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AIAA Science and technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Snyder, John Steven Nicholas, Austin K. Collins, Steven M. Ortega, Alejandro Lopez Electric Propulsion Group Jet Propulsion Laboratory California Institute of Technology PasadenaCA United States Navigation and Control Systems Engineer Jet Propulsion Laboratory California Institute of Technology PasadenaCA United States Guidance and Control Systems Section Jet Propulsion Laboratory California Institute of Technology PasadenaCA United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Hall-thruster swirl torque is small enough that it is difficult to measure in ground-based facilities, but large enough that its effects on interplanetary spacecraft can be significant and must be actively managed. NASA’s Psyche mission has provided the first opportunity to directly measure the swirl torque produced by a Hall thruster operating at powers greater than 1.5 kW. When the electric propulsion system is operating, the spacecraft attitude control methodology forces the net torque on the spacecraft to align with a pre-determined direction in the body frame, after which the thruster-induced swirl torque can be separated from the other torques acting on the spacecraft. The swirl torques produced by three of the four thrusters on the Psyche spacecraft were determined over the full operating discharge power range of 1.0 to 4.5 kW, and the maximum value of that torque was 0.86 mN-m at full power. It is shown that the SPT-140 swirl torque results can be scaled from full power to lower powers by the product of the discharge current and the magnet current, and evaluation of cruise thrusting data as the thruster is throttled down in power suggests that swirl torque is not changing significantly with time as a function of operating condition. Finally, calculations of swirl torque using updated numerical simulations are shown to agree reasonably well with the flight data, thus providing confidence in their use for other thrusters prior to flight. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： NASA

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Stochastic Model Predictive control of Charging Energy Hubs with Conformal Prediction

arXiv

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arXiv 2025年

作者： Fernández-Zapico, Diego Hofman, Theo Salazar, Mauro Control Systems Technology Section Eindhoven University of Technology Eindhoven Netherlands

This paper presents an online energy management system for an energy hub where electric vehicles are charged combining on-site photovoltaic generation and battery energy storage with the power grid, with the objective to decide on the battery (dis)charging to minimize the costs of operation. To this end, we devise a scenario-based stochastic model predictive control (MPC) scheme that leverages probabilistic 24-hour-ahead forecasts of charging load, solar generation and day-ahead electricity prices to achieve a cost-optimal operation of the energy hub. The probabilistic forecasts leverage conformal prediction providing calibrated distribution-free confidence intervals starting from a machine learning model that generates no uncertainty quantification. We showcase our controller by running it over a 280-day evaluation in a closed-loop simulated environment to compare the observed cost of two scenario-based MPCs with two deterministic alternatives: a version with point forecast and a version with perfect forecast. Our results indicate that, compared to the perfect forecast implementation, our proposed scenario-based MPCs are 11% more expensive, and 1% better than their deterministic point-forecast counterpart. © 2025, CC BY.

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Ride-pooling Electric Autonomous Mobility-on-Demand: Joint Optimization of Operations and Fleet and Infrastructure Design

arXiv

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arXiv 2024年

作者： Paparella, Fabio Chauhan, Karni Koenders, Luc Hofman, Theo Salazar, Mauro Control Systems Technology Section Eindhoven University of Technology Netherlands

This paper presents a modeling and design optimization framework for an Electric Autonomous Mobility-on-Demand system that allows for ride-pooling, i.e., multiple users can be transported at the same time towards a similar direction to decrease vehicle hours traveled by the fleet at the cost of additional waiting time and delays caused by detours. In particular, we first devise a multi-layer time-invariant network flow model that jointly captures the position and state of charge of the vehicles. Second, we frame the time-optimal operational problem of the fleet, including charging and ride-pooling decisions as a mixed-integer linear program, whereby we jointly optimize the placement of the charging infrastructure. Finally, we perform a case-study using Manhattan taxi-data. Our results indicate that jointly optimizing the charging infrastructure placement allows to decrease overall energy consumption of the fleet and vehicle hours traveled by approximately 1% compared to an heuristic placement. Most significantly, ride-pooling can decrease such costs considerably more, and up to 45%. Finally, we investigate the impact of the vehicle choice on the energy consumption of the fleet, comparing a lightweight two-seater with a heavier four-seater, whereby our results show that the former and latter designs are most convenient for low- and high-demand areas, respectively. Copyright © 2024, The Authors. All rights reserved.

关键词： Energy utilization

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Making an air-source heat pump smart-grid ready

Making an air-source heat pump smart-grid ready

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2023 International Conference on the Built Environment in Transition, CISBAT 2023

作者： Thorsteinsson, S. Cai, H. Bendtsen, J.D. Heer, P. Vivian, J. Section for Automation and Control Aalborg University Denmark Urban Energy Systems Swiss Federal Laboratories for Material Science and Technology Switzerland

In this paper we discuss the differences between the industrial and academic definition of smart-grid readiness of heat pumps and investigate possibilities to bridge this gap such that existing heat pumps, to a higher degree, can participate in a smart-grid or flexibility setting. A weather compensated heat pump has been equipped to enable heating reference tracking by overriding the outdoor air temperature measurement. The reference tracking has been performed using a model predictive controller and a PI-controller. The results show that it is possible to track a heating reference but also that operating the heat pump according to smart-grid objectives has consequences, such as reduced COP and increased defrosting rate. The model predictive and PI-controller showed little difference in performance, meaning that even simple rule-based controllers can be used for tracking. Lastly, the paper provides suggestions for signals that should be available if heat pumps in the future should operate closer to the researchers' expectations of smart-grid readiness. © 2023 Institute of Physics Publishing. All rights reserved.

关键词： Smart power grids

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A Human-optimized Model Predictive control Scheme and Extremum Seeking Parameter Estimator for Slip control of Electric Race Cars

arXiv

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arXiv 2024年

作者： de Vries, Wytze van Kampen, Jorn Salazar, Mauro Control Systems Technology section Eindhoven University of Technology Eindhoven Netherlands

This paper presents a longitudinal slip control system for a rear-wheel-driven electric endurance race car. The control system integrates Model Predictive control (MPC) with Extremum Seeking control (ESC) to optimize the traction and regenerative braking performance of the powertrain. The MPC contains an analytical solution which results in a negligible computation time, whilst providing an optimal solution to a multi-objective optimization problem. The ESC algorithm allows continuous estimation of the optimal slip reference without assuming any prior knowledge of the tire dynamics. Finally, the control parameters are determined using a humandriven preference-based optimization algorithm in order to obtain the desired response. Simulation results and comparisons with other methods demonstrate the system's capability to automatically determine and track the optimal slip values, showing stability and performance under varying conditions. Copyright © 2024, The Authors. All rights reserved.

关键词： Model predictive control

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On Accessibility Fairness in Intermodal Autonomous Mobility-on-Demand systems ⁎

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IFAC-PapersOnLine 2024年第10期58卷 327-333页

作者： Mauro Salazar Sara Betancur Giraldo Fabio Paparella Leonardo Pedroso MOVEMENT Research Group Control Systems Technology section Eindhoven University of Technology 5600 MB Eindhoven The Netherlands

Research on the operation of mobility systems so far has mostly focused on minimizing cost-centered metrics such as average travel time, distance driven, and operational costs. Whilst capturing economic indicators, such metrics do not account for transportation justice aspects. In this paper, we present an optimization model to plan the operation of Intermodal Autonomous Mobility-on-Demand (I-AMoD) systems, where self-driving vehicles provide on-demand mobility jointly with public transit and active modes, with the goal to minimize the accessibility unfairness experienced by the population. Specifically, we first leverage a previously developed network flow model to compute the I-AMoD system operation in a minimum-time manner. Second, we formally define accessibility unfairness, and use it to frame the minimum-accessibility-unfairness problem and cast it as a linear program. We showcase our framework for a real-world case-study in the city of Eindhoven, NL. Our results show that it is possible to reach an operation that is on average fully fair at the cost of a slight travel time increase compared to a minimum-travel-time solution. Thereby we observe that the accessibility fairness of individual paths is, on average, worse than the average values obtained from flows, setting the stage for a discussion on the definition of accessibility fairness itself.

关键词： Mobility Optimization Accessibility Fairness Transport Justice

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Transformer-based Robust Feedback Guidance for Atmospheric Powered Landing

Transformer-based Robust Feedback Guidance for Atmospheric P...

引用

AIAA Science and technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Carradori, Jacopo Sagliano, Marco Mooij, Erwin Section Astrodynamics and Space Mission Systems Engineering for a Mars Precision Lander ESA/ESTEC Delft University of Technology Delft Netherlands Department of Guidance Navigation and Control German Aerospace Center Bremen28359 Germany Section Astrodynamics and Space Mission Delft University of Technology Delft Netherlands

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Rocket reusability is a key factor in enabling quicker and more cost-effective access to space. However, landing on Earth poses significant challenges due to the dynamic and highly uncertain environment. A robust Guidance, Navigation, and control system is essential to guide the vehicle to the landing site while meeting terminal constraints and minimizing fuel consumption. This research integrates Meta-Reinforcement Learning with Gated Transformer XL Neural Networks to enhance the robustness of the powered guidance with respect to atmospheric and aerodynamic uncertainties, navigation and control errors, and dispersed initial conditions. By employing a 6-Degrees-of-Freedom dynamics model and accurate vehicle and environmental simulations, the agent learns a higher fidelity guidance policy compared to existing literature, demonstrating successful and robust performance in Monte Carlo simulations. In this complex scenario, the innovative attention-based neural networks also outperform recurrent neural networks, widely used for Reinforcement Learning-based space guidance applications. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Reusability

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Identifying Lebesgue-sampled Continuous-time Impulse Response Models: A Kernel-based Approach*

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IFAC-PapersOnLine 2023年第2期56卷 4198-4203页

作者： Rodrigo A. González Koen Tiels Tom Oomen Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology The Netherlands Delft Center for Systems and Control Delft University of Technology The Netherlands

control applications are increasingly sampled non-equidistantly in time, including in motion control, networked control, resource-aware control, and event-triggered control. Some of these applications use measurement devices that sample equidistantly in the amplitude domain. The aim of this paper is to develop a non-parametric estimator of the impulse response of continuous-time systems based on such sampling strategy, known as Lebesgue-sampling. To this end, kernel methods are developed to formulate an algorithm that adequately takes into account the output intersample behavior, which ultimately leads to more accurate models and more efficient output sampling compared to the standard approach. The efficacy of this method is demonstrated through a mass-spring damper case study.

关键词： System identification continuous-time systems event-based sampling

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Optimization-based Verification of Discrete-time control Barrier Functions: A Branch-and-Bound Approach

arXiv

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arXiv 2024年

作者： Shakhesi, Erfan Heemels, W.P.M.H. Katriniok, Alexander The Control Systems Technology section Mechanical Engineering Eindhoven University of Technology Netherlands

— Discrete-time control Barrier Functions (DTCBFs) form a powerful control theoretic tool to guarantee safety and synthesize safe controllers for discrete-time dynamical systems. In this paper, we provide an optimization-based algorithm, inspired by the αBB algorithm, for the verification of a candidate DTCBF, i.e., either verifying a given candidate function as a valid DTCBF or falsifying it by providing a counterexample for a general nonlinear discrete-time system with input constraints. This method is applicable whether a corresponding control policy is known or unknown. We apply our method to a numerical case study to illustrate its efficacy. © 2024, CC BY-NC-ND.

关键词： Branch and bound method

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A Kernel-Based Identification Approach to LPV Feedforward: With Application to Motion systems

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IFAC-PapersOnLine 2023年第2期56卷 6063-6068页

作者： M. van Haren L. Blanken T. Oomen Control Systems Technology Section Eindhoven University of Technology The Netherlands Sioux Technologies Eindhoven the Netherlands Delft Center for Systems and Control Delft University of Technology the Netherlands

The increasing demands for motion control result in a situation where Linear Parameter-Varying (LPV) dynamics have to be taken into account. Inverse-model feedforward control for LPV motion systems is challenging, since the inverse of an LPV system is often dynamically dependent on the scheduling sequence. The aim of this paper is to develop an identification approach that directly identifies dynamically scheduled feedforward controllers for LPV motion systems from data. In this paper, the feedforward controller is parameterized in basis functions, similar to, e.g., mass-acceleration feedforward, and is identified by a kernel-based approach such that the parameter dependency for LPV motion systems is addressed. The resulting feedforward includes dynamic dependence and is learned accurately. The developed framework is validated on an example.

关键词： Mechatronics Motion control systems Linear parameter-varying systems Bayesian methods data-driven control

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