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European control Conference (ECC)

作者： Péter Antal Tamás Péni Roland Tóth Systems and Control Lab HUN-REN Institute for Computer Science and Control Budapest Hungary Control Systems Group Eindhoven University of Technology The Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

For complex nonlinear systems, it is challenging to design algorithms that are fast, scalable, and give an accurate approximation of the stability region. This paper proposes a sampling-based approach to address these challenges. By extending the parametrization of quadratic Lyapunov functions with the system dynamics and formulating an £ 1 optimization to maximize the invariant set over a grid of the state space, we arrive at a computationally efficient algorithm that estimates the domain of attraction (DOA) of nonlinear systems accurately by using only linear programming. The scalability of the Lyapunov function synthesis is further improved by combining the algorithm with ADMM-based parallelization. To resolve the inherent approximative nature of grid-based techniques, a small-scale nonlinear optimization is proposed. The performance of the algorithm is evaluated and compared to state-of-the-art solutions on several numerical examples.

关键词： Direction-of-arrival estimation Scalability Heuristic algorithms Europe Approximation algorithms Stability analysis Computational efficiency

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Traffic Sign Classification Using Deep and Quantum Neural networks

Traffic Sign Classification Using Deep and Quantum Neural Ne...

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International Conference on Computer Vision and Graphics, ICCVG 2022

作者： Kuros, Sylwia Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031220241

Quantum Neural networks (QNNs) are an emerging technology that can be used in many applications including computer vision. In this paper, we presented a traffic sign classification system implemented using a hybrid quantum-classical convolutional neural network. Experiments on the German Traffic Sign Recognition Benchmark dataset indicate that currently QNN do not outperform classical DCNN (Deep Convolutuional Neural networks), yet still provide an accuracy of over 90% and are a definitely promising solution for advanced computer vision. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Traffic signs

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On Accessibility Fairness in Intermodal Autonomous Mobility-on-Demand systems ⁎

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IFAC-PapersOnLine 2024年第10期58卷 327-333页

作者： Mauro Salazar Sara Betancur Giraldo Fabio Paparella Leonardo Pedroso MOVEMENT Research Group Control Systems Technology section Eindhoven University of Technology 5600 MB Eindhoven The Netherlands

Research on the operation of mobility systems so far has mostly focused on minimizing cost-centered metrics such as average travel time, distance driven, and operational costs. Whilst capturing economic indicators, such metrics do not account for transportation justice aspects. In this paper, we present an optimization model to plan the operation of Intermodal Autonomous Mobility-on-Demand (I-AMoD) systems, where self-driving vehicles provide on-demand mobility jointly with public transit and active modes, with the goal to minimize the accessibility unfairness experienced by the population. Specifically, we first leverage a previously developed network flow model to compute the I-AMoD system operation in a minimum-time manner. Second, we formally define accessibility unfairness, and use it to frame the minimum-accessibility-unfairness problem and cast it as a linear program. We showcase our framework for a real-world case-study in the city of Eindhoven, NL. Our results show that it is possible to reach an operation that is on average fully fair at the cost of a slight travel time increase compared to a minimum-travel-time solution. Thereby we observe that the accessibility fairness of individual paths is, on average, worse than the average values obtained from flows, setting the stage for a discussion on the definition of accessibility fairness itself.

关键词： Mobility Optimization Accessibility Fairness Transport Justice

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Initialization Approach for Nonlinear State-Space Identification via the Subspace Encoder Approach

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IFAC-PapersOnLine 2023年第2期56卷 5146-5151页

作者： Rishi Ramkannan Gerben I. Beintema Roland Tóth Maarten Schoukens Control System group Eindhoven University of Technology Eindhoven the Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

The SUBNET neural network architecture has been developed to identify nonlinear state-space models from input-output data. To achieve this, it combines the rolled-out nonlinear state-space equations and a state encoder function, both parameterised as neural networks The encoder function is introduced to reconstruct the current state from past input-output data. Hence, it enables the forward simulation of the rolled-out state-space model. While this approach has shown to provide high-accuracy and consistent model estimation, its convergence can be significantly improved by efficient initialization of the training process. This paper focuses on such an initialisation of the subspace encoder approach using the Best Linear Approximation (BLA). Using the BLA provided state-space matrices and its associated reconstructability map, both the state-transition part of the network and the encoder are initialized. The performance of the improved initialisation scheme is evaluated on a Wiener-Hammerstein simulation example and a benchmark dataset. The results show that for a weakly nonlinear system, the proposed initialisation based on the linear reconstructability map results in a faster convergence and a better model quality.

关键词： Nonlinear system Identification Machine Learning Neural networks State-Space Best Linear Approximation

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Performance of GNSS positioning in PPP mode using MADOCA precise products

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Geodesy and Geodynamics 2024年第6期15卷 642-651页

作者： Brian Bramanto Rachel Theresia Irwan Gumilar Sidik T.Wibowo Geodetic Science Engineeringand Innovation Research GroupFaculty of Earth Sciences and TechnologyInstitut Teknologi BandungBandung 40135Indonesia Geodesy and Geomatics Engineering Study Program Faculty of Earth Sciences and TechnologyInstitut Teknologi BandungBandung 40135Indonesia Geodetic and Geodynamic Control Network Center Geospatial Information Agency of Indonesia(BIG)Cibinong 16911Indonesia

The Global Navigation Satellite System (GNSS) is widely utilized for accurate *** commonly applied method to obtain precise coordinate estimates is by implementing the relative positioning in network ***,this approach can be complex and ***,The Japan Aerospace Exploration Agency (JAXA) offers freely available satellite orbit and clock correction products called Multi-GNSS Advanced Demonstration Tool for Orbit and Clock Analysis (MADOCA),which can enhance positioning accuracy through the precise point positioning (PPP) *** study focuses on evaluating PPP static mode positioning using MADOCA products and comparing the results with the highly precise relative positioning *** analyzing a network of 20 GNSS stations in Indonesia,we found that the PPP method using MADOCA products provided favorable positioning *** median discrepancies and the corresponding median absolute deviation (MAD) for easting,northing,and up components were estimated as 9±18 mm,10±9 mm,and 3±40 mm,*** results indicate that PPP with MADOCA products can be a reliable alternative for establishing Indonesia's horizontal control networks,particularly for orders 0,1,2,and 3,and for a broad spectrum of geoscience monitoring ***,considerations such as epoch transformations and seismic activities should be taken into account for accurate positioning applications that comply with the definition of the national reference framework.

关键词： Global Navigation Satellite System(GNSS) Precise point positioning(PPP) MADOCA Positioning evaluation

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Circuit simulation of synchronous motor port characteristics based on DSCC inverter module 8

Circuit simulation of synchronous motor port characteristics...

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8th International Conference on Energy System, Electricity, and Power, ESEP 2023

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

ISBN: (数字)9781510679801

ISBN: (纸本)9781510679795

This article discusses the mathematical model of synchronous motors and modular multilevel converters, analyzes and compares the characteristics of different numerical solution methods when calculating the state equation of synchronous motors, and studies and elaborates on the topology structure and control strategy of DSCC modular multilevel converters. Simulate the operating status and port voltage and current characteristics of a loaded synchronous motor by controlling its gate on/off through a digital controller. © 2024 SPIE.

关键词： Synchronous motors

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Hook-Based Aerial Payload Grasping from a Moving Platform

arXiv

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arXiv 2024年

作者： Antal, Péter Péni, Tamás Tóth, Roland The Systems and Control Lab. HUN-REN Institute for Computer Science and Control Budapest Hungary The Control Systems Group The Eindhoven University of Technology Netherlands

This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal grasping time. To enable application in complex, dynamically changing environments, the future motion of the payload is predicted using physics simulator-based models. The success of payload grasping under model uncertainties and external disturbances is formally verified through a robustness analysis method based on integral quadratic constraints. The proposed algorithms are evaluated in a high-fidelity physical simulator, and in real flight experiments using a custom-designed aerial manipulator platform. © 2024, CC BY-NC-SA.

关键词： Manipulators

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ADRC Combined with IMC for Non-Minimum Phase systems 42

ADRC Combined with IMC for Non-Minimum Phase Systems

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42nd Chinese control Conference, CCC 2023

作者： Li, Xiangyang Deng, Xindi Tian, Senping Ai, Wei Ministry of Education School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Network Control South China University of Technology Guangzhou510641 China

ISBN: (纸本)9789887581543

The integrated control method, active disturbance rejection control (ADRC) combined with internal model control (IMC), is proposed for non-minimum phase systems. The ADRC combined with IMC is to reduce the influence of zeros on right half plant (RHP), system uncertainty and outer disturbance. An improved IMC is put in the inner loop and ADRC is adopted in the outer loop. In order to enhance the system's stability, an approximate zero phase error model of controlled plant (ZPEM) is used as the internal model in the IMC control loop where the feedback of the inner loop is the dynamic weighted filter sum of the real output and the ZPEM output. The theoretical analysis and simulations verify effectiveness of the proposed method for non-minimum phase systems. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Disturbance rejection

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Research on Distribution Terminal Voltage Frequency Tracking Method Based on DFT Phase Difference Method 8

Research on Distribution Terminal Voltage Frequency Tracking...

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8th International Conference on Energy System, Electricity, and Power, ESEP 2023

作者： Wang, Jia Shan, Rongrong Ji, Zhengfei Fan, Yi Lu, Fan Nari Group Corporation State Grid Electric Power Research Institutie NARI Technology Nanjing Control Systems Co. Ltd. Jiangsu Nanjing230001 China

ISBN: (数字)9781510679801

ISBN: (纸本)9781510679795

To improve the accuracy of power grid voltage and frequency monitoring by distribution terminals (FTUs) and reduce the impact of power grid frequency deviation on real-time monitoring of distribution terminals, a new voltage and frequency tracking method based on DFT phase difference method is derived by improving the traditional phase difference frequency monitoring method. A phase difference frequency estimation method is designed under the combined influence of multiple harmonics and noise interference, which is based on the mutual promotion of real-time frequency estimation and real-time frequency tracking. Frequency estimation completes sequence sampling, phase difference calculation, and frequency calculation. Frequency tracking improves the next sampling interval based on the previous frequency, thereby reducing the error value. Through simulation and physical experiments, it was found that the algorithm can synchronously analyze the harmonics of 10kV lines. The frequency estimation, frequency tracking, and harmonic analysis algorithms can quickly improve the accuracy of distribution terminal frequency estimation and harmonic analysis, and can complete real-time and high-precision harmonic analysis with small computational complexity. © 2024 SPIE.

关键词： Harmonic analysis

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Stability Analysis of Connected Vehicle Platoons with Markovian Packet Losses

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IEEE Internet of Things Journal 2025年第13期12卷 25300-25313页

作者： Wu, Yilin Zhao, Xiaoyan Shen, Zhiping Liu, Yonggui Li, Zeming Guangdong University of Education School of Computer Science Guangzhou510310 China Henan Normal University School of Mathematics and Statistics Xinxiang453007 China South China University of Technology Key Laboratory of Autonomous Systems and Network Control Ministry of Education The College of Automatic Science and Engineering Guangzhou510640 China

This article focuses on discussing the effects of inter-vehicular communication on the performance of platoon control. Different from the existing results established under a critical assumption that the fading channels are independent, this paper models the inter-vehicular communication as Markovian packet loss channel which can capture the temporal interdependencies of packet losses. Our aim is to decide whether there exists a distributed controller such that the underlying vehicle platoon can achieve mean square stability (MSS) over Markovian packet loss channels. First, for the scenario with identical Markovian packet losses, we begin by deriving a necessary and sufficient condition for the platoon MSS, which is established by utilizing the stability principles of Markov jump linear systems. Additionally, we propose a numerically verifiable criterion for MSS, which can be validated through the feasibility of linear matrix inequalities (LMIs). Furthermore, based on the modified Riccati inequality (MRI), we provide an analytical sufficient condition that ensures MSS for vehicle platoons. This condition is expressed in terms of the information flow topology (IFT) and the statistical parameters of Markov channels. Second, for the case with nonidentical packet dropouts, we introduce a Markovian loss channel based switching (MLCBS) model. Building upon this model, we further propose a sufficient conditon related to IFT and the transition probability matrix, and a distributed controller that is not only easy to implement but also enables the achievement of MSS for vehicle platoons with nonidentical packet dropouts. Ultimately, numerical experiments are performed to validate the obtained outcomes. © 2014 IEEE.

关键词： Packet loss Fading channels Delays Stability criteria Thermal stability Numerical stability Design methodology Correlation Connected vehicles Topology

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