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Direct data-driven LPV control of nonlinear systems: An experimental result

IFAC-PapersOnLine 2023年第2期56卷 2263-2268页

作者： Chris Verhoek Hossam S. Abbas Roland Tóth Control Systems Group Dept. of Electrical Engineering Eindhoven University of Technology 5600MB Eindhoven The Netherlands Institute for Electrical Engineering in Medicine Universität zu Lübeck 23558 Lübeck Germany Systems and Control Lab Institute for Computer Science and Control 1111 Budapest Hungary

We demonstrate that direct data-driven control of nonlinear systems can be successfully accomplished via a behavioral approach that builds on a Linear Parameter-Varying (LPV) system concept. An LPV data-driven representation is used as a surrogate LPV form of the data-driven representation of the original nonlinear system. The LPV data-driven control design that builds on this representation form uses only measurement data from the nonlinear system and a priori information on a scheduling map that can lead to an LPV embedding of the nonlinear system behavior. Efficiency of the proposed approach is demonstrated experimentally on a nonlinear unbalanced disc system showing for the first time in the literature that behavioral data-driven methods are capable to stabilize arbitrary forced equilibria of a real-world nonlinear system by the use of only 7 data points.

关键词： Data-Driven control Linear Parameter-Varying systems

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Data-Driven Feedforward control Design for Nonlinear systems: A control-Oriented System Identification Approach

Data-Driven Feedforward Control Design for Nonlinear Systems...

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IEEE Conference on Decision and control

作者： Max Bolderman Mircea Lazar Hans Butler Control Systems Group Eindhoven University of Technology Eindhoven AP The Netherlands ASML Veldhoven DR The Netherlands

Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking error is only analyzed a posteriori in experiments. Therefore, in this work, we develop an approach to feedforward control design that aims at minimizing the tracking error a priori. To achieve this, we present a model of the system in a lifted space of trajectories, based on which we derive an upperbound on the reference tracking performance. Minimization of this bound yields a feedforward control-oriented system identification cost function, and a finite-horizon optimization to compute the feedforward control signal. The nonlinear feedforward control design method is validated using physics-guided neural networks on a nonlinear, nonminimum phase mechatronic example, where it outperforms linear ILC.

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EXPLOITING EQUIVARIANCE IN THE DESIGN OF TRACKING controlLERS FOR EULER-POINCARE systems ON MATRIX LIE groupS

arXiv

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arXiv 2024年

作者： Hampsey, Matthew Banavar, Ravi van Goor, Pieter Mahony, Robert Systems Theory and Robotics Group Australian National University ACT2601 Australia Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the heart of observer design and recent advances in the study of equivariant systems have provided a template for global error construction that exploits the symmetry structure of a group action if such a structure exists. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system and symmetries for the full cotangent bundle are not commonly used in geometric control theory. In this paper, we propose a group structure on the cotangent bundle of a Lie-group and leverage this to define momentum and configuration errors for trajectory tracking drawing on recent work on equivariant observer design. We show that this error definition leads to error dynamics that are themselves "Euler-Poincare like" and use these to derive simple, almost global trajectory tracking control for fully-actuated Euler-Poincare systems on a Lie-group state space. Copyright © 2024, The Authors. All rights reserved.

关键词： Lie groups

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State Derivative Normalization for Continuous-Time Deep Neural networks

arXiv

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arXiv 2024年

作者： Weigand, Jonas Beintema, Gerben I. Ulmen, Jonas Görges, Daniel Tóth, Roland Schoukens, Maarten Ruskowski, Martin Chair of Machine Tools and Control Systems RPTU Kaiserslautern The German Research Center for Artificial Intelligence Kaiserslautern Germany Group The Department of Electrical Engineering Eindhoven University of Technology Netherlands The Systems and Control Laboratory The Institute for Computer Science and Control Budapest Hungary Institute for Electromobility RPTU Kaiserslautern Germany

The importance of proper data normalization for deep neural networks is well known. However, in continuous-time state-space model estimation, it has been observed that improper normalization of either the hidden state or hidden state derivative of the model estimate, or even of the time interval can lead to numerical and optimization challenges with deep learning based methods. This results in a reduced model quality. In this contribution, we show that these three normalization tasks are inherently coupled. Due to the existence of this coupling, we propose a solution to all three normalization challenges by introducing a normalization constant at the state derivative level. We show that the appropriate choice of the normalization constant is related to the dynamics of the to-be-identified system and we derive multiple methods of obtaining an effective normalization constant. We compare and discuss all the normalization strategies on a benchmark problem based on experimental data from a cascaded tanks system and compare our results with other methods of the identification literature. © 2024, CC BY-SA.

关键词： Ordinary differential equations

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Hydrodynamic and Static Stability Analysis of a Hybrid Offshore Wind-Wave Energy Generation: An Expansion of Semisubmersible Floating Wind Turbine Concept 15th

Hydrodynamic and Static Stability Analysis of a Hybrid Offsh...

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15th European Wave and Tidal Energy Conference, EWTEC 2023

作者： Aboutalebi, Payam Garrido, Aitor J. Garrido, Izaskun Nguyen, Dong Trong Gao, Zhen Department of Marine Technology Trondheim7491 Norway Automatic Control Group–ACG Institute of Research and Development of Processes–IIDP Department of Automatic Control and Systems Engineering Faculty of Engineering of Bilbao University of the Basque Country–UPV/EHU Spain School of Naval Architecture Ocean and Civil Engineering Shanghai Jiao Tong University Shanghai200240 China

Marine structures like Floating Wind Turbine (FWT) is exposed to the oncoming waves and wind that can cause oscillatory motions within the system. These undesired oscillations can have negative impacts on the efficiency of the system, reduce its lifespan, hinder energy extraction, increase stress levels, and raise maintenance costs. To mitigate these negative impacts, the integration of Wave Energy Converters (WECs) into the FWT system has been proposed. This hybrid system may be capable of extracting coupled wind-wave energy and transferring electrical power to the shared grid. This paper presents an investigation of the use of Oscillating Water Columns (OWCs), a type of WECs, within a FWT system. The purpose of using an OWC is to increase the hydrodynamic damping and reduce the resonant motions of the floating wind turbines under environmental loads, including both wind and wave loads. This is because the wave energy from OWC would be very small as compared to the wind energy. However, OWCs can provide a damping source for reducing the resonant motions of the floater, especially the pitch resonant motions. This would be very beneficial for the power performance of the floating w ind turbine and the structural design of the floater. T he p urpose of this paper is to redesign the original FWT platform to accommodate the additional OWCs by considering the hydrostatic stability and hydrodynamics since the new elements, the OWCs, can significantly change the response of the platform. The redesign of the original FWT involves the integration of OWCs within two out of three columns of an existing semisubmersible platform for a 12 MW FWT. To do this, two moonpools, which are consistent with OWC air chambers, have been created within two columns of the FWT. The water ballast was designed for the columns with and without OWCs. After that the redesign is done hydrostatic stability and hydrodynamics analyses are evaluated. The hydrodynamics properties are discussed in terms o

关键词： Tidal power

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Indirect adaptive higher order sliding mode control for third order systems in parametric strict-feedback form

Indirect adaptive higher order sliding mode control for thir...

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IEEE Conference on Decision and control

作者： Lars Watermann Benedikt Andritsch Stefan Koch Markus Reichhartinger Martin Horn Johann Reger Control Engineering Group Technische Universität Ilmenau P.O. Box 100565 Ilmenau Germany Institute of Automation and Control Graz University of Technology Graz Austria Christian Doppler Laboratory for Model-Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this contribution the design of an indirect adaptive third order sliding mode controller based on a backstepping-like procedure is presented. A recursively defined homogeneous control Lyapunov function is combined with the adaptive backstepping method via tuning functions to compensate for unmatched parametric uncertainties. A matched bounded disturbance is eliminated by discontinuous control. It is shown that the states of the regarded system in parametric strict-feedback form converge asymptotically to the equilibrium while the parameter estimation error is bounded. Further, it is guaranteed that all control and adaptation signals are bounded. The proposed design is demonstrated in a simulation of a system with unmatched parametric uncertainty and matched disturbance.

关键词： Uncertainty Parameter estimation Backstepping Adaptive systems Robustness Tuning Sliding mode control Lyapunov methods Convergence

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Earth Fault Detection Method in Non-solidly Earthed network Based on the Increments of Phase Current 2

Earth Fault Detection Method in Non-solidly Earthed Network ...

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2nd International Conference on Electronic Materials and Information Engineering, EMIE 2022

作者： Lu, Fan Zhang, Chi Wang, Jia Gao, Yuqin Lu, Hongyu Nari Group Corporation State Grid Electric Power Research Institutie NARI Technology Nanjing Control Systems Co. Ltd Jiangsu Nanjing230001 China

ISBN: (纸本)9781713865629

In current distribution network, transient features of current and voltage are widely used to solve earth fault as ground system varies and makes it is very important to find its precise fault point when an earth fault occurs. Zero-sequence current and voltage are required to acquire in most method, which is not suitable for old distribution line. This thesis comes up with a method which uses abrupt current change to trigger its logic, determine fault point according to Bhattacharyya Distance and calculate unbalance ratio via the fault point and complete the whole procedure. This method is very precise and robust according to simulation analysis and real-time experiment results. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Fault detection

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Research on zero sequence voltage transient characteristic identification algorithm for single-phase grounding fault 2

Research on zero sequence voltage transient characteristic i...

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2nd International Conference on Electronic Materials and Information Engineering, EMIE 2022

作者： Zhang, Chi Qin, Hui Wang, Jia Lu, Fan Gao, Yuqin Nari Group Corporation State Grid Electric Power Research Institutie NARI Technology Nanjing Control Systems Co. Ltd Jiangsu Nanjing230001 China

ISBN: (纸本)9781713865629

For 10kV line outgoing line, the neutral point of transformer adopts arc suppression coil grounded or ungrounded distribution network, in case of single-phase grounding, the zero sequence fault current is weak, and the single-phase grounding fault line selection protection is difficult. This paper presents an algorithm to identify the sudden change of zero sequence voltage signal in the process of single-phase grounding fault by using the principle of time series singularity detection, determine the fault occurrence time, and detect single-phase grounding fault according to the size and polarity direction characteristics of zero sequence voltage and zero sequence current fault components at the occurrence time of grounding fault. The results of real-time digital simulation and dynamic simulation experiments of power system show that the algorithm can detect the mutation point of zero sequence voltage signal, and correctly identify the grounding fault line combined with the polarity direction characteristics of zero sequence voltage and zero sequence current fault components. RTDS simulation experiments verify the effectiveness of the algorithm. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Electric power distribution

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Recursive Learning of Feedforward Parameters in High-Tech Motion systems: An Experimental Case Study

Recursive Learning of Feedforward Parameters in High-Tech Mo...

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European control Conference (ECC)

作者： Thijs Van Keulen Bram Kleefstra Ruud Beerens Dep. of Mechanical Engineering Control Systems Technology group Eindhoven Univ. of Tech. The Netherlands ASML Veldhoven The Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This article provides an experimental case study of a state-of-the-art recursive feedforward parameter learning framework on a high-tech industrial metrology and inspection machine. The aim of the learning framework is to recursively adapt the feedforward parameters to compensate for time-varying and position-dependent system behavior, e.g., caused by wear, position and temperature dependent actuator characteristics, changes in shape and stiffness due to thermal expansion, and sample time jitter. The strength of the approach is demonstrated through experiments on a high-tech motion system which show a peak error reduction of circa 45% compared to the industrial controller with offline calibrated feedforward parameters.

关键词： Thermal expansion Temperature dependence Temperature Shape Europe Metrology Jitter

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Design and Implementation of Efficient Data Update for Graphical Display on Provincial Platform of the New Generation Substation Centralized control System

Design and Implementation of Efficient Data Update for Graph...

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Mechatronics technology and Intelligent Manufacturing (ICMTIM), International Conference on

作者： Yiqiang Cheng Wei Zhou Yanghao Zhou Yuying Lu Hua Xu Wenjing Chen Yifan Wang Guoqing Huang NARI Group Corporation (State Grid Electric Power Research Institute) NARI Technology Nanjing Control Systems Ltd Nanjing China

ISBN: (数字)9798350363265

ISBN: (纸本)9798350363272

The construction of the provincial platform of the new generation of substation centralized control system continues to advance, the graph, model and date of the provincial platform are formed from the regional centralized control system, and the scale of data storage continues to grow, which puts forward higher requirements in terms of real-time data update and screen operation response ability. In view of the problems of high server load, untimely data update, stuck human-machine screen of workstation, and unsmooth operation response caused by centralized access in the case of large data scale and frequent data changes, an efficient human-machine terminal data update framework is proposed, and the human-machine gateway service is added to the server side to achieve efficient real-time data update through technologies such as subscription/publishing mechanism based on changing data entity messages, shared data pools, and changing data message forwarding. The experimental results show that the human-machine terminal data update using the new framework can better meet the requirements of the provincial centralized control system for large-scale data access and update in terms of server Central Processing Unit(CPU)load rate, real-time data update efficiency, and screen operation fluency.

关键词： Substations Mechatronics Human-machine systems Process control Memory Logic gates Real-time systems

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