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IEEE Conference on Decision and control

作者： Frederik Zahn Tobias Kleinert Veit Hagenmeyer Institute for Automation and Applied Informatics Karlsruhe Institute of Technology Karlsruhe Germany Chair of Process Control Engineering RWTH Aachen University Aachen Germany

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Differential flatness has been defined in the literature for continuous time dynamical systems and for discrete time systems. We define flatness of automata from the perspective of behavioral systems theory, and synthesize a flatness definition for hybrid automata. These new definitions allow for feedforward trajectory generation for flat hybrid automata. Additionally, we provide necessary and sufficient conditions of hybrid automaton flatness for different types of continuous state constraints and switching conditions, and how to compute whether a hybrid automaton is flat. We illustrate feedforward trajectory generation based on our findings for a robotic manipulator example.

关键词： Discrete-time systems Sufficient conditions Automata Switches Manipulators control systems Hybrid power systems Trajectory Feedforward systems Dynamical systems

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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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Toward Automating the Composition of Digital Twins Within System-of-Systems

Toward Automating the Composition of Digital Twins Within Sy...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Milapji Singh Gill Jingxi Zhang Andreas Wortmann Alexander Fay Institute of Automation Technology Helmut Schmidt University Hamburg Germany Institute of Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany Chair of Automation Ruhr University Bochum Germany

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

Cyber-Physical Production Systems necessitate efficient configuration and continuous reconfiguration to adapt to evolving requirements and shifting goals. This process involves integrating various system structures to derive new functions and behaviors. The concept of the Digital Twin, which allows for effective integration and testing, is instrumental in facilitating this task. However, a fundamental prerequisite is that Digital Twins of individual system components must be composed efficiently and in accordance with dynamic System-of-Systems. We address this challenge by introducing an approach for the automated horizontal and vertical composition of Digital Twins, aimed at minimizing manual intervention and enhancing adaptability. Therefore, a pipeline specifically designed for this goal is proposed, which includes the generation of new functions and behaviors. This approach is intended to provide a foundation for future research.

关键词： Production systems Instruments Pipelines Digital twins Manufacturing automation Testing

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Model Transformation for Asset Administration Shells

Model Transformation for Asset Administration Shells

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Annual Conference of Industrial Electronics Society

作者： Torben Miny Michael Thies Ulrich Epple Christian Diedrich Chair of Process Control RWTH Aachen University Aachen Germany Institute for Automation Engineering (IFAT) Otto-von-Guericke Universitat Magdeburg Magdeburg Germany

ISBN: (数字)9781728154145

ISBN: (纸本)9781728154152

In the scope of Industry 4.0 (I40), one goal is the standardized access to asset information and asset services using standardized submodels (submodel templates) in the Asset Administration Shell. Since submodel templates are modeled by different groups of people, the same asset information will be contained in several submodel templates. For automatic generation of new submodels based on existing information from other submodels, model transformation can be a solution. Therefore, in this contribution, we present a guideline on how to develop a new model transformation language for a given use case and apply this guideline to the concrete use case (model transformation for Asset Administration Shells). As a result, we define of the abstract syntax of a customized model transformation language called AASMTL.

关键词： Unified modeling language Object oriented modeling Syntactics Guidelines Semantics Tools Industries

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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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Novel Cascaded Incremental Nonlinear Dynamic Inversion controller Approach for a Tiltrotor VTOL

Novel Cascaded Incremental Nonlinear Dynamic Inversion Contr...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Mark Henkenjohann Udo Nolte Christian Henke Ansgar Trächtler Scientific Automation Fraunhofer Institute for Mechatronic Systems Design Paderborn Germany Chair for Control Engineering and Mechatronics Paderborn University Heinz Nixdorf Institute Paderborn Germany

This paper presents a novel cascaded incremental nonlinear dynamic inversion (INDI) flight controller approach for a tiltrotor VTOL. The main focus is the adaption of INDI to a specific tiltrotor VTOL configuration aiming for optimal exploitation of the actuator capabilities combined with the advantages of a cascaded INDI. For this purpose the tilt angle of the overall thrust vector with respect to the aircraft is introduced as important connection between two cascaded INDIs: For the outer INDI linearizing translational dynamics this serves as virtual control variable. For the inner INDI linearizing rotational dynamics this variable is a pseudo control input. Thus, the tilt mechanisms of the aircraft can be utilized creating rotational and translational dynamics in a cascaded INDI approach linearizing translational and rotational dynamics separately. The approach is evaluated in simulation studies focusing on functionality, linearization and decoupling.

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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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An interval arithmetic approach for discrete time non-smooth uncertain systems with application to an anti-locking system

An interval arithmetic approach for discrete time non-smooth...

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American control Conference (ACC)

作者： J. Heeks E.P. Hofer B. Tibken K. Thorwart Department of Measurement Control and Microtechnology University of Ulm (EBS) Ulm Germany Chair of Automation Control Engineering University of Wuppertal Wuppertal Germany R.O.S.E. Informatik Heidenheim Germany

In this paper, a global optimization technique using interval analysis applied to the simulation of an anti-locking control system with possible sensor tolerances is presented. The anti-locking system and the vehicle are described as an uncertain discrete time system with nonsmooth nonlinearities. Sensor tolerances can be modeled in a natural way by means of interval arithmetics which helps to achieve reliable results in the simulation. However, a simulation approach using merely natural interval extensions leads to overestimations rendering the result useless. Therefore, we employ a global optimization algorithm which allows the inclusion of the actual dynamic system behavior with a predefined and guaranteed overestimation limit. All algorithms are implemented in MATLAB.

关键词： Arithmetic Uncertain systems Wheels Mathematical model Force measurement Road vehicles Velocity measurement Analytical models Discrete time systems Vehicle dynamics

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Indistinguishability analysis and observer design for size-structured cell populations

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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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Distributed localization in wireless sensor networks under denial-of-service attacks

arXiv

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arXiv 2020年

作者： Shi, Lei Liu, Qingchen Shao, Jinliang Cheng, Yuhua School of Automation Engineering University of Electronic Science and Technology of China Sichuan611731 China Chair of Information-Oriented Control Technical University of Munich Munich80869 Germany

—In this paper, we study the problem of localizing the sensors’ positions in presence of denial-of-service (DoS) attacks. We consider a general attack model, in which the attacker action is only constrained through the frequency and duration of DoS attacks. We propose a distributed iterative localization algorithm with an abandonment strategy based on the barycentric coordinate of a sensor with respect to its neighbors, which is computed through relative distance measurements. In particular, if a sensor’s communication links for receiving its neighbors’ information lose packets due to DoS attacks, then the sensor abandons the location estimation. When the attacker launches DoS attacks, the AS-DILOC algorithm is proved theoretically to be able to accurately locate the sensors regardless of the attack strategy at each time. The effectiveness of the proposed algorithm is demonstrated through simulation examples. Copyright © 2020, The Authors. All rights reserved.

关键词： Denial-of-service attack

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