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Indistinguishability analysis and observer design for size-structured cell populations

IFAC-PapersOnLine 2023年第2期56卷 581-586页

作者： P. Jerono J.J. Winkin A. Vande Wouwer A. Schaum Digital Process Engineering Group (DPE) Karlsruhe Institute of Technology Germany Department of Mathematics and Institute for Complex Systems (naXys) University of Namur Belgium Systems Estimation Control and Optimization (SECO) University of Mons Belgium Chair of Automation and Control (ACON) Kiel University Germany

The observability property of population balance equations with biomass measurements is addressed within the framework of indistinguishable trajectories. The population balance equation is described by a partial integro-differential equation which is coupled with an ordinary differential equation for the nutrient dynamics. For the semi-discretized model equations, the dynamics of indistinguishable trajectories are derived and evaluated for the special case of equal partitioning at cell division revealing that the observability property is guaranteed as long as the nutrient concentration is not depleted. Based on these results, an observer is designed and tested in simulation to estimate the cell population distribution using biomass measurements in a batch bioreactor for the case of a bi-structured population.

关键词： Observability indistinguishable trajectories cell population dynamics

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Robust Fault-Tolerant control of Wave Equation Without Estimations of Plant and Failure Parameters

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IFAC-PapersOnLine 2022年第26期55卷 143-148页

作者： Zhiji Han Zhijie Liu Thomas Meurer Wei He School of Intelligence Science and Technology and Institute of Artificial Intelligence University of Science and Technology Beijing Beijing 100083 China Chair of Automation and Control Faculty of Engineering Kiel University 24143 Kiel Germany

This paper describes a novel robust fault-tolerant control for a vibrating string (captured by a wave partial differential equation) with constraint to be clamped at the left end and free at the right one. The control input is a force at the right hand, which might be affected by an actuator failure modelled by a general multiplicative type with unknown values. Except for the actuator failure, some physical parameters of the plant are also unavailable. We propose a pure output feedback control law without any estimation terms to guarantee the prescribed performance constraint of the state on the boundary of the closed-loop system and the uniform boundedness of the state in the whole domain. By applying the backstepping technique to the boundary of the system, together with a barrier Lyapunov function, we develop a non-adaptive control method capable of dealing with the underlying problem. Effective control performance in the wave equation with the designed control strategy is verified via Lyapunov analysis and numerical simulation.

关键词： Wave equation Boundary control Fault-tolerant control Prescribed performance constraint Non-adaptive method

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High Performance Simulation Framework of Three-Phase Battery Modular Multilevel Management Converter System 48

High Performance Simulation Framework of Three-Phase Battery...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Karnehm, Dominic Sorokina, Nina Pohlmann, Sebastian Ackermann, Martin Kuder, Manuel Gieraths, Antje Universität der Bundeswehr München Inst. of Intelligent Distributed Systems Neubiberg Germany Universität der Bundeswehr München Inst. of Electrical Energy Systems Neubiberg Germany Universität der Bundeswehr München Chair of Automation and Control Engineering Neubiberg Germany

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Modular multilevel converters are being researched more and more due to the large number of possible applications. In addition to physical experiments, simulations also provide important insights. To make this possible, it is necessary to be able to take advantage of high-performance simulations. This paper introduces a framework to simulate a system consisting of a Permanent magnet synchronous motor (PMSM) and three phases, each with a full-bridge converter and a Battery Modular Multilevel Management (BM3) converter. This framework allows it to simulate up to at least 140 BM3 modules per phase. In experiments, it was shown that it is possible to simulate 10 modules per phase in 1.43 s per uptime second. © 2022 IEEE.

关键词： Battery management systems

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Execution Time Oriented Design of an Adaptive controller for Mobile Machines

Execution Time Oriented Design of an Adaptive Controller for...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Marius Krüger Birgit Vogel-Heuser Dominik Hujo Christoph Huber Johannes Schwarz Boris Lohmann Fabian Kreutmayr Markus Imlauer Technical University of Munich TUM School of Engineering and Design Institute of Automation and Information Systems Garching near Munich Technical University of Munich TUM School of Engineering and Design Chair of Automatic Control Garching near Munich HAWE Hydraulik SE Aschheim near Munich

Mobile and stationary mechatronic systems are often driven by hydraulic actuators which are controlled using valves. Hydraulic systems have a high power density, are robust and cost-effective in the application and can work reliably under rough environmental conditions. For many years, PID controllers build the state-of-the-technology for valve control. Although PID controllers are easy to synthesize and can be executed on low-performing devices, the demand for more adaptive control approaches to deal with non-linearities in hydraulic circuits is increasing. Adaptive controllers tend to be more computationally expensive than PID controllers, so the capability of common hardware devices to execute the algorithms in real-time must also be considered. This paper contributes a feasibility study examining whether adaptive control approaches can be used for valve control in hydraulic-driven mobile machines. Thus, a literature review on adaptive valve control approaches is conducted and a model-based linear adaptive control approach consisting of system identification and control logic execution is extracted. The adaptive controller is applied to a hydraulic testbed and the controller performance is measured in dependence on the cycle time of the controllers to estimate the worst-case execution time. It is investigated whether common control units in mobile machines can reach the execution times and how many valves can be controlled by one control unit in terms of the execution time.

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Testing Intelligence: Accelerating the Verification and Validation of Intelligent Vehicles

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2023年 1-14页

作者： Wang, Fei-Yue Hu, Jia Lai, Jintao State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing China ZhongTe Distinguished Chair in Cooperative Automation Professor Key Laboratory of Road and Traffic Engineering of the Ministry of Education Tongji University Shanghai China Key Laboratory of Road and Traffic Engineering of the Ministry of Education Tongji University Shanghai China

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Distributed Coverage control of Constrained Constant-Speed Unicycle Multi-Agent Systems

arXiv

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arXiv 2023年

作者： Liu, Qingchen Zhang, Zengjie Le, Nhan Khanh Qin, Jiahu Liu, Fangzhou Hirche, Sandra Department of Automation University of Science and Technology of China Hefei China Department of Electrical Engineering Eindhoven University of Technology Netherlands Chair of Information-Oriented Control Technical University of Munich Munich Germany Ningbo Institute of Intelligent Equipment Technology Company Ltd Ningbo China

This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of hard state- and input-dependent constraints and leads to feasibility issues for multi-CSUR systems. In this paper, we solve these problems by designing a novel coverage cost function and a saturated gradient-search-based control law. Theoretical proofs are provided to guarantee that the CSURs ultimately move to the optimal coverage configuration without moving out of the covered domain. The controller is implemented in a distributed manner based on a novel communication standard among the agents. A series of simulation studies are conducted to validate the correctness of our theory by showing the efficacy of the proposed coverage controller in different initial conditions and with various control parameters. A comparison study in simulation reveals the advantage of the proposed method over the conventional method in terms of avoiding infeasibility. The experimental study verifies the applicability of the method to real robots. The development procedure of the method from theoretical analysis to experimental validation provides a novel framework for multiagent system coordinate control with complex dynamics. © 2023, CC BY-NC-SA.

关键词： Multi agent systems

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A Sectorized FCS-MPC Transformerless SST For Power Transmission Application

A Sectorized FCS-MPC Transformerless SST For Power Transmiss...

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European Conference on Power Electronics and Applications

作者： Gabriel Gaburro Bacheti Renner Sartório Camargo Emilio José Bueno Marco Liserre Lucas Frizera Encarnação Department of Electrical Engineering Federal University of Espirito Santo (UFES) Vitoria Brazil Department of Control and Automation Engineering Federal Institute of Espirito Santo (IFES) Serra Brazil Department of Electronics Alcalá University (UAH) Madrid Spain Chair of Power Electronics Christian-Albrechts-Universitat Kiel Germany

ISBN: (数字)9789075815399

ISBN: (纸本)9781665487009

This work proposes a sectorized optimization with Graph Theory applied in cascaded multilevel trans-formerless SST. The sectorized optimization can reduce the FCS-MPC combinational explosion due to the multiple cascaded H-bridges cells, while the proposed control is capable to avoid the prohibitive states maintaining the converter controllability and power quality.

关键词： Reactive power Windings Power quality Power transmission Transformers Prediction algorithms IEEE Standards

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Leveraging Multi-stream Information Fusion for Trajectory Prediction in Low-illumination Scenarios: A Multi-channel Graph Convolutional Approach

arXiv

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arXiv 2022年

作者： Gong, Hailong Li, Zirui Lu, Chao Du, Guodong Gong, Jianwei School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China Chair of Traffic Process Automation "Friedrich List" Faculty of Transport and Traffic Sciences TU Dresden Germany Institute of Dynamic System and Control ETH Zurich Sonneggstrasse 3 Zurich8092 Switzerland

Trajectory prediction is a fundamental problem and challenge for autonomous vehicles. Early works mainly focused on designing complicated architectures for deep-learning-based prediction models in normal-illumination environments, which fail in dealing with low-light conditions. This paper proposes a novel approach for trajectory prediction in low-illumination scenarios by leveraging multi-stream information fusion, which flexibly integrates image, optical flow, and object trajectory information. The image channel employs Convolutional Neural Network (CNN) and Long Short-term Memory (LSTM) networks to extract temporal information from the camera. The optical flow channel is applied to capture the pattern of relative motion between adjacent camera frames and modelled by Spatial-Temporal Graph Convolutional Network (ST-GCN). The trajectory channel is used to recognize high-level interactions between vehicles. Finally, information from all the three channels is effectively fused in the prediction module to generate future trajectories of surrounding vehicles in low-illumination conditions. The proposed multi-channel graph convolutional approach is validated on HEV-I and newly generated Dark-HEV-I, egocentric vision datasets that primarily focus on urban intersection scenarios. The results demonstrate that our method outperforms the baselines, in standard and low-illumination scenarios. Additionally, our approach is generic and applicable to scenarios with different types of perception data. The source code of the proposed approach is available at https://***/TommyGong08/MSIF. Copyright © 2022, The Authors. All rights reserved.

关键词： Optical flows

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Lifecycle traceability towards sustainable and circular value chains: analysis framework and state of the art in the fashion industry

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IFAC-PapersOnLine 2022年第10期55卷 1705-1710页

作者： Riemens Joséphine Lemieux Andrée-Anne Lamouri Samir IFM-KERING Sustainability Chair Institut Français de la Mode 34 Quai d'Austerlitz 75013 Paris Laboratory of Industrial and Human Automation control Mechanical engineering and Computer Science (LAMIH – UMR CNRS 8201) Arts et Métiers Institute of Technology 151 Boulevard de l'Hôpital 75013 Paris

Tremendous environmental and social challenges have been raising traceability as a critical priority in the fashion industry. However, this traditional quality concept inherited from the food sector is prompting major confusions when it comes to sustainability and circularity transition, hindering its implementation. Based on three interrelated dimensions ( Objectives, Scope, and Action levers ) the paper proposes a novel analysis framework to conduct a literature review on lifecycle traceability towards sustainable and circular value chains in the fashion industry. Given the early stage of the topic, the paper opens significant research avenues as well as potential support to practitioners to build-up appropriate traceability action plans.

关键词： traceability transparency sustainability lifecycle supply chain fashion apparel textile

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Graph Reinforcement Learning Application to Co-operative Decision-Making in Mixed Autonomy Traffic: Framework, Survey, and Challenges

arXiv

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arXiv 2022年

作者： Liu, Qi Li, Xueyuan Li, Zirui Wu, Jingda Du, Guodong Gao, Xin Yang, Fan Yuan, Shihua School of Mechanical Engineering Beijing Institute of Technology Beijing China Chair of Traffic Process Automation "Friedrich List" Faculty of Transport and Traffic Sciences TU Dresden Germany School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore639798 Singapore Institute of Dynamic System and Control ETH Zurich Zurich Switzerland

Proper functioning of connected and automated vehicles (CAVs) is crucial for the safety and efficiency of future intelligent transport systems. Meanwhile, transitioning to fully autonomous driving requires a long period of mixed autonomy traffic, including both CAVs and human-driven vehicles. Thus, collaboration decision-making for CAVs is essential to generate appropriate driving behaviors to enhance the safety and efficiency of mixed autonomy traffic. In recent years, deep reinforcement learning (DRL) has been widely used in solving decision-making problems. However, the existing DRL-based methods have been mainly focused on solving the decision-making of a single CAV. Using the existing DRL-based methods in mixed autonomy traffic cannot accurately represent the mutual effects of vehicles and model dynamic traffic environments. To address these shortcomings, this article proposes a graph reinforcement learning (GRL) approach for multi-agent decision-making of CAVs in mixed autonomy traffic. First, a generic and modular GRL framework is designed. Then, a systematic review of DRL and GRL methods is presented, focusing on the problems addressed in recent research. Moreover, a comparative study on different GRL methods is further proposed based on the designed framework to verify the effectiveness of GRL methods. Results show that the GRL methods can well optimize the performance of multi-agent decision-making for CAVs in mixed autonomy traffic compared to the DRL methods. Finally, challenges and future research directions are summarized. This study can provide a valuable research reference for solving the multi-agent decision-making problems of CAVs in mixed autonomy traffic and can promote the implementation of GRL-based methods into intelligent transportation systems. The source code of our work can be found at https://***/Jacklinkk/Graph_CAVs. Copyright © 2022, The Authors. All rights reserved.

关键词： Reinforcement learning

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