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State Derivative Normalization for Continuous-Time Deep Neural networks

IFAC-PapersOnLine 2024年第15期58卷 253-258页

作者： Jonas Weigand Gerben I. Beintema Jonas Ulmen Daniel Görges Roland Tóth Maarten Schoukens Martin Ruskowski Chair of Machine Tools and Control Systems RPTU Kaiserslautern and the German Research Center for Artificial Intelligence Kaiserslautern Germany Control Systems (CS) Group at the Department of Electrical Engineering Eindhoven University of Technology Netherlands. R. Tóth is also affiliated to the Systems and Control Laboratory at the Institute for Computer Science and Control Budapest Hungary Institute for Electromobility RPTU Kaiserslautern Germany

The importance of proper data normalization for deep neural networks is well known. However, in continuous-time state-space model estimation, it has been observed that improper normalization of either the hidden state or hidden state derivative of the model estimate, or even of the time interval can lead to numerical and optimization challenges with deep learning based methods. This results in a reduced model quality. In this contribution, we show that these three normalization tasks are inherently coupled. Due to the existence of this coupling, we propose a solution to all three normalization challenges by introducing a normalization constant at the state derivative level. We show that the appropriate choice of the normalization constant is related to the dynamics of the to-be-identified system and we derive multiple methods of obtaining an effective normalization constant. We compare and discuss all the normalization strategies on a benchmark problem based on experimental data from a cascaded tanks system and compare our results with other methods of the identification literature.

关键词： System Identification Continuous-Time Neural Ordinary Differential Equations Nonlinear State-Space

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Robust Boundary controller Design with Proportional Integral Observer for a Linear 1D Heat Equation*

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IFAC-PapersOnLine 2023年第2期56卷 9918-9923页

作者： S. Koch A. Schaum M. Horn Christian Doppler Laboratory for Model-Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria Chair of Automation and Control Kiel University Kiel Germany

The problem of state estimation with boundary disturbance reconstruction and output regulation for linear 1D parabolic systems with a boundary measurement and unknown constant disturbance input on the opposite boundary is addressed. As the disturbance is unmatched it cannot be directly compensated by the measurement. The problem is addressed with an approach that consists of a backstepping observer for the nominal part with an asymptotic compensation term for the disturbance reconstruction and control offset compensation. The main difference to similar studies relies in the fact that the state space does not need to be extended, leading to a reduced-order observer setup. The effectiveness of the approach is illustrated using numerical simulations.

关键词： Backstepping control of distributed parameter systems Disturbance rejection Output feedback control Observers for linear systems Constrained control Anti-windup

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An Improved DeeplabV3+ Tile Image Positioning Method

An Improved DeeplabV3+ Tile Image Positioning Method

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2024 International Conference Optoelectronic Information and Optical Engineering, OIOE 2024

作者： Li, Xiaoyang Wang, Rui Tong, Xing Niu, Lianqiang Shenyang University of Technology Shenyang China Key Laboratory of Network Control Systems Chinese Academy of Sciences China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9781510688209

ISBN: (纸本)9781510688193

In order to improve the detection accuracy and efficiency of surface defects on ceramic tiles, a detection model based on DeepLabV3+and combined with MobileNetv2 for feature extraction was constructed. Using ECA attention mechanism and multi branch receptive field cascade fusion structure to expand the sampling range of global and local element features for the empty space pyramid pooling module ASPP of the original model. Meanwhile, the model decoder uses depthwise separable convolutions instead of the original standard convolutions. Experimental results have shown that the improved model has an MPA value of 96.12%, a MIou value of 97.29%, an F1 value of 90.03%, and an Accuracy value of 99.89%. Compared with the previous model, the improved model's indicators have increased by 4.07%, 4.44%, 2.04%, and 1.02%, respectively. The segmentation accuracy and detection speed have been significantly improved. The experimental results fully demonstrate that the algorithm proposed in this article can effectively complete the task of detecting surface defects on ceramic tiles. © 2025 SPIE.

关键词： Image segmentation

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Towards safe Bayesian optimization with Wiener kernel regression

arXiv

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arXiv 2024年

作者： Molodchyk, Oleksii Teutsch, Johannes Faulwasser, Timm The Institute of Control Systems Hamburg University of Technology Hamburg21073 Germany The Chair of Automatic Control Engineering Technical University of Munich Munich80333 Germany

Bayesian Optimization (BO) is a data-driven strategy for minimizing/maximizing black-box functions based on probabilistic surrogate models. In the presence of safety constraints, the performance of BO crucially relies on tight probabilistic error bounds related to the uncertainty surrounding the surrogate model. For the case of Gaussian Process surrogates and Gaussian measurement noise, we present a novel error bound based on the recently proposed Wiener kernel regression. We prove that under rather mild assumptions, the proposed error bound is tighter than bounds previously documented in the literature which leads to enlarged safety regions. We draw upon a numerical example to demonstrate the efficacy of the proposed error bound in safe BO. Copyright © 2024, The Authors. All rights reserved.

关键词： Errors

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On a novel tracking differentiator design based on iterative learning in a moving window

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control Theory and technology 2023年第1期21卷 46-55页

作者： Xiangyang Li Rafal Madonski Zhiqiang Gao Senping Tian Key Laboratory of Autonomous Systems and Network Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510641China Energy and Electricity Research Center Jinan UniversityZhuhai 519070China Department of Electrical and Computer Science Cleveland State UniversityClevelandOH 44115USA

Differential signals are key in control engineering as they anticipate future behavior of process variables and therefore are critical in formulating control laws such as proportional-integral-derivative(PID).The practical challenge,however,is to extract such signals from noisy measurements and this difficulty is addressed first by *** in the form of linear and nonlinear tracking differentiator(TD).While improvements were made,TD did not completely resolve the conflict between the noise sensitivity and the accuracy and timeliness of the *** two approaches proposed in this paper start with the basic linear TD,but apply iterative learning mechanism to the historical data in a moving window(MW),to form two new iterative learning tracking differentiators(IL-TD):one is a parallel IL-TD using an iterative ladder network structure which is implementable in analog circuits;the other a serial IL-TD which is implementable digitally on any computer *** algorithms are validated in simulations which show that the proposed two IL-TDs have better tracking differentiation and de-noise performance compared to the existing linear TD.

关键词： Tracking differentiator(TD) Iterative learning Iterative learning tracking differentiator(IL-TD) Active disturbance rejection control(ADRC)-Two-dimensional system(2-D system)

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Consensus + Innovations Approach for Online Distributed Multi-Area Inertia Estimation

Consensus + Innovations Approach for Online Distributed Mult...

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IEEE PES Innovative Smart Grid Technologies Conference Europe (ISGT Europe)

作者： Nicolai Lorenz-Meyer Hans Würfel Johannes Schiffer Chair of Control Systems and Network Control Technology Brandenburg University of Technology Cottbus-Senftenberg Cottbus Germany Infrastructure and Complex Networks Potsdam Institute for Climate Impact Research Potsdam Germany Cottbus-Senftenberg and Fraunhofer Research Institution for Energy Infrastructures and Geothermal Systems (IEG) Brandenburg University of Technology Cottbus Germany

ISBN: (数字)9798350390421

ISBN: (纸本)9798350390438

The reduction of overall system inertia in modern power systems due to the increasing deployment of distributed energy resources is generally recognized as a major issue for system stability. Consequently, real-time monitoring of system inertia is critical to ensure a reliable and cost-effective system operation. Large-scale power systems are typically managed by multiple transmission system operators, making it difficult to have a central entity with access to global measurement data, which is usually required for estimating the overall system inertia. We address this problem by proposing a fully distributed inertia estimation algorithm with rigorous analytical convergence guarantees. This method requires only peer-to-peer sharing of local parameter estimates between neighboring control areas, eliminating the need for a centralized collection of real-time measurements. We robustify the algorithm in the presence of typical power system disturbances and demonstrate its performance in simulations based on the well-known New England IEEE 39-bus system.

关键词： Technological innovation systems operation Europe Estimation Power system stability Stability analysis Real-time systems Smart grids Power system reliability Reliability

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State Estimation Design and Tuning for Autonomous Vehicles in the Era of Data-Based Techniques

State Estimation Design and Tuning for Autonomous Vehicles i...

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International Symposium on Intelligent systems and Informatics (SISY)

作者： Máté Fazekas Péter Gáspár Systems and Control Lab HUN-REN Institute for Computer Science and Control Hungarian Research Network (HUN-REN SZTAKI) Budapet Hungary Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics (BME) Budapest Hungary

ISBN: (数字)9798350385601

ISBN: (纸本)9798350385618

In the era of autonomous vehicles, state estimation is crucial for planning and control. While various sensors like GNSS, IMU, cameras, and wheel encoders provide essential data, each has limitations. Sensor fusion, especially combining GNSS and IMU, addresses these challenges. Recently, data-based techniques using machine learning tools have emerged to enhance tuning processes. However, if an architecture that has a practical impact is utilized, the training of the neural net results in a complicated task. This paper explores different state estimation architectures in the era of data-based techniques and proposes an algorithm generating reference tuning values. The presented methods are tested with real vehicle measurements.

关键词： Training Global navigation satellite system Neural networks Wheels Sensor fusion Sensors Planning State estimation Tuning Autonomous vehicles

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Operation Strategies for Modular Large-Scale Alkaline Electrolysis systems

Operation Strategies for Modular Large-Scale Alkaline Electr...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Hannes Lange Christioph Schirmer Michael Mock Isabell Viedt Anselm Klose Leon Urbas Process Systems Engineering Group TUD Dresden University of Technology Dresden Germany Chair of Process Control Systems TUD Dresden University of Technology Dresden Germany

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

In this paper we compare different operation strategies for alkaline electrolyzis (AEL) systems using numeric simulation. We derived general models for mass and energy balances from literature and composed them into a model for an AEL system. Here we considered a numbered-up plant topology, containing multiple AEL stacks with single electrolyte distribution and gas separation systems. The gas impurities and achievable minimal load distribution were compared for the different operating strategies. The results were discussed and further conclusions for the operation of a homogeneous numbered-up AEL system were derived.

关键词： Impurities Electrolytes Numerical models Topology Electrochemical processes Informatics Load modeling

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Sloshing-Induced Impact Loads and Free Surface Elevation in a Pool in Waves 33rd

Sloshing-Induced Impact Loads and Free Surface Elevation in ...

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33rd International Ocean and Polar Engineering Conference, ISOPE 2023

作者： Neugebauer, Jens Reckers, Lars Qi, Yan Zydeck, Marcel Theilen, Lasse Söffker, Dirk Moctar, Ould El University of Duisburg-Essen Institute of Ship Technology Ocean Engineering and Transport Systems Duisburg Germany University of Duisburg-Essen Chair of Dynamics and Control Duisburg Germany Fr. Lürssen Werft Bremen Germany

ISBN: (纸本)9781880653807

Cruise ships as well as mega yachts tend to be equipped with larger pools in different arrangements to fulfill customers’ increasing requirements. Pool systems may be transversely positioned. These pools are often vulnerable to sloshing, because of the critical encounter periods and larger roll angles (compared to pitch motions). The development of effective measures to actively or passively mitigate sloshing requires a reliable prediction of sloshing in pools, including a prediction of the dynamic loads acting on the sloshing damping devices. Here, we investigated sloshing-induced free surface elevations and dynamic loads acting on the side walls of a transversely positioned model pool. Our experimental setup consisted of a model of a representative mega yacht pool, equipped with different sensors. The free surface elevation in the pool as well as the pressure distribution and forces acting on the transverse pool walls were measured and analyzed. The pool was excited by single and superimposed sway and roll motions of differing amplitudes and periods. We investigated the influence of the pool’s motion degrees-of-freedom and their periods and amplitudes on the free surface elevation and the impact loads. Comparative analyses of forces and localized pressures demonstrated to which extent high pressures at specific locations caused high global loads. We quantified the load distribution on pool walls caused by sloshing-induced waves inside the pool. Finally, we derived practical recommendations for the design loads acting on passive and active damping devices to mitigate sloshing in transversely positioned pools. © 2023 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Dynamic loads

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Green Routing Game: Pollution-Aware Mixed Fleet Logistics with Shared Charging Facilities

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IEEE Transactions on Automatic control 2025年

作者： Sasahara, Hampei Dan, Gyorgy Amin, Saurabh Sandberg, Henrik Institute of Science Tokyo Department of Systems and Control Engineering Tokyo152-8552 Japan KTH Royal Institute of Technology Division of Network and Systems Engineering StockholmSE-100 44 Sweden Massachusetts Institute of Technology Laboratory of Information and Decision Systems CambridgeMA02139 United States KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-100 44 Sweden

Eco-friendly freight operations are crucial for decarbonizing the transportation sector. Systematic analysis of policy measures requires a principled modeling approach. While the commonly used model referred to as routing game considers the congestible nature of transportation facilities, exiting models fail to account for environmental factors. This paper aims at providing a mathematical framework to study strategic interaction between owners of mixed fleets comprising of both internal combustion engine vehicle (ICEV) and electric vehicle (EV) trucks. This study introduces a "green"routing game with incomplete information that models strategic interaction among multiple logistic operators. These players face a pollution tax imposed on ICEVs and a potential delayed delivery cost due to EV charging requirements with uncertainty. In contrast to existing models, this novel model captures the players' trade-off between lengthier congestion delay at charging stations as the share of EV trucks increases and higher pollution costs with increased ICEVs usage, with uncertainty determined by a latent state. We first provide equilibrium characterization and present a condition for essential uniqueness. We show that this equilibrium can be computed in a distributed manner using a gradient projection method. We then introduce a public information system that broadcasts real-time information about the latent state. Importantly, we analyze value of information for providing a condition for the public information to be beneficial. Finally, we present numerical examples to illustrate settings where environmental taxation and information dissemination can improve social welfare. © 1963-2012 IEEE.

关键词： Trucks

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