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

作者： Kurtoglu, Deniz Yucelen, Tansel Tran, Dzung Casbeer, David Garcia, Eloy Department of Mechanical Engineering Laboratory for Autonomy Control Information and Systems University of South Florida TampaFL33620 United States Air Force Research Laboratory WPAFB OH45433 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Wepresent a comparative study of traditional "norm-based" and recently developed "norm free" event-triggered control architectures. For this purpose, the benchmark problem of scheduling control data transmissions from an embedded processor (i.e., controller) to a physical plant (i.e., dynamical system) is considered. Both architectures leverage the Lyapunov stability theory in order to address this problem by determining the timing of control data transmissions through their respective event-triggering rules. When the goal of utilizing an event-triggering approach is to reduce the number of data transmissions without sacrificing much from the closed-loop system performance, the norm-free architec ture results in fewer events and, therefore, allows for a greater reduction in control data transmissions. A detailed numerical study is conducted to evaluate these architectures in both open-loop stable and unstable linear time-invariant dynamical systems. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Closed loop control systems

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Design of Robust controller for Tail-Sitter VTOL Aircraft 8

Design of Robust Controller for Tail-Sitter VTOL Aircraft

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8th IEEE International Conference on engineering Technologies and Applied Sciences, ICETAS 2023

作者： Husain, Suha S. Rasheed, Luay T. Mahmod, Rawnaq A. Hamza, Ekhlas K. Noaman, Noaman M. Humaidi, Amjad Jaleel University of Technology Department of Construction and Projects Baghdad Iraq University of Technology Control and Systems Eng. Department Baghdad Iraq Training & Energy Researches Office Ministry of Electricity Baghdad Iraq University of Technology Department of Mechatronics Engineering Bahrain University of Technology Control and Systems Eng. Dept. Baghdad Iraq

ISBN: (纸本)9798350327090

In this study, a robust controller design using an Integral Sliding Mode control (ISMC) approach for controlling the roll motion during the Vertical Take-off and Landing of Unmanned Air Vehicles (VTOL-UAV) is introduced. First, the mathematical model of the VTOL-UAV system is derived, and then the ISMC design is carried out via the system's states. The proposed controller design for controlling the VTOL-UAV system comprises two parts. The first handled the nominal term of the system, while the second tackled and mitigated the effects perturbations from the first instant. The computer simulation has been carried out to demonstrate the ISMC's robustness and its ability to reduce the chattering effect in the control signal. Furthermore, a performance comparison between the proposed controller and other controllers in the literature has been conducted. © 2023 IEEE.

关键词： controllers

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Design of a Mechatronic Endoskeleton Robot for Inspection Tasks: Model Reference Adaptive control (MRAC) for Serpentine Locomotion with Stability Analysis 17

Design of a Mechatronic Endoskeleton Robot for Inspection Ta...

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17th International Conference on Developments in esystems engineering, DeSE 2024

作者： Al Mhdawi, Ammar K. Wright, Nick Younis, Mohammed I. Humaidi, Amjad J. School of Engineering and Sustainable Development De Montfort University LeicesterLE19BH United Kingdom Department of Electrical and Electronic Engineering Newcastle University Newcastle United Kingdom Department of Computer Engineering University of Baghdad Iraq Department of Control and Systems Engineering University of Technology Baghdad Iraq

ISBN: (纸本)9798350368697

An advantage of bio-inspired robots is the versatility of their locomotion on a wide range of terrains that conventional robots are not able to traverse. The snake-like robot, which is a mechanism designed to move in the manner of a biological snake, is an example of a bio-inspired platform. This paper aims to implement and validate, using real and simulation tests on flat terrain, a snake-like endoskeleton robot that permits serpentine movement with adaptive control capabilities. The prototype mechatronic robot was comprised of eleven segments that were 3D printed sequentially. A simulation using Matlab’s Multibody Mechanics tool determines the necessary torques for each motor. In this simulation, a parameterized virtual model of the robot is created, where rectilinear gaits are programmed. In accordance with simulation and experimental results, the robot undertakes different times to reach the goal trajectory or end points depending on the frequency, angular position, and wave length (duty cycle). As a result, there is a high degree of similarity between the simulation tests and those conducted with the prototype endoskeleton. Furthermore, the robot is equipped with machine vision capabilities that allow it to detect faults within oil and gas pipes for the purpose of inspection and maintenance. Furthermore, a Model Reference Adaptive control (MRAC) method based on Lyapunov stability analysis and MIT rules is proposed. The theoretical analysis and numerical simulation show that the designed trajectory tracking control law can make the multi-joint snake-like robot track the trajectory of the front joint when the robot encounters disturbances and stabilize the angular position and velocity of the first two head joints when disturbances occur. © 2024 IEEE.

关键词： Model reference adaptive control

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Instance-Wise MRI Reconstruction Based on Self-Supervised Implicit Neural Representation

Instance-Wise MRI Reconstruction Based on Self-Supervised Im...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Song-Xiao Yang Yi-Zhou Li Masatoshi Okutomi Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

Accelerated MRI involves a trade-off between sampling sufficiency and acquisition time. Supervised deep learning methods have shown great success in MRI reconstruction from under-sampled measurements, but they typically require a large set of fully-sampled MR images for training, which can be difficult to obtain. In this paper, we present a novel fully self-supervised method based on implicit neural representation, which requires only a single under-sampled MRI instance for training. To effectively guide the self-supervised learning process, we introduced multiple novel supervisory signals in both the image and frequency domains. Experimental results indicate that the proposed method outperforms existing self-supervised methods and even a supervised method, demonstrating its strong reliability and flexibility. Our code is publicly available at https://***/YSongxiao/*** relevance— The proposed method can significantly enhance the image quality of under-sampled MR images without the need of ground-truth fully-sampled MR images for supervision and additional prior images for guidance.

关键词： Training Image quality Deep learning Codes Magnetic resonance imaging Frequency-domain analysis Self-supervised learning Reliability engineering in medicine and biology Image reconstruction

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A Comparison Analysis between Two and Three Levels Inverter to Grid-Connected Used the Photovoltaic System 2

A Comparison Analysis between Two and Three Levels Inverter ...

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2nd International Conference on Electronics, Energy and Measurement, IC2EM 2023

作者： Moussa, Faycal Hadj Mihoub Sidi Morsli, Abdelkader Tlemcani, Abdelhalim Belmili, Hocine Nouri, Hassan Medea Algeria Bou-Ismail Tipaza Algeria Electronics and Control Research Group Department of Engineering Design and Mathematics Power Systems Bristol United Kingdom

ISBN: (纸本)9798350314243

This article presents a comparative study of two topologies of three-phase photovoltaic inverters connected to the grid, between the usual two-level inverter and three-level NPC (Neutral Point Clamped) inverter. Inverter control and the boost converter MPPT controller are based on the SRF-dq method and the INC algorithm respectively. The comparison relies on evaluating the overall efficiency and harmonic distortion of the inverter. All circuits are modeled and simulated using Matlab-Simulink. The results obtained indicate satisfaction with the quality, of the current and voltage injected into the electrical grid, and reflect that both inverters are efficient and comply with IEEE-519 standard recommendations, but the three-level inverter performs better results than the two-level inverter. © 2023 IEEE.

关键词： Harmonic distortion

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Comparison of Non-Overlap and Overlap Savonius Wind Turbines in the Physics Aspect Using Computational Fluid Dynamics Method 3

Comparison of Non-Overlap and Overlap Savonius Wind Turbines...

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3rd International Symposium on Physics and Applications 2023, ISPA 2023

作者： Nensy Irawan, Elysa Yamashita, Ken-Ichiro Fujita, Goro Functional Control Systems Shibaura Institute of Technology Tokyo Japan Department of Mechatronics and Artificial Intelligence Universitas Pendidikan Indonesia Bandung Indonesia Department of Electrical Engineering Salesian Polytechnic Tokyo Japan Department of Electrical Engineering Shibaura Institute of Technology Tokyo Japan

Wind energy has good potential as a renewable energy source. Savonius-type wind turbines can provide power generation at a low cost with minimal environmental impact. Due to its low efficiency, researchers were focused on increasing it through many methods, such as applying twisted-bladed, optimizing the blade shape, and applying overlap. Most researchers have studied the effects of overlap on Savonius blades only in terms of performance improvements. This study evaluates the effect of overlap on the Savonius blade from a physics perspective using the Computational Fluid Dynamics method to get a new approach based on the improvement. The models are 2-bladed Savonius with non-overlap and 0.2 overlap. The main software used is Ansys Student 2023 R2. The turbulent model chosen is a realizable k-ïσ enhanced wall treatment. Then, pressure and velocity coupling were done using SIMPLE: 2nd order upwind, 1st order implicit. As a result, the overlap model has a higher reverse flow but lower pressure for all Tip Speed Ratio. Another finding shows that turbulent kinetic energy decreases with overlap. For the non-overlap model, the amount of turbulence is greater downstream, which causes vortices to form and lowers turbine performance. So, the effects of the overlap blade result in higher average Torque Coefficient than non-overlap. © Published under licence by IOP Publishing Ltd.

关键词： Wind turbines

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Online controller Tuning Method Using Fictitious Reference Iterative Tuning Based on Recursive Least-Squares Method for Quadrotor Flight control

Online Controller Tuning Method Using Fictitious Reference I...

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2023 IEEE International Conference on Industrial engineering and engineering Management, IEEM 2023

作者： Sato, Ayumu Tanaka, Ryo Advanced Engineering School National Institute of Technology Kurume College Fukuoka Japan National Institute of Technology Kurume College Department of Control and Information Systems Engineering Fukuoka Japan

ISBN: (纸本)9798350323153

This paper proposes an online controller tuning method using fictitious reference iterative tuning (FRIT) design method based on recursive least-squares (RLS) method for quadrotor flight control. FRIT is a method of directly adjusting controller parameters such as PID gains using input/output data without using a mathematical model of the controlled object. This paper compares the performance of conventional discrete PID control with that of discrete PID control implementing RLS-FRIT by simulation. The results show that the proposed RLS-FRIT has better control performance than the conventional method. The robustness against disturbances was also found to be superior to that of the conventional method. © 2023 IEEE.

关键词： Fictitious Reference Iterative Tuning (FRIT) Recursive Least-Squares (RLS)

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Achieving an Accurate Random Process Model for PV Power Using Cheap Data:Leveraging the SDE and Public Weather Reports

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CSEE Journal of Power and Energy systems 2025年第1期11卷 124-135页

作者： Yiwei Qiu Jin Lin Zhipeng Zhou Ningyi Dai Feng Liu Yonghua Song College of Electrical Engineering Sichuan UniversityChengdu610065China State Key Laboratory of the Control and Simulation of Power Systems and Generation Equipment Tsinghua UniversityBeijing 100087China State Key Laboratory of Internet of Things for Smart City University of MacaoMacao999078China Department of Electrical Engineering Tsinghua UniversityBeijing100087China

Stochastic differential equation (SDE)-based random process models of renewable energy sources (RESs) jointly capture evolving probability distribution and temporal correlation in continuous time. It enabled recent studies to remarkably improve performance of power system dynamic uncertainty quantification and optimization. However, considering the non-homogeneous random process nature of PV, there still remains a challenging question: how can a realistic and accurate daily SDE model for PV power be obtained that reflects its weather-dependent and non-Gaussian uncertainty in operation, especially when high-resolution numerical weather prediction (NWP) or sky imager is unavailable for many distributed plants? To fill this gap, this article finds that an accurate SDE model for PV power can be constructed only using the data from low-resolution public weather reports. Specifically, for each day, an hourly parameterized Jacobi diffusion process recreates temporal patterns of PV volatility. Its parameters are mapped from the day's public weather reports to reflect varying weather conditions using a simple learning model. The SDE model jointly captures intraday and intrahour volatility. Statistical examination shows that the proposed approach outperforms a selection of the latest deep learning-based time series models on real-world data collected in Macao.

关键词： Photovoltaic(PV)power random process stochastic differential equation(SDE) stochastic optimization time series modeling uncertainty quantification weather report

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Matrix-Scaled Consensus of Uncertain networked systems 42

Matrix-Scaled Consensus of Uncertain Networked Systems

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42nd Chinese control Conference, CCC 2023

作者： Cheng, Bin Li, Gang College of Electronics and Information Engineering Department of Control Science and Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China

ISBN: (纸本)9789887581543

This paper studies the distributed matrix-scaled consensus, which can be treated as a kind of generalized cooperative control problem and has broad applications in the field of social network and engineering. Distributed protocols are expected to achieve cluster consensus with respect to the matrix-based weight and deal with the unknown disturbances present to the system dynamics. A static distributed protocol is first presented, including a linear term and a nonlinear term based on the sliding-mode control technique, under which the matrix-scaled consensus is realized and the disturbances are resisted. Then, a distributed adaptive algorithm is designed by using the adaptive method to introduce time-varying gains, obeying differential equations. It is to be pointed out that the static protocol is more concise if the parameter condition is satisfied, and the adaptive protocol is completely distributed and relies on no global information when designing or using the algorithm. Simulation examples are provided to further verify the designed algorithms. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Adaptive algorithms

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Design of RISE control for Respiratory System 8

Design of RISE Control for Respiratory System

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8th IEEE International Conference on engineering Technologies and Applied Sciences, ICETAS 2023

ISBN: (纸本)9798350327090

In this study, a new control strategy is presented and proposed, which is the Robust Integral of the Sign of Error (RISE). The RISE control strategy is designed to track the airway pressure in the mechanical ventilate process. The respiratory model is designed by combining a blower hose model and a single compartmental lung system with nonlinear lung compliance. For comparison purposes, the Sliding Mode control (SMC) strategy is designed and compared to the proposed control mechanism. RISE controller generates a smooth function;therefore, RISE is able to avoid the chattering phenomenon caused by the discontinuous part of the SMC. In addition, RISE control provides better performance than SMC and fewer tracking error. © 2023 IEEE.

关键词： Sliding mode control

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