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Adaptive Prescribed Finite-Time Bipartite Consensus control for Nonaffine Nonlinear MASs Under Structurally Unbalanced Topology

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3532-3541页

作者： Wang, Xiaomei Song, Yongduan Zhao, Xudong Wang, Huanqing Wang, Ding Niu, Ben Chongqing University School of Automation Chongqing400044 China Shandong Normal University School of Information Science and Engineering Shandong Jinan250014 China Dalian University of Technology School of Control Science and Engineering Liaoning Dalian116023 China Bohai University College of Mathematical Sciences Liaoning Jinzhou121013 China Beijing University of Technology Faculty of Information Technology Beijing100124 China Sichuan University School of Electrical Engineering Chengdu610065 China

This article investigates an adaptive bipartite consensus tracking control algorithm for a class of heterogeneous nonaffine nonlinear multiagent systems (MASs) with prescribed finite-time tracking performance under an unbalanced communication topology. In the case of an unbalanced digraph, a novel locally optimal bipartition strategy is proposed to transform the unbalanced communication topology into a structurally balanced one, thereby enabling the implementation of bipartite consensus tracking control. To achieve the expected tracking performance, the design philosophy focuses on developing a prescribed finite-time performance function (PFTPF), capable of preassigning the convergence time and accuracy precisely beforehand. The explored adaptive control algorithm can ensure that the whole signals concerning the closed-loop MASs remain bounded while the bipartite consensus errors converge to a predetermined range around zero within the prescribed finite time. Ultimately, the simulation results on robotic systems prove the availability of the developed design solution. © 2013 IEEE.

关键词： Topology

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Substation Personnel Smoking Detection Based On GhostNetV2-YOLOv5 6

Substation Personnel Smoking Detection Based On GhostNetV2-Y...

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6th International Symposium on Autonomous Systems, ISAS 2023

作者： Peng, Jishen Wang, Chang Li, Yang Chen, Hongtian Liaoning Technical University Faculty of Electrical and Control Engineering Huludao China Shanghai University School of Mechatronic Engineering and Automation Shanghai China Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Shanghai China

ISBN: (纸本)9798350316155

In substations, violations such as smoking may lead to equipment damage and even threaten the safety of personnel. In this paper, a GhostNetV2-YOLOv5 based algorithm for detecting smoking by substation personnel is proposed. The algorithm uses GhostNetV2 as the backbone network to improve the accuracy of the model while achieving real-time detection of smoking behavior. The experimental results show that the method can improve the detection speed of the model without reducing the detection accuracy, and compared with the original YOLOv5 algorithm, the total mAP is improved by 2.58% and the prediction speed is improved by 1.61 times, which is superior to other smoking detection networks and has practical application value. © 2023 IEEE.

关键词： Personnel

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Power Loss Analysis of Energy Management System with Model Predictive control in Mae Hong Son Microgrid 3

Power Loss Analysis of Energy Management System with Model P...

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3rd IEEE International Conference on Power Electronics, Intelligent control and Energy Systems, ICPEICES 2024

作者： Prapanwattana, Nattakit Dechawatanapaisal, Donlapat Banjerdpongchai, David Rajan, Abhishek Center of Excellence in Intelligent Control Automation for Process Systems Chulalongkorn University Faculty of Engineering Dept. of Electrical Engineering 254 Phayathai Rd Bangkok Pathumwan10310 Thailand National Institute of Technology Sikkim Dept. of Electrical Engineering South Sikkim Ravangla737139 India

ISBN: (纸本)9798350387193

Energy management system (EMS) is an important tool for energy efficiency and reliability of the power system. The optimal power dispatch of energy resources can be obtained using the nonlinear model predictive control (NMPC). It is formulated as an optimization problem subject to linear and nonlinear constraints. Although the existing system works well under the current conditions, power loss has not been considered. Power loss in transmission lines occurs due to their resistance and a high amount of power flow to loads connecting to the system. The power loss leads to decreased efficiency in the electrical system and reduces the lifespan of equipment because of the high temperature from loss. This paper aims to analyze the power loss in the Mae Hong Son (MHS) microgrid. To achieve the research objectives, we employ the EMS of MHS with NMPC and calculate power loss in transmission lines for a period of 7 days. EMS considers three objective functions, namely, total operating cost, total carbon dioxide emission, and combined economic and emission dispatch and take into account of three seasons consisting of rainy, winter, and summer. © 2024 IEEE.

关键词： Predictive control systems

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Comparison of Different Gaussian Process Models and Applications in Model Predictive control 23

Comparison of Different Gaussian Process Models and Applicat...

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23rd International Conference on control, automation and Systems, ICCAS 2023

作者： Diepers, Florian Polke, Dominik Ahle, Elmar Softker, Dirk University of Applied Sciences Niederrhein Faculty of Electrical Engineering and Computer Science Krefeld Germany University of Duisburg-Essen Chair of Dynamics and Control Duisburg Germany

ISBN: (纸本)9788993215274

Most advanced control methods require a sufficiently accurate model of the system to be controlled. These models are becoming increasingly difficult to generate due to the increasing complexity of the underlying systems. To address this problem, data-driven models can be used. These kind of models are trained based on data of the dynamic system. They can be used for controller design and also be applied directly to control the system. In this work, a stochastic model predictive controller (SMPC) with a Gaussian process model (GP) is utilized. The main advantage of GPs is the construction of a dynamic system model with the possibility of determining the uncertainty of its own prediction. In this contribution, three different utilizations of prediction uncertainty in SMPC are compared. Additionally, two different implementations of dynamic GPs, nonlinear autoregressive exogenous GPs (GP-NARX) and a state-space model based on GPs (GP-SSM), are considered. All six test cases are compared based on an evaluation criterion that describes the resulting control performance. A simulated inverted pendulum, a benchmark for nonlinear and unstable systems, is used as test system. In this work, the combinations of different dynamic GPs and the application of their uncertainty prediction in SMPC are evaluated and compared. © 2023 ICROS.

关键词： Stochastic models

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Video-based Gait Analysis with IMU and Industrial Cameras: A Pilot Study

Video-based Gait Analysis with IMU and Industrial Cameras: A...

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2024 Medical Technologies Congress, TIPTEKNO 2024

作者： Turan, Fatma Maghsoudi, Sanaz İlikçi, Hakan Ayvaz, Bora Ergenç, Ali Fuat Bilgili, Fuat Boğazici University Biomedical Engineering Istanbul Turkey Istanbul University Istanbul Faculty of Medicine Department of Orthopedics and Traumatology Istanbul Turkey Istanbul Technical University Control and Automation Engineering Department Istanbul Turkey İstanbul University Istanbul Turkey

ISBN: (纸本)9798331529819

In this study, we investigated the validity of using a two-dimensional gait analysis system, which employed industrial cameras and a custom-developed Inertial Measurement Unit system, compared to the gold standard three-dimensional Vicon gait analysis system. Four subjects with a mean age of 26.76 (SD: 0.71) were included in the study, and gait data was collected from their 8 limbs. Correlation analyses examined the relationship between the data obtained from the two-dimensional gait analysis system and the three-dimensional Vicon system. The study's results showed a high correlation for the hip and knee joints between the two systems, but a lower correlation for the ankle joint. This pilot study demonstrated the potential of using industrial cameras and IMU systems for practical gait analysis. © 2024 IEEE.

关键词： Joints (anatomy)

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DMD-Based Model Predictive control for a Coupled PDE-ODE System

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IFAC-PapersOnLine 2023年第2期56卷 4258-4263页

作者： Dirk Wolfram Thomas Meurer Chair of Automation and Control Faculty of Engineering Kiel University 24143 Kiel Germany Digital Process Engineering Group Institute for Mechanical Process Engineering and Mechanics Karlsruhe Institute of Technology (KIT) 76187 Karlsruhe Germany

Models resulting from the application of the finite element method (FEM) are usually high dimensional, thus in general preventing the application of optimal control concepts under real-time conditions. In this work a system consisting of the heat equation defined on a 3-dimensional domain with local in-domain thermal actuators is considered, whose modeling results in a coupled PDE-ODE description. Based on simulation data, a data driven reduced order model is determined using the Dynamic Mode Decomposition with control (DMDc). Based on the DMDc model a model predictive control (MPC) approach with state estimator is developed to realize a desired temperture profile on the given domain. The concept is evaluated involving the high-dimensional finite element model as plant model.

关键词： Distributed parameter systems Reduced order model Data-driven control Model predictive control Heat conduction

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Effect of TiO2 nanoparticles and hydrogen on the combustion, performance, and emissions of madhuca biodiesel in a diesel engine

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International Journal of Hydrogen Energy 2025年 143卷 635-649页

作者： Madhan Kumar, A. Senthil Nathan, K. Manickam, Selvaraj Gupta, Deepak Vikneswaran, M. Dhamodaran, Gopinath Seetharaman, Sathyanarayanan Thiagarajan, S. Al-Ansari, Mysoon M. Department of Mechanical Engineering Saveetha Engineering College Saveetha Nagar Thandalam Chennai India Department of Mechanical Engineering E.G.S. Pillay Engineering College Tamilnadu Nagapattinam611002 India Department of Automation and Robotics IMPACT College of Engineering and Applied Sciences Bangalore India Department of Mechanical Engineering Graphic Era Hill University Uttarakhand Dehradun248002 India Department of Mechanical Engineering Graphic Era Deemed to Be University Uttarakhand Dehradun248002 India Department of Mechanical Engineering Faculty of Engineering and Technology SRM Institute of Science and Technology Ramapuram Tamilnadu Chennai600089 India Department of Mechanical Engineering Easwari Engineering College Tamilnadu Chennai India Research Chair in Biodiversity & Bioreservation/Tilad Consultancy Department of Botany and Microbiology College of Science King Saud University P.O. Box 2455 Riyadh11451 Saudi Arabia Centre for Sustainable Energy Technologies Easwari Engineering College Tamilnadu Chennai India Centre of Research SRM TRP Engineering College TiruchirapalliTamilnadu India

This study investigates the combustion, performance, and emission characteristics of a diesel engine fueled with neat diesel, M20 (a blend of 20 % Madhuca oil and 80 % diesel), and M20 augmented with Titanium dioxide (TiO2) nanoparticles (50 ppm and 100 ppm), under dual-fuel conditions with a constant hydrogen flow rate of 10 LPM. The research aims to address the challenges of biodiesel adoption by leveraging TiO2 nanoparticles and hydrogen to optimize fuel efficiency and emissions. The results reveal that the M20 blend enhanced with 100 ppm TiO2 nanoparticles achieved a peak improvement in brake thermal efficiency (BTE) by 6.76 %, while simultaneously reducing brake-specific fuel consumption (BSFC) by 4.46 %, compared to the M20 blend. Also, emission analysis demonstrated significant reductions in hydrocarbon (HC) and carbon monoxide (CO) emissions, achieving decreases of 2.63 % and 8.53 %, respectively, with the same blend. The inclusion of hydrogen as a secondary fuel with M20 and 100 ppm TiO2 showed 24.23 % improved BTE and 8.32 % reduced BSFC, along with significant emissions reductions: 13.16 % HC, 19.02 % CO, and 4.04 % smoke opacity. However, nitrogen oxide (NOx) emissions increased by 12.67 % due to elevated in-cylinder temperatures with the M20 blend. These findings underscore the potential of Madhuca oil-based biodiesel, when enhanced with nanoparticles and hydrogen, to serve as a sustainable alternative to conventional diesel. By balancing improved performance and reduced environmental impact, this study offers valuable insights into achieving cleaner and more efficient combustion in diesel engines, contributing to the advancement of biofuel applications and emission compliance strategies. © 2025 Hydrogen Energy Publications LLC

关键词： Diesel engines

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Neural Network Regression Analysis of Magnetic Sensor Data for Spatial Magnet Positioning

Neural Network Regression Analysis of Magnetic Sensor Data f...

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Electrical, Electronic and Computing engineering (IcETRAN), International Conference on

作者： Vladimir Sibinović Mirko Raković Department of Automatic Control Faculty of Electronic Engineering University of Niš Niš Serbia Chair of Mechatronics Robotics and Automation Faculty of Technical Science Novi Sad Serbia

ISBN: (数字)9798350386998

ISBN: (纸本)9798350387001

This paper deals with the magnet position estimation based on the measurements from multiple Hall sensors. Estimation of the position is obtained from trained artificial neural networks. Data are gathered using a custom sensor board that has eight three-axis Hall sensors on it, and correlation between magnetic field and position was determined to be able to estimate position in X and Y directions. First measurements were made to determine the optimal height of the magnet for later data gathering. The outcome of the research was evaluated by comparing the ground truth with the estimated values of the best-trained network to determine the error of estimation. Precise measurement of the position of the magnet is intended to be used for the development of a tactile sensor that estimates the contact force through the displacement of the magnet in the deformable layer.

关键词： Magnetic field measurement Systematics Magnetic sensors Layout Estimation Tactile sensors Artificial neural networks

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Design of Image-Based Autonomous Landing Instrumentation and control System for Unmanned Quadrotor Vehicles 10

Design of Image-Based Autonomous Landing Instrumentation and...

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10th IEEE Information Technology International Seminar, ITIS 2024

作者： Fauzan, Ihsan M. Mukhlish, Faqihza Prayoga, Aditya Ahmad, Robby Azhari Institut Teknologi Bandung Instrumentation and Control Master Program Faculty of Industrial Technology Indonesia Institut Teknologi Bandung Engineering Physics Research Group Center for Instrumentation Technology and Automation Indonesia PT. Sas Aero Sishan Engineering Department Indonesia

ISBN: (纸本)9798331521295

The study designs an instrumentation and control system for autonomous quadrotor landing using a visual marker as the landing target. For landing process, the marker used as a landing target is an embedded ArUco marker, capable for detection for both long range and close-range detection. Position of the quadrotor relative from the ArUco marker is estimated using Perspective-N-Point pose estimation. The estimation errors compared to actual measurements are under 20 cm, which is less than the distance between ArUco border and its center. To keep camera for facing downward during the flight, the 2 axis inertially stabilization platform (ISP). The designed ISP can maintain the camera orientation even when quadrotor angle has changed. The landing control system is made for two different scenarios. First scenario is for landing with Global Positioning System (GPS) support, and the second scenario is without GPS support. The landing control system in GPS support scenario uses velocity setpoint to control the quadrotor while in without GPS support scenario, control system uses angle-thrust setpoint to control quadrotor. Quadrotor landing control system can attempt landing on top of the ArUco marker in both scenarios. The trajectory Mean Average Error (MAE) of x and y coordinates and radius of the landing process is (0.108, 0.326, 0.359) m for GPS support scenario and (0.301, 0.251, 0.436) m for without GPS support scenario. © 2024 IEEE.

关键词： Global positioning system

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Exchange Strategies for Multi-Colony Ant Algorithms in Dynamic Environments 13

Exchange Strategies for Multi-Colony Ant Algorithms in Dynam...

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13th IEEE Congress on Evolutionary Computation, CEC 2024

作者： Mavrovouniotis, Michalis Li, Changhe Yazdani, Danial Handjimitsis, Diofantos Eratosthenes Centre of Excellence Limassol Cyprus Cyprus University of Technology Department of Civil Engineering and Geomatics Limassol Cyprus School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China University of Technology Sydney Faculty of Engineering & Information Technology Sydney Australia

ISBN: (纸本)9798350308365

In dynamic optimization problems where optimal solutions change over time, traditional ant colony optimization (ACO) algorithms face limitations. This study explores the adaptation of multi-colony ACO algorithms, known for their enhanced search capabilities in stationary problems, to tackle optimization problems in dynamic environments. Various strategies for exchanging information between colonies, which is a critical factor influencing algorithm performance, are investigated. Using the dynamic traveling salesman problem as a foundation, we generate test cases to reflect real-world complexities. Our results on a set of problem instances reveal that the choice of communication strategy between colonies significantly impacts the adaptability and efficiency of multi-colony ACO algorithms in tracking moving optimum. © 2024 IEEE.

关键词： Ant colony optimization

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