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Intelligent Adaptive control of Mode-Switch processes

IFAC Proceedings Volumes 1991年第1期24卷 145-150页

作者： R.A. Hilhorst J. van Amerongen P. Löhnberg H.J.A.F. Tulleken Control Systems and Computer Engineering Group Dept of Electrical Engineering University of Twente and Mechatronics Research Centre Twente P. O. Box 217 7500 AE Enschede The Netherlands Process Systems Group Dept of Mathematics & Systems Engineering Koninklijke/Shell-Laboratorium (Shell Research B.V.) P.O. Box 3003 1003 AA Amsterdam The Netherlands

The intelligence of controllers has increased over the decades. However, the number of applications of adaptive controllers is still restricted, due to practical limits of the implemented continuous adaptation. For processes which operate only in a limited number of modes (so called mode-switch processes), constant adaptation is not needed or desired. In this paper an intelligent extension of adaptive control will be presented, in which process behaviour can be stored in a memory, retrieved from it and evaluated for each mode of operation. This intelligent memory concept leads to an adaptive control structure which, after a learning phase, quickly adjusts the controller parameters based on retrieval of old information, without the need to relearn every time. This approach has been tested on a simulation model of an assembly robot, but it is directly applicable to many processes in the (petro)chemical industry.

关键词： Adaptive control Supervisory control Automatic tuning Mode-switch processes Bumpless transfer

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Model Predictive control Based Reference Generation for Optimal Proportional Integral Derivative control

Model Predictive Control Based Reference Generation for Opti...

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Mediterranean Conference on control and Automation (MED)

作者： Fatos Gashi Khalil Abuibaid Martin Ruskowski Achim Wagner German Research Center for Artificial Intelligence (DFKI) Kaiserslautern Germany Department of Mechanical and Process Engineering Chair of Machine Tools and Control Systems RPTU Kaiserslautern-Landau Kaiserslautern Germany

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

We introduce an alternative approach towards optimal proportional integral derivative (PID) control, consisting of model predictive control (MPC) based reference generation. To this end, we have integrated the reference as part of optimization variables of the resulting problem, where a deliberate sequence of errors is induced to obtain an optimal PID control action. In addition, the desired behavior of the PID controller is achieved without the need for internal modification of the PID gains. To better highlight the ability of coping with poor PID tuning, several test cases consisting of progressively degraded PID gains are presented. Validation of the proposed strategy is displayed by comprehensive simulations using two different plants.

关键词： PI control Automation PD control Tuning Optimization Predictive control

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Tip-and Laser-based 3D Nanofabrication in Extended Macroscopic Working Areas

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Nanomanufacturing and Metrology 2021年第3期4卷 132-148页

作者： Ingo Ortlepp Thomas Frohlich Roland FuBl Johann Reger Christoph Schaffel Stefan Sinzinger Steffen Strehle ReneTheska Lena Zentner Jens-Peter Zollner Ivo WRangelow Carsten Reinhardt Tino Hausotte Xinrui Cao Oliver Dannberg Florian Fern David Fischer Stephan Gorges Martin Hofmann Johannes Kirchner Andreas Meister Taras Sasiuk Ralf Schienbein Shraddha Supreeti Laura Mohr-Weidenfeller Christoph Weise Christoph Reuter Jaqueline Stauffenberg Eberhard Manske Institute of Process Measurement and Sensor Technology Technische Universitat IlmenauEhrenbergstrasse 2998693 IlmenauGermany Control Engineering Group Technische Universitat IlmenauIlmenauGermany Optical Engineering Group.Technische Universitat Ilmenau IlmenauGermany Microsystems Technology Group.Technische Universitat Ilmenau IlmenauGermany Precision Engineering Group.Technische Universitat Ilmenau IlmenauGermany Compliant Systems Group Technische Universitat IlmenauIlmenauGermany Micro-and Nanoelectronic Systems Group Technische Universitat IlmenauIlmenauGermany Nanoscale Systems Group.Technische Universitat Ilmenau IlmenauGermany Division for Research Service and Technology Transfer Technische Universitat IlmenauIlmenauGermany Electronics Technology Group.Technische Universitat Ilmenau IlmenauGermany IMMS Institut flir Mikroelektronik-und Mechatronik-Systeme Gemeinniitzige GmbH(IMMS GmbH) IlmenauGermany Fachgebiet Technische Physik City University of Applied SciencesBremenGermany Lehrstuhl fiir Fertigungsmesstechnik Friedrich-Alexander-U niversitat(FAU)Erlangen-NiirnbergGermany JUMO GmbH&Co.KG FuldaGermany Asphericon GmbH JenaGermany

The field of optical lithography is subject to intense research and has gained enormous ***,the effort necessary for creating structures at the size of 20 nm and below is considerable using conventional *** effort and the resulting financial requirements can only be tackled by few global companies and thus a paradigm change for the semiconductor industry is conceivable:custom design and solutions for specific applications will dominate future development(Fritze in:Panning EM,Liddle JA(eds)Novel patterning *** society for optics and ***,Bellingham,***://***/10.1117/12.2593229).For this reason,new aspects arise for future lithography,which is why enormous effort has been directed to the development of alternative fabrication ***,the technologies emerging from this process,which are promising for coping with the current resolution and accuracy challenges,are only demonstrated as a proof-of-concept on a lab scale of several square *** scale is not adequate for the requirements of modern lithography;therefore,there is the need for new and alternative cross-scale solutions to further advance the possibilities of unconventional *** challenges arise because of the technical progress in various other fields,realizing new and unique functionalities based on nanoscale effects,e.g.,in nanophotonics,quantum computing,energy harvesting,and life *** platforms for basic research in the field of scale-spanning nanomeasuring and nanofabrication are necessary for these tasks,which are available at the Technische Universitiit Ilmenau in the form of nanopositioning and nanomeasuring(NPM)*** this equipment,the limits of technical structurability are explored for high-performance tip-based and laser-based processes for enabling real 3D nanofabrication with the highest precision in an adequate working range of several thousand cubic millimete

关键词： Nanomeasuring Nanopositioning Nanomanufacturing Scale-spanning Tip-based Laser-based Nanofabrication

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A novel tube-based output feedback MPC for constrained linear systems

A novel tube-based output feedback MPC for constrained linea...

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American control Conference

作者： Sankaranarayanan Subramanian Sergio Lucia Sebastian Engell Process Dynamics and Operations Group TU Dortmund Germany Otto-von-Guericke-University Magdeburg Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Germany

ISBN: (纸本)9781509045839

Model Predictive control (MPC) is an advanced strategy for the control of multi-variable and constrained dynamical systems. Tube-based MPC is a robust control technique that handles uncertainties present in the model. Since full state information is seldom available in practical systems, the estimation error must also be taken into account in addition to model uncertainties to achieve closed-loop stability and constraint satisfaction despite estimation and model errors. In this paper, we propose a novel strategy for the design of a tube-based output feedback MPC which is independent of the estimation method employed. We formulate a control policy by choosing a candidate estimate that is consistent with the reachable sets of the system under control. The proposed method can be combined with any estimation scheme as long as the assumed error bounds are satisfied. We show that the proposed method is recursively feasible, robustly exponentially stable, and performs better than other available strategies.

关键词： Maximum Allowable Concentration Linear system control strategy Output feedback constraint satisfaction problems model error control technology model uncertainty Statistical analysis

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Stochastic Online Optimization for Cyber-Physical and Robotic systems

arXiv

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arXiv 2024年

作者： Ma, Hao Zeilinger, Melanie Muehlebach, Michael Learning and Dynamical Systems Group Max Planck Institute for Intelligent Systems Max-Planck-Ring 4 Tübingen Germany Department of Mechanical and Process Engineering Institute for Dynamic Systems and Control Leonhardstrasse 21 Zürich8092 Switzerland

We propose a novel gradient-based online optimization framework for solving stochastic programming problems that frequently arise in the context of cyber-physical and robotic systems. Our problem formulation accommodates constraints that model the evolution of a cyber-physical system, which has, in general, a continuous state and action space, is nonlinear, and where the state is only partially observed. We also incorporate an approximate model of the dynamics as prior knowledge into the learning process and show that even rough estimates of the dynamics can significantly improve the convergence of our algorithms. Our online optimization framework encompasses both gradient descent and quasi-Newton methods, and we provide a unified convergence analysis of our algorithms in a non-convex setting. We also characterize the impact of modeling errors in the system dynamics on the convergence rate of the algorithms. Finally, we evaluate our algorithms in simulations of a flexible beam, a four-legged walking robot, and in real-world experiments with a ping-pong playing robot. Copyright © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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Hierarchical Distributed Model Predictive control based on Dual Decomposition and Quadratic Approximation

Hierarchical Distributed Model Predictive Control based on D...

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Mediterranean Conference on control and Automation (MED)

作者： Vassilios Yfantis Nigora Gafur Achim Wagner Martin Ruskowski Department of Mechanical and Process Engineering Chair of Machine Tools and Control Systems Technische Universit&#x00E4 t Kaiserslautern Kaiserslautern Germany German Research Center for Artificial Intelligence (DFKI) Kaiserslautern Germany

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

This paper presents a dual decomposition-based distributed optimization algorithm and applies it to distributed model predictive control (DMPC) problems. The considered DMPC problems are coupled through shared limited resources. Lagrangian duality can be used to decompose an MPC problem, so that each subsystem can compute its individual resource utilization, without sharing information, such as dynamics or constraints, with the other subsystems. The feasibility of the central problem is ensured by the coordination of the subproblems through dual variables which can be interpreted as prices on the shared limited resources. The proposed coordination algorithm makes efficient use of information collected from previous iterations by performing a quadratic approximation of the dual function of the central MPC problem. Aggressive update steps of the dual variables are prevented through a covariance-based step size constraint. The nonsmoothness encountered in dual optimization problems is addressed by the construction of cutting planes, similar to bundle methods for nonsmooth optimization. The cutting planes ensure that the updated dual variables do not lie outside the range of validity of the dual approximation. The proposed algorithm is evaluated on a two-tank system and compared to the standard subgradient method. The results show that the rate of convergence towards the centralized solution can be significantly improved while still preserving privacy between the subsystems through limited information exchange.

关键词： Privacy Heuristic algorithms Prediction algorithms Approximation algorithms Dynamic scheduling Resource management Optimization

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A Hierarchical Dual Decomposition-based Distributed Optimization Algorithm combining Quasi-Newton Steps and Bundle Methods

A Hierarchical Dual Decomposition-based Distributed Optimiza...

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Mediterranean Conference on control and Automation (MED)

作者： Vassilios Yfantis Martin Ruskowski Department of Mechanical and Process Engineering Chair of Machine Tools and Control Systems Technische Universit&#x00E4 t Kaiserslautern Kaiserslautern Germany German Research Center for Artificial Intelligence (DFKI) Kaiserslautern Germany

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

This paper presents a hierarchical distributed optimization algorithm based on quasi-Newton update steps. Separable convex optimization problems are decoupled through dual decomposition and solved in a distributed fashion by coordinating the solutions of the subproblems through dual variables. The proposed algorithm updates the dual variables by approximating the Hessian of the dual function through collected subgradient information, analogously to quasi-Newton methods. As the dual maximization problem is generally nonsmooth, a smooth approximation might show poor performance. To this end cutting planes, analogous to bundle methods, are constructed that take the nonsmoothness of the dual function into account and lead to a better convergence behavior near the optimum. The proposed algorithm is evaluated on a large set of benchmark problems and compared to the subgradient method and to the bundle trust method for nonsmooth optimization.

关键词： Automation Benchmark testing Approximation algorithms Convex functions Behavioral sciences Optimization Convergence

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Dynamic path planning and reactive scheduling for a robotic manipulator using nonlinear model predictive control

Dynamic path planning and reactive scheduling for a robotic ...

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Mediterranean Conference on control and Automation (MED)

作者： Nigora Gafur Leo Weber Vassilios Yfantis Achim Wagner Martin Ruskwoski Department of Mechanical and Process Engineering Chair of Machine Tools and Control Systems Technische Universit&#x00E4 t Kaiserslautern Kaiserslautern Germany German Research Center for Artificial Intelligence (DFKI) Kaiserslautern Germany

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

Operation of robotic manipulators is limited to structured environments and well-defined tasks due to an offline path planning. However, flexible production processes and human-robot collaboration necessitates a real time path planning to allow for replanning a path in changing environments. In this work, we investigate established planning algorithms for their applicability to dynamic path planning problems. We further compare these methods with our approach based on model predictive control. We consider a single manipulator with six degrees of freedom in static and dynamic environments. We investigate three experimental setups and show the advantages of the proposed MPC-ELS approach over more traditional path planning algorithms in terms of several metrics, such as path-length, execution time or trajectory smoothness. In addition, we propose a scheduling algorithm for object allocation to determine an optimal sequence for pick and place tasks with regard to minimum execution time.

关键词： Measurement Scheduling algorithms Heuristic algorithms Production Prediction algorithms Dynamic scheduling Trajectory

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Experiment design for Pauli channel estimation

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IFAC Proceedings Volumes 2011年第1期44卷 4344-4349页

作者： Gábor Balló Katalin M. Hangos Department of Electrical Engineering and Information Systems University of Pannonia Egyetem u. 10 H-8200 Veszprém Hungary Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary

Abstract Experiment design for quantum channel parameter estimation includes the design of the quantum input to the channel and the observables to be applied on the resulting quantum output system, called the experiment configuration. An experiment design procedure based on maximizing the Fisher information of the qubit Pauli channel parameters is presented in this paper. It can be shown that the Fisher information is a convex function in both the input and the experiment configuration parameters. This leads to an optimal setting that includes pure input states and projective measurements directed towards the channel directions. An iterative method of estimating the channel directions is also proposed.

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Measure and integration theory

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Lecture Notes in Applied and Computational Mechanics 2008年 36卷 43-57页

作者： Leine, Remco I. van de Wouw, Nathan Department of Mechanical and Process Engineering Institute of Mechanical Systems ETH Zurich CH-8092 Zurich Switzerland Dynamics and Control Group Department of Mechanical Engineering Eindhoven University of Technology PO Box 513 5600 MB Eindhoven Netherlands

ISBN: (纸本)9783540769743

The theory of measures forms the basis for the modern integration theory and both are quintessential for the understanding of measure differential inclusions which will be dealt with in Chapter 4. Moreau, who introduced the notion measure differential inclusions in [117-120, 122, 123], directly introduces the so-called *** measure. In Chapter 4, it will be explained in more detail that a measure *** inclusion actually describes how the *** measure of the state relates to the state and time in analogy with the fact that a (first-order) differential inclusion (or equation) describes how the time derivative of the state depends on the state and time. In this chapter we give a brief overview of measure and integration theory and relate the differential measure used by Moreau to real measures and (signed) measures. The theory presented in this chapter is based on standard textbooks about measure and integration theory [47,150], various publications of Moreau and others [63,116, 122,124] as well as the work of P. Ballard communicated through lecture notes of a summer course on Non-smooth Dynamical systems (2003, Praz-sur-Arly). This chapter may be very demanding and a reader on the verge of despair should keep the key result of this chapter in mind: every function of locally bounded variation can be decomposed in an absolutely continuous function, a step function and a singular function. As will appear in Chapter 4, solutions of measure differential inclusions are defined as functions of locally bounded variation. The latter fact clearly implies that the solutions of measure differential inclusions may include the contribution of step functions, which can account for jumps in the state evolution (such as e.g. velocity jumps in mechanical systems with impacts).

关键词： Dynamical systems

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