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IEEE Conference on control Technology and Applications

作者： A. Maxim J. M. Maestre C. F. Caruntu C. Lazar Department of Electrical energy Metals Mechanical Constructions and Systems Ghent University Ghent Belgium Department of Systems and Automation Engineering University of Seville Spain Department of Automatic Control and Applied Informatics ‘Gheorghe Asachi’ Technical University of Iasi Iasi Romania

This paper proposes a robust coalitional distributed model predictive control algorithm suitable for input coupled sub-systems. The core idea is based on a distributed iterative implementation with minimum information exchange, in which the coupling information is regarded as bounded additive uncertainty. If the disturbance received from the neighbours is too large for the local optimization problem, then a coalitional strategy is adopted. The closed-loop stability is guaranteed via terminal constraint. The performance of the coalitional strategy is compared with an iterative min-max distributed model predictive controller and a centralized model predictive controller.

关键词： performance coalitional strategy compared

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Fuzzy control of a two-wheeled mobile pendulum system

Fuzzy control of a two-wheeled mobile pendulum system

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International Symposium on applied Computational Intelligence and informatics ( SACI)

作者： Ákos Odry Ervin Burkus István Kecskés János Fodor Péter Odry Óbuda University Doctoral School of Applied Informatics and Applied Mathematics Budapest Hungary Óbuda University Institute of Intelligent Engineering Systems Budapest Hungary Department of Control Engineering and Information Technology University of Dunaújváros Dunaújváros Hungary

ISBN: (纸本)9781509023813

In this paper, the fuzzy control of a mechatronic system will be studied. The mechatronic system is a special mobile robot (called two-wheeled mobile pendulum) that has two contact points with the supporting surface and its center of mass is located under the wheel axis. Due to the mechanical structure, the inner body (which acts as a pendulum between the wheels) tends to oscillate during the translational motion of the robot, thus the application of complex control solutions is essential in order to stabilize the dynamical system. In the first part of the paper the mechatronic system and the corresponding mathematical model are introduced, while in the second part the design and implementation of different fuzzy controllers are elaborated for the plant. The achieved control performances are analyzed based on simulation and implementation results.

关键词： Mobile robots Oscillators Fuzzy control Wheels Mathematical model Voltage control

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Large-Scale Modelling and Interactive Decision Analysis 1

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丛书名： Lecture Notes in Economics and Mathematical systems

1000年

作者： Günter Fandel Manfred Grauer Alexander Kurzhanski Andrzej Piotr Wierzbicki

ISBN: (数字)9783662024737

ISBN: (纸本)9783540167853

These Proceedings report the scientific results of an International Workshop on Large-Scale Modelling and Interactive Decision Analysis organized Jointly by the System and Decision Sciences Program of the International Institute for applied systems Analysis (IIASA, located in Laxenburg, Austria), and the Institute for informatics of the Academy of Sciences of the GDR (located in Berlin, GDR). The Workshop was held at a historically well-known place - the Wartburg Castl- near Eisenach (GDR). (Here Martin Luther translated the Bible into German.) More than fifty scientists representing thirteen countries participated. This Workshop is one of a series of meetings organizE!d by or In collaboration with IIASA about which two of the Lecture Notes In Economics and Mathematical systems have already reported (Voi. 229 and Vol. 246). This time the aim of the meeting was to discuss methodological and practical problems associated with the modelling of large-scale systems and new approaches In interactive decision analysis based on advanced information processing systems.

关键词： Operations Research/Decision Theory

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Efficient and simple noise filtering for stabilization tuning of a novel version of a model reference adaptive controller

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Lecture Notes in control and Information Sciences 2012年 422卷 205-214页

作者： Tar, József K. Rudas, Imre J. Várkonyi, Teréz A. Kozlowski, Krzysztof R. Institute of Intelligent Engineering Systems John von Neumann Faculty of Informatics Óbuda University Bécsi út 96/B H-1034 Budapest Hungary Applied Informatics Doctoral School John von Neumann Faculty of Informatics Óbuda University Bécsi út 96/B Budapest H-1034 Hungary Department of Control and Systems Engineering Poznań University of Technology ul. Piotrowo 3a Poznań 60-965 Poland

ISBN: (纸本)9781447123422

For the adaptive control of imprecisely and partially modeled nonlinear systems a novel class of "Model Reference Adaptive controllers" (MRAC) using "Robust Fixed Point Transformation" (RFPT) was recently proposed. It applies convergent iterative "learning sequence" of a local and bounded region of convergence. To make it competitive with the Lyapunov function based techniques, which normally guarantee global stability, this new approach was complemented with additional parameter tuning keeping the iterative sequence in the vicinity of the solution of the control task. For an "n-th order system" the novel controller also observes the n-th time-derivatives of the controlled coordinates that may make the adaptive tuning sensitive to measurement noises. To reduce this effect a simple noise filtering method is recommended. Extended simulation results are presented for the adaptive control of a pendulum of an indefinite mass center point determined by the presence of dynamic coupling with an internal degree of freedom that is only approximately modeled by the controller. It is neither observable nor directly controllable. It was found that the simple filtering recommended considerably reduced the sensitivity of the novel method proposed and substantiated the expectations that it could be applied in practice. © 2012 Springer London.

关键词： controllers

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ROBUST STABILITY CHECKING OF A CLASS OF LINEAR INTERVAL FRACTIONAL ORDER SYSTEM USING LYAPUNOV INEQUALITY

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IFAC Proceedings Volumes 2006年第11期39卷 89-94页

作者： Hyosung Ahn YangQuan Chen Igor Podlubny Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT 84322-4160 USA Department of Applied Informatics and Process Control Technical University of Kosice B. Nemcovej 3 04200 Kosice Slovak Republic

This paper provides a new analytical robust stability checking method of fractional-order linear time invariant interval uncertain system. This paper continues the authors’ previous work (Chen et al., 2005a) where matrix perturbation theory was used. For the new robust stability checking, Lyapunov inequality is utilized for finding the maximum eigenvalue of a Hermitian matrix. Through numerical examples, the usefulness and the effectiveness of the newly proposed method are verified.

关键词： Fractional order linear dynamic systems robust stability interval linear time invariant systems interval matrix

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Multi-source information fusion model in rule-based Gaussian-shaped fuzzy control inference system incorporating Gaussian density function

Multi-source information fusion model in rule-based Gaussian...

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作者： Li, Zairan He, Ting Cao, Luying Wu, Tunhua McCauley, Pamela Balas, Valentina E. Shi, Fuqian Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin China Wenzhou Vocational and Technical College Wenzhou China College of Information and Engineering Wenzhou Medical University Wenzhou325035 China Department of Industrial Engineering and Management Systems University of Central Florida OrlandoFL United States Department of Automation and Applied Informatics Aurel Vlaicu University of Arad Romania

An increasing number of applications require the integration of data from various disciplines, which leads to problems with the fusion of multi-source information. In this paper, a special information structure formalized in terms of three indices (the central presentation, population or scale, and density function) is proposed. Single and mixed Gaussian models are used for single source information and their fusion results, and a parameter estimation method is also introduced. Furthermore, fuzzy similarity computing is developed for solving the fuzzy implications under a Mamdani model and a Gaussian-shaped density function. Finally, an improved rule-based Gaussian-shaped fuzzy control inference system is proposed in combination with a nonlinear conjugate gradient and a Takagi-Sugeno (T-S) model, which demonstrated the effectiveness of the proposed method as compared to other fuzzy inference systems. © 2015 - IOS Press and the authors. All rights reserved.

关键词： Fuzzy control

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From Model Predictive control to Data Driven control to Meet High Efficiency Objective of a PMSM Drive System

From Model Predictive Control to Data Driven Control to Meet...

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International Conference on applied and Theoretical Electricity (ICATE)

作者： Madalin Costin Ion Bivol Dept. of Electrical Engineering and Energy Conversion Systems “Dunarea de Jos” University of Galati Galati Romania Dept. of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Iasi Romania

ISBN: (数字)9798350388107

ISBN: (纸本)9798350388114

In this paper is proposed a Data Driven control (DDC) law of a Permanent Magnet Synchronous Machine (PMSM) drive as an alternative to the Model Predictive control (MPC) strategy. The DDC method is designed for the inner control structure of the PMSM drive, the outer speed loop being employed by a classical linear PI controller. Thus, the DDC is based on build up a database of the relevant quantities as electromagnetic torque, speed, voltages and current, all obtained in steady - state regime with MPC strategy, being selected for the highest efficiency values for a given pair of speed and torque. The learning process of the DDC strategy by a mutidimesional interpolation method leads to obtain high performances in both steady - state and dynamic regimes, without any additional optimal current reference command. A comparative analysis done in Matlab simulation environment of the results obtained by both MPC and DDC control laws shows the effectiveness of the last strategies. The DDC method provide a robust optimal control under energetic constraints, being more suitable then the classical MPC law that can not offers reliable results for a large area of conditions in practice.

关键词： Permanent magnet machines Interpolation Torque Stator windings Prediction algorithms Permanent magnets Temperature control Steady-state Reliability Predictive control

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QuITO v.2: Trajectory Optimization with Uniform Error Guarantees under Path Constraints

arXiv

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arXiv 2024年

作者： Ganguly, Siddhartha D’Silva, Rihan Aaron Chatterjee, Debasish Systems and Control Engineering Indian Institute of Technology Mumbai400076 India Applied Mathematics and Physics Graduate School of Informatics Kyoto University Japan Department of Aerospace Engineering University of Illinois at Urbana-Champaign United States

This article introduces a new transcription, change point localization, and mesh refinement scheme for direct optimization-based solutions and for uniform approximation of optimal control trajectories associated with a class of nonlinear constrained optimal control problems (OCPs). The base transcription algorithm for which we establish the refinement algorithm is a direct multiple shooting technique — QuITO v.2 (Quasi-Interpolation based Trajectory Optimization). The mesh refinement technique consists of two steps — localization of certain irregular regions in an optimal control trajectory via wavelets, followed by a targeted ℎ-refinement approach around such regions of irregularity. Theoretical approximation guarantees on uniform grids are presented for optimal controls with certain regularity properties along with guarantees of localization of change points by wavelet transform. Numerical illustrations are provided for control profiles involving discontinuities to show the effectiveness of the localization and refinement strategy. We also announce, and make freely available, a new software package based on QuITO v.2 along with all its functionalities for completeness. The package is available at: https://***/chatterjee-d/***. Copyright © 2024, The Authors. All rights reserved.

关键词： Mesh generation

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Continual Learning of a Time Series Model Using a Mixture of HMMs with Application to the IoT Fuel Sensor Verification 18

Continual Learning of a Time Series Model Using a Mixture of...

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18th Conference on Computer Science and Intelligence systems, FedCSIS 2023

作者： Glomb, Przemyslaw Cholewa, Michal Foszner, Pawel Bularz, Jakub Institute of Theoretical and Applied Informatics Polish Academy of Sciences Batycka 5 Gliwice44-100 Poland Department of Computer Graphics Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 2A Gliwice44-100 Poland Aiut Sp. Z O.o. ul. Wyczókowskiego 113 Gliwice44-109 Poland

ISBN: (纸本)9788396744784

This paper presents an application of a mixture of Hidden Markov Models (HMMs) as a tool for verification of IoT fuel sensors. The IoT fuel sensors report the level of fuel in tanks of a petrol station, and are a key component for monitoring system reliability (billing), safety (fuel/oil leak detection) and security (theft prevention). We propose an algorithm for learning a mixture of HMMs based on a continual learning principle, i.e. it adapts the model while monitoring a sensor over time, signalling unexpected or anomalous sensor reports. We have tested the proposed approach on a real-life data of 15 fuel tanks being monitored with the FuelPrime system, where it has shown a very good performance (average area under ROC curve of 0.94) of detecting anomalies in the sensor data. Additionally we show that the proposed method can be used for trend monitoring and present qualitative analysis of the short and long term learning performance. The proposed method has promising performance score, the resulting model has a high degree of explainability, limited memory and computation requirements and can be easily generalized to other domains of sensor verification. © 2023 Polish Information Processing Society.

关键词： Hidden Markov models

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Tire slip fuzzy control of a laboratory Anti-lock Braking System

Tire slip fuzzy control of a laboratory Anti-lock Braking Sy...

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European control Conference (ECC)

作者： Mircea-Bogdan Rădac Radu-Emil Precup Stefan Preitl József K. Tar Keith J. Burnham Department of Automation and Applied Informatics “Politehnica” University of Timisoara Timisoara Romania Institute of Intelligent Engineering Systems Budapest Tech Polytechnical Institution Budapest Hungary Control Theory and Applications Centre Coventry University Coventry UK

A tire slip fuzzy control solution is designed and implemented in the framework of an Anti-lock Braking System (ABS) comprising a highly nonlinear controlled plant. The fuzzy controllers are designed to work for locally linearized models of the plant. Their parameters are tuned by mapping from simple PI controllers in terms of the modal equivalence principle. The experience from the experiments is incorporated in the design of the rules and the stability analysis enables the controller design. The benefits of filtering the input of the fuzzy controller are highlighted in real-time experimental results.

关键词： Wheels Tires Stability analysis Actuators Friction Fuzzy control Mathematical model

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