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检索条件"机构=Control Systems and Network Control Engineering Department"

共 17207 条记录，以下是281-290 订阅

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A Monitoring Strategy of Multi-Robot systems in Dynamic Environments: Coverage control and Density Estimation 11

A Monitoring Strategy of Multi-Robot Systems in Dynamic Envi...

引用

11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Kaviri, Samane Tahsiri, Ahmadreza Taghirad, Hamid D. K.N. Toosi University of Technology Faculty of Electrical Engineering Department Od Systems and Control Tehran Iran

ISBN: (纸本)9798350308105

A critical task in environmental monitoring is the reconstruction of the density function of an event over the mission region. In such tasks, Unmanned Aerial Vehicles (UAVs) are employed as spatially distributed mobile sensing agents. In this paper, we consider the cooperative coverage problem for a group of UAVs in the mission region with a time-varying density function. The density function is modeled by a Gaussian Mixture Model (GMM) with unknown parameters. By resorting to a consensus-based Expectation-Maximization (EM) approach, the GMM parameters are estimated based on the local observations of UAVs. Finally, the proposed strategy is applied to an offshore oil spill monitoring mission. The simulation results verify the theoretical results and demonstrate the competence of the proposed strategy for such applications. © 2023 IEEE.

关键词： Multipurpose robots

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A Resilient Consensus-Based Energy 5.0 Framework for Micro-Grids Under Ramp-Rate Constraints and Stochastic FDI Attacks 25

A Resilient Consensus-Based Energy 5.0 Framework for Micro-G...

引用

25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Ahmed, Ijaz Basit, Abdul Rehan, Muhammad Ali, Amjad Maaruf, Muhammad Khalid, Muhammad Department Of Electrical Engineering Islamabad Pakistan Irc For Sustainable Energy Systems Saudi Arabia Kfupm Control & Instrumentation Engineering Department Dhahran31261 Saudi Arabia Kfupm Electrical Engineering Department Dhahran31261 Saudi Arabia

ISBN: (纸本)9798350340266

Distributed power allocation (DPA) in micro-grids (MGs) has a significant potential for attaining a cost effective and reliable solution of power dispatch. Considering the significant risks posed by cyber-attacks and system limitations to the MGs, it is important to develop resilient methods for an efficient DPA, which is valuable both in terms of theoretical understanding and practical application for energy 5.0 framework. This work addresses the DPA problem in MGs, specifically focusing on the economic dispatch (ED) for the generation side while taking into account ramp-rate limits (RRLs) and stochastic false-data injection (FDI) attacks. A consensus-based protocol has been developed by considering the information of the incremental costs of neighbouring generators and local power mismatch for a generation facility. A stochastic FDI attack at the shared information over the network has been accounted. The proposed technique guarantees robust (and resilient) convergence by providing a sufficient criterion under RRLs and stochastic FDI attacks. The proposed approach is based of the distributed ED framework, and convergence analysis has been performed via two Lyapunov functions. The convergence of total power mismatch and error in synchronization of incremental costs to bounded sets are ensured by the proposed approach. The presented framework achieves an efficient energy production cost. The network's robustness and resilience for the shared information of incremental cost of energy production units as the consensus variable are accounted. The simulation study for a set of five generators under stochastic FDI attacks and RRLs are provided which confirm the theoretical findings of the proposed scheme. © 2024 IEEE.

关键词： network topology

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Efficient and Safe Learning-based control of Piecewise Affine systems Using Optimization-Free Safety Filters 63

Efficient and Safe Learning-based Control of Piecewise Affin...

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： He, Kanghui Shi, Shengling Van Den Boom, Ton De Schutter, Bart Delft University of Technology Delft Center for Systems and Control Delft Netherlands Massachusetts Institute of Technology Department of Chemical Engineering CambridgeMA United States

ISBN: (纸本)9798350316339

control of piecewise affine (PWA) systems under complex constraints faces challenges in guaranteeing both safety and online computational efficiency. Learning-based methods can rapidly generate control signals with good performance, but rarely provide safety guarantees. A safety filter is a modular method to improve safety for any controller. When applied to PWA systems, a traditional safety filter usually need to solve a mixed-integer convex program, which reduces the computational benefit of learning-based controllers. We propose a novel optimization-free safety filter designed to handle state constraints that involve a combination of polyhedra and ellipsoids. The proposed safety filter only utilizes algebraic and min-max operations to determine safe control inputs. This offers a notable advantage compared with traditional safety filters by allowing for significantly more efficient computation of control signals. The proposed safety filter can be integrated into various function approximators, such as neural networks, enabling safe learning throughout the learning process. Simulation results on a bicycle model with PWA approximation validate the proposed method regarding constraint satisfaction, CPU time, and the preservation of sub-optimality. © 2024 IEEE.

关键词： Integer programming

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A Multi-modal Virtual-Real Fusion System for Multi-task Human-Computer Interaction 19

A Multi-modal Virtual-Real Fusion System for Multi-task Huma...

引用

19th IEEE International Conference on networking, Sensing and control, ICNSC 2022

作者： Zhang, Xinlei Yu, Jiahui Sun, Yuxiang Li, Min Song, Yang Zhou, Xianzhong School of Management and Engineering Nanjing University Department of Control and Systems Engineering Nanjing China School of Management and Engineering Research Center for New Technology in Intelligent Equipment Department of Control and Systems Engineering Nanjing China

ISBN: (纸本)9781665472432

Due to the complexity of the task and the diversification of the scene, the traditional interactive control method can no longer meet the requirements of users. To solve this problem, a multi-modal virtual-real fusion system for multi-task human-computer interaction is proposed in this paper, which integrates eye movement, gesture and voice. Frist, aiming at the phenomenon of multi-task and multi-modal, a task-modal matching model is established. Then, the task-modal matching model is abstracted into a multi-objective optimization problem, and a method for solving this problem is designed and a matching scheme is successfully obtained. Meanwhile, the construction of the system is completed for the virtual-real fusion environment, and the control of unmanned car and virtual car is realized. The system can carry out multi-modal interaction and complete multiple tasks in real scene, virtual scene, parallel system and virtual-real fusion scene. Finally, the experiment proves the stability and reliability of the system. © 2022 IEEE.

关键词： Human computer interaction

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Differentially Private Online Federated Learning with Correlated Noise 63

Differentially Private Online Federated Learning with Correl...

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： Zhang, Jiaojiao Zhu, Linglingzhi Johansson, Mikael Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science StockholmSE-100 44 Sweden Chinese University of Hong Kong Department of Systems Engineering and Engineering Management Hong Kong

ISBN: (纸本)9798350316339

We introduce a novel differentially private algorithm for online federated learning that employs temporally correlated noise to enhance utility while ensuring privacy of continuously released models. To address challenges posed by DP noise and local updates with streaming non-iid data, we develop a perturbed iterate analysis to control the impact of the DP noise on the utility. Moreover, we demonstrate how the drift errors from local updates can be effectively managed under a quasi-strong convexity condition. Subject to an (, δ) DP budget, we establish a dynamic regret bound over the entire time horizon, quantifying the impact of key parameters and the intensity of changes in dynamic environments. Numerical experiments confirm the efficacy of the proposed algorithm. © 2024 IEEE.

关键词： Federated learning

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Model Predictive control Based Reference Generation for Optimal Proportional Integral Derivative control 32

Model Predictive Control Based Reference Generation for Opti...

引用

32nd Mediterranean Conference on control and Automation, MED 2024

作者： Gashi, Fatos Abuibaid, Khalil Ruskowski, Martin Wagner, Achim KaiserslauternD-67663 Germany RPTU Kaiserslautern-Landau Machine Tools and Control Systems Department of Mechanical and Process Engineering KaiserslauternD-67663 Germany

ISBN: (纸本)9798350395440

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. © 2024 IEEE.

关键词： Model predictive control

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Multi-Lens Visual SLAM with Integrated Moving Object Removal using Unsupervised Models 1

Multi-Lens Visual SLAM with Integrated Moving Object Removal...

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1st International Conference on Robotics, engineering, Science, and Technology, RESTCON 2024

作者： Hara, Ryoichirou Matsushima, Kousuke Kurume College Advanced Engineering Course National Institute of Technology Fukuoka Japan Kurume College National Institute of Technology Department of Control and Information Systems Engineering Fukuoka Japan

ISBN: (纸本)9798350348842

In Advanced Driver-Assistance systems (ADAS), SLAM (Simultaneous Localization and Mapping) technology is required to accurately estimate the position and orientation of onboard cameras. Compared to LiDAR SLAM, Visual SLAM has the advantage of collecting rich environmental information at a lower cost. However, the accuracy of the estimated pose and map construction is greatly reduced by moving objects in the camera scene. To solve this problem, a multi-camera SLAM has been proposed, which works robustly in dynamic environments by using multiple cameras to acquire more feature points from omnidirectional environmental information. In this paper, we propose a robust SLAM system based on a multi-camera SLAM system combined with object detection and semantic segmentation networks. We then evaluate the robustness of the proposed method by comparing it to SLAM systems that do not remove moving objects. Experimental results showed that the Absolute Trajectory Error and the Relative Position Error performed better than conventional SLAM by masking moving objects. It also showed that more static objects were detected and constructed in the map. © 2024 IEEE.

关键词： Object detection

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A Novel Zero Common-Mode Voltage Modulation Strategy for Dual Three-Phase PWM Inverter Based on Unified Voltage Modulation 4

A Novel Zero Common-Mode Voltage Modulation Strategy for Dua...

引用

4th International Conference on Energy, Power and Electrical engineering, EPEE 2024

作者： Kan, Jinpeng Meng, Yongqing Li, Changyi Chen, Wenjie Li, Fengjiao Shi, Yixin Xi'an Jiaotong University School of Electrical Engineering Xi'an China Avic Xi'an Flight Automatic Control Research Institute Department of Computer and Electronic Systems Engineering Xi'an China

ISBN: (纸本)9798331518066

Power electronic switching devices and pulse width modulation (PWM) not only improves the performance of motor drive systems, but also brings about common-mode voltage (CMV) issues, that challenging the normal operation of the system. This article proposes a zero common-mode voltage modulation strategy based on unified voltage modulation for a 60° Y-connected six-phase permanent magnet synchronous motor system driven by a dual three-phase inverter. The theoretical basis and zero common-mode implementation scheme of unified modulation are analyzed, and the effectiveness of the proposed zero common-mode voltage modulation strategy is finally verified through simulation. © 2024 IEEE.

关键词： Pulse width modulation

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A Novel Random Pulse Width Modulation for PMSM Drive System Based on Unified Voltage Modulation 6

A Novel Random Pulse Width Modulation for PMSM Drive System ...

引用

6th International Conference on Energy, Power and Grid, ICEPG 2024

作者： Kan, Jinpeng Meng, Yongqing Shi, Yixin Li, Fengjiao Chen, Wenjie Li, Changyi Xi'an Jiaotong University School of Electrical Engineering Xi'an China Avic Xi'an Flight Automatic Control Research Institute Department of Computer and Electronic Systems Engineering Xi'an China

ISBN: (纸本)9798350377798

The electromagnetic interference (EMI) problem caused by power electronic switching devices and pulse width modulation (PWM) affects the normal operation of the motor drive system. In this paper, a random PWM based on unified modulation is proposed for permanent magnet synchronous motor (PMSM) drive system. The theoretical basis of unified modulation and the implementation scheme of random modulation are analyzed. Finally, the effectiveness of the proposed random PWM is verified by simulation. © 2024 IEEE.

关键词： Pulse width modulation

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Solving PnP Problem Using Improved Sparrow Search Algorithm

Solving PnP Problem Using Improved Sparrow Search Algorithm

引用

2024 International Symposium on Intelligent Signal Processing and Communication systems, ISPACS 2024

作者： Riku, Kurihara Matsushima, Kousuke Advanced Engineering Course National Institute of Technology Kurume College Kurume Japan Department of Control and Information Systems Engineering National Institute of Technology Kurume College Kurume Japan

ISBN: (纸本)9798350389210

The Perspective-n-Point (PnP) problem is a fundamental challenge in engineering that plays a crucial role in fields such as computer vision and augmented reality. This problem aims to estimate the position and orientation (pose) of a camera from known 3D points and their corresponding 2D projections on the image plane. With recent technological advancements, application areas such as autonomous vehicles, drones, and robotics are demanding increasingly faster and more accurate camera pose estimation. To address this challenge, we have introduced an improved Sparrow Search Algorithm (SSA) with the capability to dynamically restrict the search area. While the conventional SSA demonstrated excellent optimization capabilities, it faced efficiency issues when searching in high-dimensional spaces, such as those encountered in PnP problems. Our enhancement enables the algorithm to leverage information obtained during the search process to gradually narrow down the search area, thereby more efficiently locating the optimal solution. © 2024 IEEE.

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