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Exponential Set-Point Stabilization of Underactuated Vehicles Moving in Three-Dimensional Space

IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 270-282页

作者： Xiaodong He Zhiyong Sun Zhiyong Geng Anders Robertsson State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of EngineeringPeking UniversityBeijing 100871China IEEE Department of Electrical Engineering Eindhoven University of Technology(TU/e)5600 MB Eindhoventhe Netherlands Department of Automatic Control LTHLund University22100 LundSweden

This paper investigates the stabilization of underactuated vehicles moving in a three-dimensional vector *** vehicle’s model is established on the matrix Lie group SE(3),which describes the configuration of rigid bodies globally and *** focus on the kinematic model of the underactuated vehicle,which features an underactuation form that has no sway and heave *** compensate for the lack of these two velocities,we construct additional rotation matrices to generate a motion of rotation coupled with ***,the state feedback is designed with the help of the logarithmic map,and we prove that the proposed control law can exponentially stabilize the underactuated vehicle to the identity group element with an almost global domain of ***,the presented control strategy is extended to set-point stabilization in the sense that the underactuated vehicle can be stabilized to an arbitrary desired configuration specified in ***,simulation examples are provided to verify the effectiveness of the stabilization controller.

关键词： Exponential stabilization logarithmic feedback matrix Lie group underactuated vehicle

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Integrating data-informativity conditions in predictor models for single module identification in dynamic networks

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IFAC-PapersOnLine 2023年第2期56卷 2377-2382页

作者： Paul M.J. Van den Hof Karthik R. Ramaswamy Stefanie J.M. Fonken Control Systems Group Department of Electrical Engineering Eindhoven University of Technology The Netherlands

For consistent identification of a target module in a dynamic network with the local direct method, basically two prime conditions need to be satisfied: (a) a set of structural conditions on the choice of the predictor model, i.e. a set of input and output node variables, and (b) conditions on data-informativity. While for conditions (a) constructive algorithms for node selection have been presented that appropriately guarantee that the identified object can indeed reveal the target module, the requirements for satisfying (b) have not yet been integrated fully. In this paper, we will present simplified path-based results for generic data-informativity, and show how they can be integrated in constructive algorithms for predictor model selection that provide consistent target module estimates. It is shown that data-informativity not only requires a sufficient number of external excitation signals to be present in the network, but also puts restrictions on the structure of the predictor model, i.e. the selection of input and output node variables. Some examples are presented to illustrate the new results.

关键词： System identification identifiability dynamic networks interconnected systems

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Optimization-Based Scenario Selection for Stochastic Unit Commitment

Optimization-Based Scenario Selection for Stochastic Unit Co...

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SICE Annual Conference

作者： Yoshihito Kinoshita Takayuki Ishizaki Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo JAPAN

ISBN: (数字)9784907764838

ISBN: (纸本)9798331544461

As a power system operation, a generation schedule indicating optimal on/off and power generation of generators is created so that the power needed by consumers can be generated and transmitted on transmission lines under some uncertainties. To create the economic schedule, we are required to solve a large-scale combinatorial optimization, which takes a long computation time to solve. Therefore, to reduce the computation time, the number of scenarios modeling the uncertainties is reduced based on dual variables which show the importance of the operational constraint violations in the linear relaxed optimization problem. To evaluate the performance of the proposed method, it is applied to the IEEE-118 bus power system model. The results show that the proposed method can reduce the computation time by up to 11% while maintaining the accuracy of the optimization solution.

关键词： Schedules Uncertainty Power transmission lines Computational modeling Stochastic processes Linear programming Generators Power systems Optimization Power generation

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A simulation research method for data injection attacks on DC microgrids

A simulation research method for data injection attacks on D...

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2024 China Automation Congress, CAC 2024

作者： Hou, Yunhui Liu, Mengxiang Shen, Na National Key Laboratory of Transient Physics Nanjing University of Science and Technology Nanjing China Department of Automatic Control and Systems Engineering University of Sheffield Western Bank Sheffield United Kingdom

ISBN: (纸本)9798350368604

By using Typhoon HIL simulator, a simulation research method of data injection attack against secondary control DC microgrid is established, which reveals the important influence of the attack function on the effectiveness and covertness of the attack. Firstly, a decentralized four-node DC microgrid system using TCP/IP Modbus protocol for communication is built in Typhoon HIL simulator, then, a microgrid security testing experimental platform based on the man-in-the-middle attack as a network attack method is built in Kali Linux system, which can carry out timed single- and multilinks data injection attacks and replay attack on the above four-node DC microgrid. The paper designs a variety of data injection attack schemes to study the impact of data injection attacks on voltage and current control in this DC microgrid, including single-link attack, multi-link composite attack, and replay attack using different attack functions. By controlling the main parameters of the attack function, the amplitude of the fluctuation of the output voltage generated by the attack can be controlled, which can produce a more covert and effective attack effect. © 2024 IEEE.

关键词： DC microgrids False data injection attack Man-in-the-middle attack Power grid cyber security Replay attack

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Development and Testing of a Methodology for Studying Digital Instrument Transformers under Conditions of Arc Intermittent Single-Phase Ground Faults

Development and Testing of a Methodology for Studying Digita...

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2023 International Conference on Industrial engineering, Applications and Manufacturing, ICIEAM 2023

作者： Litvinov, Sergey Filatova, Galina Kuzmina, Natalya Ivanovo State Power Engineering University Power Stations Substations and Department Ivanovo Russia Ivanovo State Power Engineering University Electric Power Systems Automatic Control Department Ivanovo Russia

ISBN: (纸本)9781665475952

In Ivanovo State Power engineering University (ISPEU, Ivanovo, Russia) digital instrument current and voltage transformers (DCVTs) has developed. Numerous studies and tests of DCVTs have been carried out;these devices already have operating experience in existing electrical facilities. However, some areas of application of DCVTs require additional research. The article presents a methodology for experimental study of 6(10) kV DCVTs under conditions of arc intermittent single-phase ground faults, a diagram of a test installation, as well as the results of testing the methodology. The article presents the quantitative characteristics of the modes obtained in laboratory conditions. The modes of arc intermittent single-phase ground faults and ferroresonance were simulated using electromagnetic measuring voltage transformers in the installation. However, during the experiments, some shortcomings in the methodology of the experiment were revealed. The article also indicates measures to improve the methodology for conducting further experimental studies of DCVTs. © 2023 IEEE.

关键词： Magnetic resonance

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SightAid: empowering the visually impaired in the Kingdom of Saudi Arabia (KSA) with deep learning-based intelligent wearable vision system

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Neural Computing and Applications 2024年第19期36卷 11075-11095页

作者： Talaat, Fatma M. Farsi, Mohammed Badawy, Mahmoud Elhosseini, Mostafa Machine Learning Department Faculty of Artificial Intelligence Kafrelsheikh University Kafrelsheikh Egypt Faculty of Computer Science & amp Engineering New Mansoura University Gamasa35712 Egypt College of Computer Science and Engineering Taibah University Yanbu46421 Saudi Arabia Computers and Control Systems Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Computer Science and Information Department Applied College Taibah University Madinah46537 Saudi Arabia

In the Kingdom of Saudi Arabia, visual impairment poses significant challenges for approximately 17.5% of school-aged children, mainly due to refractive errors. These challenges extend to everyday navigation, environmental interaction, and overall life quality. Motivated by the desire to empower visually impaired individuals, who face navigational limitations, difficulties in object recognition, and inadequate assistance from traditional technologies, we propose SightAid. This innovative wearable vision system utilizes a deep learning-based framework, addressing the gaps left by current assistive solutions. Traditional methods, such as canes and GPS devices, often fail to meet the nuanced and dynamic needs of the visually impaired, especially in accurately identifying objects, understanding complex environments, and providing essential real-time feedback for independent navigation. SightAid comprises a seven-phase framework involving data collection, preprocessing, and training of a sophisticated deep neural network with multiple convolutional and fully connected layers. This system is integrated into smart glasses with augmented reality displays, enabling real-time object detection and recognition. Interaction with users is facilitated through audio or haptic feedback, informing them about the location and type of objects detected. A continuous learning mechanism, incorporating user feedback and new data, ensures the system's ongoing refinement and adaptability. For performance assessment, we utilized the MNIST dataset, and an Indoor Objects Detection dataset tailored for the visually impaired, featuring images of everyday objects crucial for safe indoor navigation. SightAid demonstrates remarkable performance with accuracy up to 0.9874, recall values between 0.98 and 0.99, F1-scores ranging from 0.98 to 0.99, and AUC-ROC values reaching as high as 0.9999. These metrics significantly surpass those of traditional methods, highlighting SightAid's potential to substan

关键词： Object recognition

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On Space-Filling Input Design for Nonlinear Dynamic Model Learning: A Gaussian Process Approach

arXiv

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arXiv 2025年

作者： Liu, Yuhan Kiss, Máté Tóth, Roland Schoukens, Maarten Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven5600 MB Netherlands Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Budapest1111 Hungary

While optimal input design for linear systems has been well-established, no systematic approach exists for nonlinear systems, where robustness to extrapolation/interpolation errors is prioritized over minimizing estimated parameter variance. To address this issue, we develop a novel identification-oriented space-filling input design strategy for efficient covering of a well-defined region of interest. By placing a Gaussian Process (GP) prior on the joint input-state space, the proposed strategy leverages the GP posterior variance to construct a space-filling promoting input design cost function from the Bayesian point of view. This accordingly enables maximization of the coverage in the region of interest, thereby facilitating the generation of informative datasets. Furthermore, we theoretically prove that minimization of the cost function indicates the space-filling behavior. The effectiveness of the proposed strategy is demonstrated on both an academic example and a mass-spring-damper system, highlighting its potential practical impact on efficient exploration in identification scenarios for nonlinear dynamical systems. © 2025, CC BY-NC-SA.

关键词： Cost functions

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Data-driven Causal Association Discovery in Manufacturing Industries 41

Data-driven Causal Association Discovery in Manufacturing In...

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第41届中国控制会议

作者： Yiming Li Jia Xu Li Li Benoit Iung Department of Control Science & Engineering Tongji University Shanghai Research Institute for Intelligent Autonomous Systems Nancy Research Center for Automatic Control (CRAN CNRS UMR 7039)Lorraine University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the development of smart sensors,information storage,processing technology and computer performance,large amounts of operating data collected from production process provide opportunities as well as challenges in remaining useful life(RUL) *** one hand,data-driven analysis approaches are experiencing a fast *** the other hand,the collected variables may be redundant,noisy and high-dimensional for ***,data dimension reduction is applied for eliminating useless *** from correlation-based methods,causal inference methods can obtain reliable models reflecting causal relationships among interesting ***,the latter is more suitable in data dimension *** this study,we use PCMCI+,a causal discovery method based on graph model,that handles both lagged and contemporaneous relationships in multi-variable time *** validate this method on time series data extracted directly from a medium frequency quenching *** obtained results confirm that PCMCI+is able to recognize causal associations among various sensor *** instance,variables in the same process have relatively larger causal relationships than those in different processes.

关键词： causal discovery manufacturing equipment PCMCI+ multi-sensor

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A Multi-stage Design Approach for Optimizing a PMSG-based Grid-connected Ocean Wave Energy Conversion System

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Protection and control of Modern Power systems 2024年第6期9卷 122-142页

作者： Muhammad Noman Guojie Li Muhammad Waseem Khan Keyou Wang Bei Han the Key Laboratory of Control of Power Transmission and Conversion Ministry of Education(MOE)the Department of Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200030China the Interdisciplinary Re-search Center for Sustainable Energy Systems(IRC-SES) King Fahd University of Petroleum&MineralsDhahran 31261Saudi Arabia

Fully harnessing the ocean wave’s renewable energy resources could benefit coastal ***,ocean wave energy harvesting systems encounter several challenges,i.e.,marine uncertainties,long-distance mainte-nance,power fluctuations,irregular wave currents,non-linear generator dynamics,turbine limitations,cost optimization,and power smoothing *** overcome these challenges,this paper proposes a new multi-stage con-trol design approach for performance evaluation of the os-cillating water column(OWC)-based ocean wave energy conversion(OWEC)*** first stage optimizes the Wells turbine by implementing an efficient airflow control *** achieves maximum power-harvesting ability by eliminating stalling *** the second stage,we investigate the robustness of the permanent magnet syn-chronous generator-based OWEC system by designing adaptive back-stepping controllers,taking into account the Lyapunov stability *** accomplishes precise speed regulation for optimal power extraction while delivering reduced delay response and percentage *** ensure the OWEC system’s availability,the third stage incorporates fault-ride-through *** executes a fault reconfig-urable control for a parallel converter configuration,elimi-nating only the faulty leg instead of the entire power *** the fourth stage,a supercapacitors-based energy management system achieves power smoothing,even when the OWC plant output power *** accomplish this by implementing a model predictive control ***,the Matlab/Simulink results verify that the presented mul-ti-stage control for the OWC OWEC system is an effective design approach,offering an optimal,robust,reliable,and power-smoothing solution.

关键词： Ocean wave energy oscillating water column Wells turbine adaptive control fault-tolerant control energy management system.

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control of 2-D Semi-Markov Jump systems:A View from Mode Generation Mechanism

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 258-260页

作者： Yunzhe Men Jian Sun Jie Chen the National Key Laboratory of Autonomous Intelligent Unmanned Systems the School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

Dear Editor,Two-dimensional(2-D) systems have wide applications in image data processing,gas absorption and fluid dynamics analysis [1]-[3].When there exist abrupt changes in 2-D systems,they are usually modeled by 2-D Markov jump systems(MJSs) or 2-D semi-Markov jump systems(SMJSs).This letter investigates the control of 2-D SMJSs based on a novel mode generation mechanism,which could avoid mode ambiguousness phenomenon caused by the evolution of system mode in two different *** criterion that guarantees the almost surely exponential stability of the system is obtained.A thermal process is studied to demonstrate the availability of the proposed method.

关键词： Markov mode system

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