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63rd IEEE Conference on Decision and control, CDC 2024

作者： Mercado-Uribe, Angel Mendoza-Avila, Jesus Efimov, Denis Schiffer, Johannes Brandenburgische Technische Universität Cottbus-Senftenberg Control Systems and Network Technology Group Germany Inria Univ. Lille Cnrs Umr 9189 - CRIStAL LilleF-59000 France Brandenburgische Technische Universität Cottbus-Senftenberg and the Fraunhofer Ieg Fraunhofer Research Institution on Energy Infrastructures and Geothermal Systems Ieg Control Systems and Network Technology Group Germany

ISBN: (纸本)9798350316339

This paper analyzes two synchronverters connected in parallel to a common capacitive-resistive load through resistive-inductive power lines. This system is conceptualized as a microgrid with two renewable energy sources controlled using the synchronverter algorithm. It is modeled as an interconnection of three port-Hamiltonian systems, and the dq-coordinates model is derived by averaging the frequencies. Applying the recent Leonov function theory, sufficient conditions to guarantee the global boundedness of the whole system's trajectories are provided. This is necessary to reach the global synchronization of microgrids. Additionally, a numerical example illustrates the potential resonance behavior of the microgrid. © 2024 IEEE.

关键词： Hamiltonians

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Effect of Blade Gap Angle on Performance of Gas–Liquid Multiphase Pump

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International Journal of Fluid Machinery and systems 2024年第3期17卷 178-191页

作者： Li, Rennian Xing, Yifan Han, Wei Zhang, Wanyu Dang, Shujuan Qiang, Yan College of Energy and Power Engineering Lanzhou University of Technology Lanzhou730050 China Key Laboratory of Ministry of Education Special Pumps Valves and Flow Control Systems Lanzhou730050 China West Pipeline Company National Petroleum and Natural Gas Pipeline Network Group Co. Ltd. Xinjiang830013 China

This study investigates the impact of blade gap angle on spiral axial flow gas–liquid multiphase pump performance. Using five numerical models and the shear stress transport k-omega (SST k-ω) turbulence model, we incorporated gas compressibility to analyze the influence of blade gap angle on pump performance. Results revealed alterations in the gap angle affected gas–liquid slip velocity distribution, turbulence eddy frequency within the impeller region, and the distribution of gas separation areas at the gap inlet and outlet. Increasing the gap deflection angle inhibited gas flow separation at the hub-side inlet while simultaneously enlarging separation area at the outlet of the gap, with the optimal gap angles enhancing flow separation in a helicoaxial gas–liquid multiphase pump. © 2024, Turbomachinery Society of Japan. All rights reserved.

关键词： Turbulence models

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Sufficient Conditions for Global Boundedness of Solutions for Two Coupled Synchronverters

Sufficient Conditions for Global Boundedness of Solutions fo...

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IEEE Conference on Decision and control

作者： Angel Mercado-Uribe Jesús Mendoza-Ávila Denis Efimov Johannes Schiffer Control Systems and Network Technology Group Brandenburgische Technische Universität Cottbus-Senftenberg Inria Univ. Lille CNRS UMR 9189 – CRIStAL Lille France Control Systems and Network Technology Group Brandenburgische Technische Universität Cottbus-Senftenberg and the Fraunhofer IEG Fraunhofer Research Institution on Energy Infrastructures and Geothermal Systems IEG

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper analyzes two synchronverters connected in parallel to a common capacitive-resistive load through resistive-inductive power lines. This system is conceptualized as a microgrid with two renewable energy sources controlled using the synchronverter algorithm. It is modeled as an interconnection of three port-Hamiltonian systems, and the dq-coordinates model is derived by averaging the frequencies. Applying the recent Leonov function theory, sufficient conditions to guarantee the global boundedness of the whole system’s trajectories are provided. This is necessary to reach the global synchronization of microgrids. Additionally, a numerical example illustrates the potential resonance behavior of the microgrid.

关键词： Sufficient conditions Renewable energy sources Resonant frequency Microgrids Resonance Numerical models Trajectory Synchronization Load modeling

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Design of controls for ISS and Integral ISS Stabilization of Multistable State Periodic systems

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IFAC-PapersOnLine 2023年第2期56卷 4472-4477页

作者： Jesus Mendoza-Avila Angel Mercado-Uribe Denis Efimov Johannes Schiffer Inria Univ. Lille CNRS UMR 9189 - CRIStAL F-59000 Lille France Control Systems and Network Control Technology Group Brandenburg University of Technology Cottbus 03046 Germany Fraunhofer Research Institution for Energy Infrastructures and Geothermal Systems (IEG) Cottbus 03046 Germany

This paper is devoted to the construction of continuous and periodic controllers for ISS or iISS stabilization of a class of multistable state periodic systems. For this purpose, the concepts of practical ISS-, ISS- and iISS-control Leonov functions are introduced. Then, it is proven that the existence of these functions is a sufficient condition to ensure that the system under study is ISS- or iISS stabilizable, and explicit feedback control laws can be obtained by means of a mild adaptation of Sontag's universal formula. The proposed method is illustrated by the design of an excitation controller for a synchronous generator ensuring ISS of the closed-loop system.

关键词： Input-to-state stability control Lyapunov functions Multistable systems State periodic systems

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On Relaxed Conditions of Integral ISS for Multistable Periodic systems

On Relaxed Conditions of Integral ISS for Multistable Period...

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IEEE Conference on Decision and control

作者： Jesus Mendoza-Avila Denis Efimov Ángel Mercado-Uribe Johannes Schiffer Inria Univ. Lille CNRS UMR 9189 - CRIStAL Lille France Control Systems and Network Control Technology Group Brandenburg University of Technology Cottbus Germany

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

A novel characterization of the integral Inputto-State Stability (iISS) property is introduced for multistable systems whose dynamics are periodic with respect to a part of the state. First, the concepts of iISS-Leonov functions and output smooth dissipativity are introduced, then their equivalence to the properties of bounded-energy-bounded-state and global attractiveness of solutions in the absence of disturbances are proven. The proposed approach permits to relax the usual requirements of positive definiteness and periodicity of the iISS-Lyapunov functions. Moreover, the usefulness of the theoretical results is illustrated by a robustness analysis of a nonlinear pendulum with a constant bias input and an unbounded statedependent input coefficient.

关键词： Perturbation methods Stability analysis Robustness Trajectory

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Design of controls for Boundedness of Trajectories of Multistable State Periodic systems

Design of Controls for Boundedness of Trajectories of Multis...

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IEEE Conference on Decision and control

作者： Jesus Mendoza-Avila Denis Efimov Ángel Mercado-Uribe Johannes Schiffer CNRS UMR 9189 - CRIStAL Inria Univ. Lille Lille France Control Systems and Network Control Technology Group Brandenburg University of Technology Cottbus Brandenburgische Technische Universität Cottbus-Senftenberg Cottbus Germany Fraunhofer Research Institution for Energy Infrastructures and Geothermal Systems (IEG) Cottbus Germany

In this paper, the concept of control Leonov functions is introduced, and it is shown that their information is enough to design continuous and periodic controllers that provide boundedness of the state for a class of multistable state-periodic systems. These feedback control laws are based on a mild adaptation of Sontag's universal formula, and a kind of small control property. The proposed method is illustrated via application in a microgrid.

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A Noise Mitigation Approach for Improving Position Estimate in Indoor Vehicle Navigation Using Inertial Measurement Unit

A Noise Mitigation Approach for Improving Position Estimate ...

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control Conference (ICC), 2019 Sixth Indian

作者： Vasumathi R Subhadeep Kumar Ramkrishna Pasumarthy Nirav Bhatt Department of Electrical Engineering Robert Bosch Center of Data Sciences and Artificial Intelligence Indian Institute of Technology Madras Chennai India Department of Electrical Engineering Robert Bosch Center of Data Sciences and Artificial Intelligence and Prospective Center of Excellence for Network Systems Learning Control and Evolution Group Indian Institute of Technology Madras Chennai India Department of Biotechnology Robert Bosch Center of Data Sciences and Artificial Intelligence Prospective Center of Excellence for Network Systems Learning Control and Evolution Group Indian Institute of Technology Madras Chennai India

Accurate position estimation, especially in indoor environments, presents a formidable challenge despite significant advancements in estimation methodologies. The integration of additional sensors is often imperative to refine estimates, particularly within indoor settings. The choice of additional sensors depends on the specific applications and operational range. This study focuses on devising a position estimation framework utilizing the internal sensors such as the Inertial Measurement Unit (IMU) and wheel encoders within a scaled-down Electric Vehicle. The proposed approach entails a combination of crafting a digital filter and implementing a Kalman filter to effectively attenuate noise and errors in the IMU data, thereby enhancing the position estimate, and the methodology is validated through experiments. This work contributes to the broader discourse on advancing indoor position estimation while bypassing the need for external positioning systems.

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End-to-end Autonomous Driving in Heterogeneous Traffic Scenario Using Deep Reinforcement Learning

End-to-end Autonomous Driving in Heterogeneous Traffic Scena...

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European control Conference (ECC)

作者： Soumyajit Chakraborty Subhadeep Kumar Nirav Bhatt Ramkrishna Pasumarthy Department of Electrical Engineering Indian Instiute of Technology Madras Chennai India Department of Electrical Engineering Robert Bosch Center of Data Sciences and Artificial Intelligence Indian Institute of Technology Madras Chennai India Department of Biotechnology Center of Data Sciences and Artificial Intelligence Prospective Center of Excellence for Network Systems Learning Control and Evolution Group Indian Institute of Technology Madras Chennai India Department of Electrical Engineering Robert Bosch Center of Data Sciences and Artificial Intelligence and Prospective Center of Excellence for Network Systems Learning Control and Evolution Group Indian Institute of Technology Madras Chennai India

In this paper, we propose an end-to-end autonomous driving architecture for safe maneuvering in heterogeneous traffic using a reinforcement learning (RL) algorithm. Using the proposed architecture we develop an RL agent that can make driving decisions directly from the sensor data. We formulate the autonomous driving problem as a Markov Decision Process and propose different architectures using Deep $Q -$networks for two types of sensor data - top view images of the autonomous vehicle (AV) and its surrounding vehicles and information on relative position and velocities of the surrounding vehicles w.r.t the AV. We consider a highway scenario and analyze the performance of the RL agent using the proposed architectures using the highway-env simulator. We compare the driving performance of the AV for both sensor types and discuss their efficacy under varying traffic densities.

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DEFT - A Scaled Electric Vehicle Platform for Testing Autonomous Driving Algorithms

TechRxiv

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TechRxiv 2024年

作者： Kumar, Subhadeep Pasumarthy, Ramkrishna Bhatt, Nirav P. Department of Electrical Engineering Indian Institute of Technology Madras Chennai600036 India Department of Electrical Engineering Robert Bosch Center of Data Sciences and Artificial Intelligence Network Systems Learning Control and Evolution Group Indian Institute of Technology Madras Chennai600036 India Department of Biotechnology Robert Bosch Center of Data Sciences and Artificial Intelligence Initiative for Biological Systems Engineering Indian Institute of Technology Madras Chennai600036 India

Scaled-down vehicles provide a controlled and repeatable environment for testing autonomous driving algorithms, expediting development while mitigating risks associated with full-scale vehicle testing. This paper introduces a meticulously designed scaled-down electric vehicle, emphasizing vehicle state measurement, precise control, perception sensing, and electric safety. Our approach utilizes actuators with feedback, provides enhanced reliability and precision, and torque across all speed ranges, in contrast to conventional scaled platforms built with actuators of radio-controlled cars. Apart from the conventional sensors used in the existing scaled platforms, our vehicle incorporates novel sensor modules to measure wheel angular velocities, steering angles, and battery cell voltages, which can also be seamlessly integrated into these platforms. We demonstrate the vehicle’s motion with manual and autonomous operation and showcase its features for validation. © 2024, CC BY.

关键词： Automobile testing

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Data-Driven LQR Design for LTI systems with Exogenous Inputs

Data-Driven LQR Design for LTI systems with Exogenous Inputs

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Mediterranean Conference on control and Automation (MED)

作者： Vijayanand Digge Ramkrishna Pasumarthy Department of Electrical Engineering Indian Institute of Technology Madras Chennai India Department of Electrical Engineering Robert Bosch Center of Data Science and Artificial Intelligence Network Systems Learning Control and Evolution Group Indian Institute of Technology Madras Chennai India

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

This paper presents a data-driven state feedback control law, based on a linear quadratic regulator (LQR) design, for systems with exogenous inputs. In general, this framework is referred to as a data-driven min-max controller, and is more robust to disturbances than the standard LQR controllers. Instead of relying on system models, in this work, the state feedback control law is computed directly from the knowledge of the inputs and the states. The LQR gain is parametrized with matrices that are directly estimated using open-loop experiment data of the system. We experimentally validate our results by implementing the data driven controller for performance management of a web-server hosted on a private cloud.

关键词： Linear systems State feedback Regulators Riccati equations Markov processes Mathematical models Parametric statistics

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