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Research Square 2021年

作者： Wang, Xiaolin Xu, Jihui Lv, Maolong Zhang, Lei Zhao, Zilong Department of Equipment Management UAV Engineering College Air Force Engineering University Shaanxi Xi’an710051 China Delft Center for Systems and Control Delft University of Technology Mekelweg 2 Delft2628 CD Netherlands Faculty of Electrical Engineering Mathematics and Computer Science Delft University of Technology Van Mourik Broekmanweg 6 Delft2628 XE Netherlands

This article proposes a fixed-time adaptive fault-tolerant control methodology for a larger class of high-order nonlinear systems subject to full-state constraints and actuator faults. In contrast with the state-of-the-art results, the distinguishing feature of our control design consists in proposing a novel high-order tan-type barrier Lyapunov function (BLF) which ensures state variables to be some asymmetric time-varying compact sets under tan-type constraints and expands the application range of tan-type BLF (i.e., from low-order to high-order, from symmetric time-invariant to asymmetric time-varying). Apart from this, the proposed control design ensures the tracking errors converge to specified residual sets within fixed-time and makes the size of the convergence regions of tracking errors adjustable a priori by means of a new BLF-based tuning function and a projection operator. A variable-separable lemma is delicately embedded into the control design to extract the control terms in a linear-like fashion which not only overcomes the difficulty that virtual control signals appear in a non-affine manner, but also solves the problem of actuator faults. Comparative simulations results finally validate the effectiveness of the proposed scheme. © 2021, CC BY.

关键词： Lyapunov functions

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Coherent false seizure prediction in epilepsy, coincidence or providence?

arXiv

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arXiv 2021年

作者： Müller, Jens Yang, Hongliu Eberlein, Matthias Leonhardt, Georg Uckermann, Ortrud Kuhlmann, Levin Tetzlaff, Ronald TU Dresden Faculty of Electrical and Computer Engineering Institute of Circuits and Systems Dresden01062 Germany TU Dresden Neurosurgery of University Hospital Carl Gustav Carus Fetscherstr. 74 Dresden01307 Germany Department of Medicine St Vincent’s Hospital Melbourne FitzroyVIC3065 Australia

Objective Seizure forecasting using machine learning is possible, but the performance is far from ideal, as indicated by many false predictions and low specificity. Here, we examine false and missing alarms of two algorithms on long-term datasets to show that the limitations are less related to classifiers or features, but rather to intrinsic changes in the data. Methods We evaluated two algorithms on three datasets by computing the correlation of false predictions and estimating the information transfer between both classification methods. Results For 9 out of 12 individuals both methods showed a performance better than chance. For all individuals we observed a positive correlation in predictions. For individuals with strong correlation in false predictions we were able to boost the performance of one method by excluding test samples based on the results of the second method. Conclusions Substantially different algorithms exhibit a highly consistent performance and a strong coherency in false and missing alarms. Hence, changing the underlying hypothesis of a preictal state of fixed time length prior to each seizure to a proictal state is more helpful than further optimizing classifiers. Significance The outcome is significant for the evaluation of seizure prediction algorithms on continuous data. © 2021, CC BY-SA.

关键词： Forecasting

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Adaptive neural network based dynamic surface control for uncertain dual arm robots

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International Journal of Dynamics and control 2020年第3期8卷 824-834页

作者： Pham, Dung Tien Nguyen, Thai Van Le, Hai Xuan Nguyen, Linh Thai, Nguyen Huu Phan, Tuan Anh Pham, Hai Tuan Duong, Anh Hoai Bui, Lam Thanh Centre for Autonomous Systems University of Technology SydneyNSW2007 Australia Department of Automatic Control Hanoi University of Science and Technology Hanoi10000 Viet Nam University of Paris Saclay Espace Technologique Bat. Discovery - RD 128 - 2e ét Saint-Aubin91190 France School of Electrical and Electronics Engineering College of Urban Works Construction Hanoi10000 Viet Nam Vinh University of Technology Education VinhNghe An Viet Nam School of Electrical and Electronics Engineering Military Industrial College Hanoi10000 Viet Nam University of Lorraine 34 Cours Léopold Nancy54000 France Faculty of Electrical Engineering Hanoi University of Industry Hanoi10000 Viet Nam

The paper discusses an adaptive strategy to effectively control nonlinear manipulation motions of a dual arm robot (DAR) under system uncertainties including parameter variations, actuator nonlinearities and external disturbances. It is proposed that the control scheme is first derived from the dynamic surface control (DSC) method, which allows the robot’s end-effectors to robustly track the desired trajectories. Moreover, since exactly determining the DAR system’s dynamics is impractical due to the system uncertainties, the uncertain system parameters are then proposed to be adaptively estimated by the use of the radial basis function network (RBFN). The adaptation mechanism is derived from the Lyapunov theory, which theoretically guarantees stability of the closed-loop control system. The effectiveness of the proposed RBFN-DSC approach is demonstrated by implementing the algorithm in a synthetic environment with realistic parameters, where the obtained results are highly promising. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Radial basis function networks

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Chattering-free fixed-time sliding mode control for bilateral teleoperation under unknown time-varying delay via disturbance and state observers

Advanced Control for Applications: Engineering and Industria...

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Advanced control for Applications: engineering and Industrial systems 2020年第4期2卷

作者： Abadi, Ali Soltani Sharif Hosseinabadi, Pooyan Alinaghi Mekhilef, Saad Ordys, Andrzej Department of Electrical Engineering Faculty of Engineering Yazd University Yazd Iran Faculty of Engineering University of Malaya Kuala Lumpur Malaysia School of Software and Electrical Engineering Faculty of Science Engineering and Technology Swinburne University of Technology Melbourne Australia Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz University Jeddah Saudi Arabia The Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland

This paper proposes a new chattering-free Fixed-time Observer-Based Sliding Mode control (FOBSMC) scheme for synchronization of two bilateral teleoperations under unknown time-varying delay. The system is subjected to unknown disturbances which are estimated in a fixed time by utilizing the Disturbance Observer-based SMC scheme. The fixed-time State Observer-based SMC is designed to estimate the unmeasured velocity state, while the position state is assumed to be available. Fixed-time stability method is used to provide the system convergence time independently of initial states. A FOBSMC scheme is first designed for master system of bilateral teleoperation under unknown time-varying delay to track the environmental torque by the human operating torque in the presence of time delay in the communication channel, as well as estimating the unknown disturbances and unmeasured states. A FOBSMC scheme is designed to synchronize slave system to master system in the presence of time delay in the communication channel, as well as estimating disturbances and states. The stability analysis is performed for closed-loop system of combined controller-observer by using Lyapunov theory. The efficacy of the proposed method to fulfill a good transparency and stability under time-varying communication delays is tested by performing numerical simulation in Simulink/MATLAB. © 2020 John Wiley & Sons Ltd.

关键词： Time delay

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Pole placement enhancement of a constrained greenhouse SISO system 1

Pole placement enhancement of a constrained greenhouse SISO ...

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1st International Conference on Innovative Research in Applied Science, engineering and Technology, IRASET 2020

作者： Hamidane, H. Elfaiz, S. Guerbaoui, M. Ed-Dahhak, A. Lachhab, A. Bouchikhi, B. Moulay Ismaïl University Department of Electrical Engineering Modelling Systems Control and Telecommunications Team High School of Technology Meknes Morocco Ibn Zohr University Research team on Energy and Sustainable Development Guelmim Morocco Moulay Ismaïl University Department of Physics Sensor Electronic and Instrumentation Group Faculty of Sciences Meknes Morocco

ISBN: (纸本)9781728149790

In this paper, we present an application of a pole placement technique related to the stability analysis for a linear constrained system. In this regard some of the main approaches that have been used in the last decades dealing with the pole placement will be engaged. Concepts and methods involved in this work include positive invariance as an efficient notion for the pole placement amelioration of a modern SISO system. The state feedback will enhance the stabily of the closed loop system under the notion of constrained control. For this aim, a greenhouse system, is engaged and a linear discrete time state space model, which fits properly the acquired data of the greenhouse, was identified by the mean of the subspace system identification (N4sid) algorithm. The obtained model will be used in order to develop and calculate the state feedback gain based on the so-called Sylvester algebric equation and one of the pole placement techniques algorithm to ameliorate the closedloop pole placement of the system with constraints on the control. © 2020 IEEE.

关键词： Linear systems

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Guaranteed feasible control allocation using model predictive control

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control Theory and Technology 2019年第3期17卷 252-264页

作者： Mehdi NADERI Ali KHAKI SEDIGH Tor Arne JOHANSEN Center of Excellence in Industrial Control Faculty of Electrical Engineering K. N. Toosi University of Technology Seyyed Khandan Bridge Shariati Ave. Tehran Iran Center for Autonomous Marine Operation and Systems Department of Engineering Cybernetics Norwegian University of Science and Technology N7491 Trondheim Norway

This paper proposes a guaranteed feasible control allocation method based on the model predictive control. Feasible region is considered to guarantee the determination of the desired virtual control signal using the pseudo inverse methodology and is described as a set of constraints of an MPC problem. With linear models and the given constraints, feasible region defines a convex polyhedral in the virtual control space. In order to reduce the computational time, the polyhedral can be approximated by a few axis alig ned hypercubes. Employing the MPC with rectangular constraints substantially reduces the computational complexity .In two dimensions, the feasible region can be approximated by a few rectangles of the maximum area using numerical geometry techniques which are considered as the constraints of the MPC problem. Also, an active MPC is defined as the controller to minimize the cost function in the control horizon. Finally, several simulation examples are employed to illustrate the effectiveness of the proposed techniques.

关键词： control allocation feasible region actuator constraints model predictive control

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Investigation of Conditions for Non-degeneracy and Normality in control Problems with Equality and Inequality State Constraints

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IFAC-PapersOnLine 2020年第2期53卷 6869-6874页

作者： Aram Arutyunov Dmitry Karamzin Fernando L. Pereira Institute of Control Sciences of the Russian Academy of Science Moscow Russia Federal Research Center “Computer Science and Control” of the Russian Academy of Science Moscow Russia Research Center for Systems and Technologies (SYSTEC) Electrical and Computer Engineering Department Faculty of Engineering University of Porto 4200-465 Portugal

This work aims to investigate conditions for normality and non-degeneracy of the maximum principle for general state-constrained optimal control problems in which the state constraints are given by equalities and inequalities. Non-degeneracy is proved under a regularity condition formulated in terms of the limiting normal cone to the feasible control set. The same regularity condition implies normality of the maximum principle if one of the end-points is free.

关键词： Optimal control maximum principle state constraints

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A First Course in Feedback, Dynamics and control: Findings from 2019 Online Survey of the International control Community

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IFAC-PapersOnLine 2020年第2期53卷 17264-17275页

作者： J.A. Rossiter K. Zakova M. Huba A. Serbezov A. Visioli Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Slovak University of Technology in Bratislava Faculty of Electrical Engineering and Information Technology Institute of Automotive Mechatronics Bratislava Slovakia Rose-Hulman Institute of Technology Terre Haute IN 47803 Department of Mechanical and Industrial Engineering University of Brescia Italy

This paper summarizes the results from a large-scale survey on the content and teaching philosophy of the first, and in many cases the only, control course taken by undergraduate students in engineering and applied sciences around the world. The IFAC Technical Committee on Education developed and administered the survey in 2019. At the time of writing, 201 control professionals have responded to the survey. The majority view is that the first course in control should focus on concepts and avoid excessive mathematical proofs. The responders ranked the depth of coverage of 63 topics commonly found in introductory control texts. Based on the ranking results, a sample curriculum for a first control course is outlined.

关键词： engineering education Automatic control curriculum Introductory control curriculum

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Fractional-order biological system: chaos, multistability and coexisting attractors

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The European Physical Journal Special Topics 2021年第5期231卷 1061-1070页

作者： Debbouche, Nadjette Ouannas, Adel Momani, Shaher Cafagna, Donato Pham, Viet-Thanh Laboratory of Dynamical System and Control University of Larbi Ben M’hidi Oum El Bouaghi Algeria Department of Mathematics and Computer Sciences Larbi Ben M’hidi University Oum El Bouaghi Algeria Nonlinear Dynamics Research Center (NDRC) College of Humanities and Sciences Ajman University Ajman UAE Department of Mathematics Faculty of Science University of Jordan Amman Jordan Department of Innovation Engineering University of Salento Lecce Italy Nonlinear Systems and Applications Faculty of Electrical and Electronics Engineering Ton Duc Thang University Ho Chi Minh City Vietnam

In this paper, the nonlinear dynamics of the biological system modeled by the fractional incommensurate order Van der Pol equations are investigated. The stability of the proposed fractional non-autonomous system is analyzed by varying both the fractional order derivative and system parameters. Moreover, very interesting phenomena such as symmetry, multi-stability and coexistence of attractors are discovered in the considered biological system. Numerical simulations are performed by considering the Caputo fractional derivative and results are reported by means of bifurcation diagrams, computation of the largest Lyapunov exponent, phase portraits in 2D and 3D projections.

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Modem Mechatronics and Robotics Education Program: Border Cooperation between Estonia and Russia

Modem Mechatronics and Robotics Education Program: Border Co...

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IEEE Education engineering (EDUCON)

作者： Anton Rassõlkin Toomas Vaimann Karolina Kudelina Galina L. Demidova Dmitry V. Lukichev Svetlana Yu.Perepelkina Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728109305

ISBN: (纸本)9781728109312

The paper describes the interaction between Tallinn University of Technology (TalTech, Tallinn, Estonia) and ITMO University (St. Petersburg, Russia) based on recently signed agreement. The purpose of the agreement is to record the intention of TalTech and ITMO University to cooperate on implementing a double master's degree program, which involves confirmation of the master's educational level absorption and the award of master's degree and obtention of two diplomas, and to outline the organizational form, principles and terms of the implementation. The double degree Program is a two-year Master's program of 120 ECTS credit points. Its structure and content meets the requirements that both TalTech and ITMO University have established for their master's programs, in accordance with the government standards. Development and approval of the double degree Program is held by the Parties in accordance with the procedures established by them. This paper describes the procedure of implementation of a double-degree master program in mechatronics engineering.

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