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Chinese control Conference (CCC)

作者： Yunfeng Wu Junze Li Zichen Ren Bo Lu Changzhu Zhang Peng Qi Department of Control Science and Engineering Tongji University Shanghai China Elmore Family School of Electrical and Computer Engineering Purdue University West Lafayette Indiana United States Robotics and Microsystems Center School of Mechanicaland Electric Engineering Soochow University Suzhou China

The integration of brain-machine interface and exoskeleton robot has been widespread application in gait correction, walking assistance, and numerous other scenarios. To effectively extract the electroencephalogram (EEG) signal features of motor imagery while wearing an exoskeleton, this study proposes a frequency band pre-determination method based on power spectral density (PSD) that enables common spatial patterns (CSP) to extract features from the frequency band with the highest energy in the EEG. The signal power spectral density of all channels is obtained at or near the average frequency of the maximum short interval frequency component energy. A second round of filtering is performed on the data, and the signal components are used as input for the subsequent feature extraction step. The CSP method extracts features from the spatial domain signal and generates feature maps. Finally, Support Vector Machines (SVM) are utilized to classify the EEG signals. Based on the pre-set gait of the exoskeleton robot and the motor imagery paradigm, feature extraction and classification of motor imagery EEG data during exoskeleton use were conducted, with an average accuracy rate of 77%. The experimental results demonstrate the effectiveness of this method in extracting the motor imagery EEG features during exoskeleton use.

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Discrete-Time Distributed Optimization for Linear Uncertain Multi-Agent Systems

Discrete-Time Distributed Optimization for Linear Uncertain ...

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IEEE Conference on Decision and control

作者： Tong Liu Michelangelo Bin Ivano Notarnicola Thomas Parisini Zhong-Ping Jiang Department of Electrical and Computer Engineering Control and Networks Lab Tandon School of Engineering New York University Brooklyn NY USA Department of Electrical Electronic and Information Engineering University of Bologna Bologna Italy Department of Electrical and Electronic Engineering Imperial College London London UK Department of Engineering and Architecture University of Trieste Trieste Italy KIOS Research and Innovation Center of Excellence University of Cyprus Nicosia Cyprus

The distributed optimization algorithm proposed by J. Wang and N. Elia in 2010 has been shown to achieve linear convergence for multi-agent systems with single-integrator dynamics. This paper extends their result, including the linear convergence rate, to a more complex scenario where the agents have heterogeneous multi-input multi-output linear dynamics and are subject to external disturbances and parametric uncertainties. Disturbances are dealt with via an internal-model-based control design, and the interaction among the tracking error dynamics, average dynamics, and dispersion dynamics is analyzed through a composite Lyapunov function and the cyclic small-gain theorem. The key is to ensure a small enough stepsize for the convergence of the proposed algorithm, which is similar to the condition for time-scale separation in singular perturbation theory.

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Dead-beat Identification for Model Reference Adaptive control⋆

Dead-beat Identification for Model Reference Adaptive Contro...

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IEEE Conference on Decision and control

作者： Ali Kashani Ahmad Kalhor Babak Nadjar Araabi Claus Danielson Mechanical Engineering department University of New Mexico NM US Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Iran

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this work, we propose a novel parameter identifier for linear time-invariant systems, which has the fastest possible convergence in principal (i.e., dead-beat). The identifier applies where states and derivatives of states can be measured. The identifier is applied to the certainty-equivalence (indirect) model reference adaptive control that relaxes the conventional assumptions about open-loop stability and persistent excitation in MRAC. Furthermore, in conventional MRAC the parameter convergence rate is proportional to the tracking error, whereas our proposed adaptation law has dead-beat dynamics. This method is previously applied to a Delta robot. In this paper, we present a theoretical analysis of the method by solving the identifier dynamics to get its closed-form solution and examine the effect of perturbations such as white additive noise, uncertainty, and disturbance. The linearized model of an actuated inverted pendulum with unknown parameters is used as a benchmark example.

关键词： Linear systems Adaptation models Uncertainty Closed-form solutions Perturbation methods Benchmark testing Stability analysis

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Cascaded Model Predictive control of Underactuated Bipedal Walking with Impact and Friction Considerations

Cascaded Model Predictive Control of Underactuated Bipedal W...

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IEEE-RAS International Conference on Humanoid Robots

作者： Sait Sovukluk Christian Ott M. Mert Ankaralı Automation and Control Institute (ACIN) TU Wien Vienna Austria Department of Electrical and Electronics Engineering Middle East Technical University (METU) Ankara Turkey Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany METU Robotics and AI Technologies Application and Research Center (METU-ROMER) Ankara Turkey

This study demonstrates a cascaded model predictive control (C-MPC) method for input constrained control of underactuated planar bipedal walking with any predefined sta-bilizable trajectory. Our approach aims to increase the trajectory tracking performance of the system and produce realistic and applicable responses while respecting friction constraints and considering impact dynamics. Primarily focusing on zero dynamics with PD (ZD+PD) control, this proposed control method constitutes a second layer controller on top of the well-known trajectory tracking controllers for underactuated bipedal walking systems. We successfully implement this model-based controller and test against large modeling errors, noises, and disturbances, where the conventional ZD+PD control fails to maintain stability.

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Fractional Order Integral controller Design Based on a Bodes Ideal Transfer Function: Application to the control of a Single Tank Process 4th

Fractional Order Integral Controller Design Based on a Bodes...

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4th International Conference on electrical engineering and control Applications, ICEECA 2019

作者： Boussalem, Chahira Mansouri, Rachid Bettayeb, Maamar Hamerlain, Mustapha Automatic Department University of Tizi-Ouzou Tizi-Ouzou Algeria Productive and Robotics Division Center for Development of Advanced Technologies Algiers Algeria Center of Excellence in Intelligent Engineering Systems King Abdulaziz University Jeddah Saudi Arabia Electrical Engineering Department University of Sharjah Sharjah United Arab Emirates

ISBN: (纸本)9789811564024

The paper deals with the water level control of a single tank process associated feedback linearization (FL) with a novel fractional order integral controller (FOIC) which is based on the Bodes ideal transfer function. The first controller is used to cancel the nonlinearities of the single tank process and the latter used to solve the tracking problem. The new controller is implemented on a single tank process and the results are compared with a Linear Quadratic Regulator (LQR). © 2021, Springer Nature Singapore Pte Ltd.

关键词： Transfer functions

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Practical Implementation of Multiple Faults in a Coupled-Tank System: Verified by Model-Based Fault Detection Methods

Practical Implementation of Multiple Faults in a Coupled-Tan...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Hamid Reza Chavoshi Ali Khoshlahjeh Sedgh Mahdi Aliyari Shoorehdeli Hamid Khaloozadeh K.N. Toosi University of Technology Tehran Iran Department of Mechatronics Engineering Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran Industrial Control Center of Excellence Systems and Control Engineering K.N. Toosi University of Technology Tehran Iran

In order to prevent system failures, fault detection and performance assessment are always essential factors. This article investigates the practical implementation of common faults in a two-tank networked control system, one of the most widely utilized liquid-level control systems in the food industries, petrochemicals, and many more. The system was modeled and controlled, and then, faults were conducted on the system, including leakage, sedimentation, sensor bias, and pump stuck, which covered a wide range of fault types. After that, model-based fault detection methods, such as unknown input observer (UIO), parity, and factorization methods, were employed to evaluate fault implementation. By thresholding residuals of fault detection methods, the factorization method shows the most effective performance concerning false alarm rates (FAR), missed alarm rates (MAR), and detection delays (DD). Using the UIO is a suitable substitute, and parity is only appropriate for announcing the fault start time.

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Defining, measuring, and modeling passenger's in-vehicle experience and acceptance of automated vehicles

arXiv

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arXiv 2023年

作者： Bhide, Neeraja Hashimoto, Nanami Dokurno, Kazimierz Van der Hoorn, Chris Hoogendoorn-Lanser, Sascha Nordhoff, Sina Delft Center for Systems and Control Delft University of Technology Netherlands Department of Cognitive Robotics Delft University of Technology Netherlands Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Netherlands Department Transport & Planning Delft University of Technology Netherlands

Automated vehicle acceptance (AVA) has been measured mostly subjectively by questionnaires and interviews, with a main focus on drivers inside automated vehicles (AVs). To ensure that AVs are widely accepted by the public, ensuring the acceptance by both drivers and passengers is key. The in-vehicle experience of passengers will determine the extent to which AVs will be accepted by passengers. A comprehensive understanding of potential assessment methods to measure the passenger experience in AVs is needed to improve the in-vehicle experience of passengers and thereby the acceptance. The present work provides an overview of assessment methods that were used to measure a driver's behavior, and cognitive and emotional states during (automated) driving. The results of the review have shown that these assessment methods can be classified by type of data-collection method (e.g., questionnaires, interviews, direct input devices, sensors), object of their measurement (i.e., perception, behavior, state), time of measurement, and degree of objectivity of the data collected. A conceptual model synthesizes the results of the literature review, formulating relationships between the factors constituting the in-vehicle experience and AVA acceptance. It is theorized that the in-vehicle experience influences the intention to use, with intention to use serving as predictor of actual use. The model also formulates relationships between actual use and well-being. A combined approach of using both subjective and objective assessment methods is needed to provide more accurate estimates for AVA, and advance the uptake and use of AVs. © 2023, CC BY.

关键词： Vehicles

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Fourier-based Action Recognition for Wildlife Behavior Quantification with Event Cameras

arXiv

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arXiv 2024年

作者： Hamann, Friedhelm Ghosh, Suman Martínez, Ignacio Juárez Hart, Tom Kacelnik, Alex Gallego, Guillermo Department of Electrical Engineering and Computer Science Technische Universität Berlin Berlin Robotics Institute Germany Berlin Germany Science of Intelligence Excellence Cluster Berlin Germany Department of Biology University of Oxford Oxford United Kingdom Oxford Brookes University Oxford United Kingdom Einstein Center Digital Future Berlin Germany

Event cameras are novel bio-inspired vision sensors that measure pixel-wise brightness changes asynchronously instead of images at a given frame rate. They offer promising advantages, namely a high dynamic range, low latency, and minimal motion blur. Modern computer vision algorithms often rely on artificial neural network approaches, which require image-like representations of the data and cannot fully exploit the characteristics of event data. We propose approaches to action recognition based on the Fourier Transform. The approaches are intended to recognize oscillating motion patterns commonly present in nature. In particular, we apply our approaches to a recent dataset of breeding penguins annotated for "ecstatic display", a behavior where the observed penguins flap their wings at a certain frequency. We find that our approaches are both simple and effective, producing slightly lower results than a deep neural network (DNN) while relying just on a tiny fraction of the parameters compared to the DNN (five orders of magnitude fewer parameters). They work well despite the uncontrolled, diverse data present in the dataset. We hope this work opens a new perspective on event-based processing and action recognition. © 2024, CC BY-SA.

关键词： Deep neural networks

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Performance Analysis of the Modified Flux-Coupling-Type SFCL in VSC-HVDC System

Performance Analysis of the Modified Flux-Coupling-Type SFCL...

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Iranian Conference on electrical engineering (ICEE)

作者： Mohammad Khakroei Ashkan Mirzaei Rajeooni Mahdi Rahimi Pirbasti Hossein Heydari MAPNA Electric & Control Engineering & Manufacturing Company (MECO) Alborz Iran Department of Engineering and R&D MAPNA Generator Engineering and Manufacturing Company (PARS) Alborz Iran Department of Electrical Engineering (Center of Excellence for Power System Automation and Operation) Iran University of Science and Technology (IUST) Tehran Iran

Although Voltage Source Converters based on HVDC (VSC-HVDC) systems have several advantages, they are vulnerable to DC fault currents. Concerning the inherent characteristics of high-temperature superconducting (HTS) material, using HTS in the fault current limiter could be a solution to limit the current in VSC-HVDC. The present paper seeks to provide an elaborately better solution to the problem mentioned above of the fault currents than what has previously been proposed. The object of this research is a modified flux coupling type superconductor fault current limiter (MFC-SFCL) to attenuate the fault current in VSC-HVDC network. The principle mechanism and operation of the SFCL and VSC-HVDC systems are modeled in detail, involving interplay or synergy between electrical and thermal properties. The simulation results demonstrate that the purposed MFC-SFCL has the proper function to mitigate the fault current.

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Predictor-Based Constrained Fixed-Time Sliding Mode control of Multi-Uav Formation Flight

SSRN

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SSRN 2024年

作者： Khodaverdian, Maria Hajshirmohamadi, Shahram Hakobyan, Aleksandr Ijaz, Salman Center for Scientific Innovation and Education Aerial Robotics Laboratory of National Polytechnic University of Armenia Yerevan Armenia Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan84156-83111 Iran Key Laboratory of More Electric Aircraft and Control System Lab University of Nottingham Ningbo China

In this work, a predictor-based fixed-time sliding mode control is designed to tackle the problem of achieving precise trajectory tracking control of multiple unmanned aerial vehicles formation flight. The proposed approach simultaneously addresses various practical requirements, such as optimality, constraints, fixed-time convergence, external interferences, and computational ***, a constrained performance index is constructed based on the prediction of the fixed-time sliding surface, the reaching law, and the control input. Secondly, optimal control input is calculated by solving the constrained quadratic optimization problem. An outstanding feature of this study is the theoretical guarantee of closed-loop system stability in the presence of external disturbances and ***, the comparative evaluation with sliding mode predictive control law and fixed-time sliding mode control methods demonstrates that the proposed approach achieves a straightforward control method with improved performance and acceptable accuracy. Finally, a test is conducted to demonstrate the algorithm's potential for hardware implementation by employing Hardware-in-the-Loop (HIL) test. © 2024, The Authors. All rights reserved.

关键词： Sliding mode control

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