proof of the Aizerman and Kalman conjectures for positive Lur'e *** Codes 34H05, 93C15 Copyright © 2022, The Authors. All rights reserved.

关键词： Lyapunov functions

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PDMATLAB2D: A Peridynamics MATLAB Two-dimensional Code

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Journal of Peridynamics and Nonlocal Modeling 2024年第1期6卷 149-205页

作者： Seleson, Pablo Pasetto, Marco John, Yohan Trageser, Jeremy Reeve, Samuel Temple Computer Science and Mathematics Division Oak Ridge National Laboratory P.O. Box 2008 MS-6013 Oak Ridge 37831-6013 TN United States Department of Mechanical and Aerospace Engineering University of California San Diego 9500 Gilman Drive La Jolla 92093 CA United States George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology 801 Ferst Dr Atlanta 30332 GA United States Center for Control Dynamical Systems and Computation University of California at Santa Barbara Harold Frank Hall Room 5119 Santa Barbara 93106 CA United States Engineering Sciences Center Sandia National Laboratories P.O. Box 5800 MS-1322 Albuquerque 87185-1322 NM United States Computational Sciences and Engineering Division Oak Ridge National Laboratory P.O. Box 2008 MS-6085 Oak Ridge 37831-6085 TN United States

PDMATLAB2D is a meshfree peridynamics implementation in MATLAB suitable for simulation of two-dimensional fracture problems. The purpose of this code is twofold. First, it provides an entry-level peridynamics computational tool for educational and training purposes. Second, it serves as an accessible and easily modifiable computational tool for peridynamics researchers who would like to adapt the code for a multitude of peridynamics simulation scenarios. The current version of the code implements a bond-based brittle elastic peridynamic model and a critical stretch criterion for bond breaking. However, the code is designed to be extendable for other peridynamic models and computational features. In this paper, we provide an overview of the code structure and functions with illustrative examples. Due to the integrated computation and postprocessing MATLAB capabilities, PDMATLAB2D can serve as an effective testbed for testing new constitutive models and advanced numerical features for peridynamics computations. © UT-Battelle, LLC, under exclusive licence to Springer Nature Switzerland AG 2024. corrected publication 2024.

关键词： Fracture Meshfree Peridynamics Two-dimensional

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Experimental validation and control of Laboratory aerial system by IC741-IOPID and IC741-FOP Iλ controllers: An Analog approach 11

Experimental validation and control of Laboratory aerial sys...

引用

11th International Conference on Computing, Communication and Networking Technologies, ICCCNT 2020

作者： Valluru, Sudarshan K. Kumar, Gaurav Kumar, Rajul Meena, Ankit Lal Center for Control of Dynamical Systems and Computation Delhi Technological University Dept. of Electrical Engineering Delhi110042 India

ISBN: (纸本)9781728168517

As control and trajectory tracking of hovering aerial vehicles are remarkable objective among researchers and industries. So in this paper, a validated attempt is made to achieve the precise and desired control of the Twin Rotor Aerial System (TRAS) over is motion in horizontal as well as vertical planes. To obtain pitch and yaw angles stabilization and desired trajectory tracking of TRAS the IO-PID and fractional order FOP I-{ lambda} controllers are designed using IC741 operational amplifiers. The designing and transforming integer order scheme into fractional-order crone1 and continued fraction expansion (CFE) methods are used, which ultimately replace feedback capacitor in I-{ lambda} control scheme with an RC ladder fractance device. The designed controllers are tested with a defined disturbance provided to pitch and yaw trajectories and the time taken by both the controllers are compared for testing of stabilization control performances. It is observed from results that IC741-I-{ lambda} controller gives better trajectory tracking and stabilization than IC741-IOPID. © 2020 IEEE.

关键词： controllers

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Extracting Stress-Related EEG Patterns from Pre-Sleep EEG for Forecasting Slow-Wave Sleep Deficiency

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IEEE Transactions on Neural Systems and Rehabilitation engineering 2024年 32卷 1817-1827页

作者： Su, Cheng-Hua Ko, Li-Wei Jung, Tzyy-Ping Onton, Julie Tzou, Shey-Cherng Juang, Jia-Chi Hsu, Chung-Yao Institute of Bioinformatics and Systems Biology National Yang Ming Chiao Tung University Hsinchu300 Taiwan Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Hsinchu300 Taiwan Kaohsiung Medical University Drug Development and Value Creation Research Center Department of Biomedical Science and Environmental Biology Kaohsiung807 Taiwan University of California San Diego Swartz Center for Computational Neuroscience La Jolla CA92093 United States National Yang Ming Chiao Tung University Department of Computer Science Hsinchu300 Taiwan University of California San Diego Institute for Neural Computation La Jolla CA92093 United States National Yang Ming Chiao Tung University Department of Biological Science and Technology Hsinchu300 Taiwan Kaohsiung Medical University Hospital Sleep Disorders Center Department of Neurology Kaohsiung807 Taiwan Kaohsiung Medical University College of Medicine Department of Neurology Kaohsiung807 Taiwan

Sleep is vital to our daily activity. Lack of proper sleep can impair functionality and overall health. While stress is known for its detrimental impact on sleep quality, the precise effect of pre-sleep stress on subsequent sleep structure remains unknown. This study introduced a novel approach to study the pre-sleep stress effect on sleep structure, specifically slow-wave sleep (SWS) deficiency. To achieve this, we selected forehead resting EEG immediately before and upon sleep onset to extract stress-related neurological markers through power spectra and entropy analysis. These markers include beta/delta correlation, alpha asymmetry, fuzzy entropy (FuzzEn) and spectral entropy (SpEn). Fifteen subjects were included in this study. Our results showed that subjects lacking SWS often exhibited signs of stress in EEG, such as an increased beta/delta correlation, higher alpha asymmetry, and increased FuzzEn in frontal EEG. Conversely, individuals with ample SWS displayed a weak beta/delta correlation and reduced FuzzEn. Finally, we employed several supervised learning models and found that the selected neurological markers can predict subsequent SWS deficiency. Our investigation demonstrated that the classifiers could effectively predict varying levels of slow-wave sleep (SWS) from pre-sleep EEG segments, achieving a mean balanced accuracy surpassing 0.75. The SMOTE-Tomek resampling method could improve the performance to 0.77. This study suggests that stress-related neurological markers derived from pre-sleep EEG can effectively predict SWS deficiency. Such information can be integrated with existing sleep-improving techniques to provide a personalized sleep forecasting and improvement solution. © 2001-2011 IEEE.

关键词： Entropy

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State Estimation for Asynchronously Switched Sampled-Data Systems

State Estimation for Asynchronously Switched Sampled-Data Sy...

引用

IEEE Conference on Decision and control

作者： Sharad C. Shankar Guosong Yang João P. Hespanha Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA Department of Electrical and Computer Engineering Rutgers University–New Brunswick Piscataway NJ USA

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Asynchronously switched sampled-data systems can help model power systems and vehicles that evolve in continuous-time with switching behavior and discrete time measurements. We address the problem of jointly estimating a switching signal, with uncertainty in the exact switching times, as well as the continuous states of the system. We prove stability of the standard Kalman Filter under uncertainty in the switching times, with statistical bounds relating to the sampling period. We then propose a method for estimation of switching times as well as a method for efficient joint estimation of the state and switching signal inspired by the interacting multiple-model extended-Viterbi algorithm. We validate our algorithms in simulation for a power converter and a maneuvering vehicle.

关键词： Uncertainty Heuristic algorithms Power system dynamics Switches Power system stability Filtering algorithms Sampled data systems

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Experimental Investigation of Fully Informed Particle Swarm Optimization tuned Multi Loop L-PID and NL-PID controllers for Gantry Crane System 3

Experimental Investigation of Fully Informed Particle Swarm ...

引用

3rd International Conference on Computing and Network Communications, CoCoNet 2019

作者： Valluru, Sudarshan K. Kaur, Manpreet Kartikeya, Kumar Goel, Arnav Dobhal, Daksh Incubation Center for Control Dynamical Systems and Computation Department of Electrical Engineering Delhi Technological University Delhi110042 India

This paper presents a novel stabilizing nonlinear PID controller with real time experimental validation on a gantry crane system. Our adaptive control technique describes the underactuated system as a nonlinear mapping of control signal with the hyperbolic tangent function. The proposed function is used to impose a constraint on the proportional, integral and derivative errors such that the system results an effective and robust performance. The main trait of the controller is to bound the high control error to result in a lesser correction value. An enhanced hybrid method based on the bioinspired meta-heuristic algorithm Particle Swarm Optimisation is utilised to tune the gain coefficients Kpδ, KIδ and KDδ. The Linear controller and the proposed controllers were compared based on the stabilizing action on the real time system. The real time results depict that the nonlinear PID performs better than the conventional PID. © 2020 The Authors. Published by Elsevier B.V.

关键词： controllers

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Design of Precise FLC for Trajectory Tracking and Stabilization of Twin Rotor MIMO System 6

Design of Precise FLC for Trajectory Tracking and Stabilizat...

引用

6th IEEE International Conference on engineering, Technologies and Applied Sciences, ICETAS 2019

作者： Valluru, Sudarshan K. Kumar, Rajul Kumar, Rahul Center for Control of Dynamical Systems and Computation Delhi Technological University Dept. of Electrical Engineering Delhi110042 India

ISBN: (纸本)9781728140827

A progressive and analytical approach is used for designing the precise fuzzy logic controller to control a Twin Rotor Multiple Input Multiple Output System (TRMS). Two fuzzy logic controllers are designed and tested in simulation for pitch and yaw trajectory tracking, including one degree of freedom each. For the formalization and fuzzy implication of both pitch and yaw fuzzy controllers, Mamdani constructive paradigm is used in this paper. Triangular and Trapezoidal member functions are constructed in Fuzzy Interference System and tuned by using performance evaluation after initial characteristic design as well as experience and parametric investigation about TRMS plant. Performance of Conventional Linear PID controller has been compared in terms of peak overshoot, rise time, settling time with fuzzy logic controller (FLC) for stabilization of pitch and yaw angle. Impulse signals are given as disturbances in simulation to the TRMS output, which resembles as real-time aerial and atmospheric disturbances. The results convey that the stabilization achievement of the fuzzy controller is predominant as compared to the Linear-PID controller. © 2019 IEEE.

关键词： Stabilization

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