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29th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2024

作者： Menexis, Antonios N. Fragkoulis, Dimitrios G. Koumboulis, Fotis N. Skarpetis, Michael G. School of Science National & Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies Euripus Campus Euboea 34400 Greece

ISBN: (纸本)9798350361230

In this paper, a FIWARE based control implementation framework for supervisory control of inputoutput models, in Discrete Event System (DES) form, will be introduced, through the case study of an industrial product transfer system having a parametric number of conveyor belts. Each conveyor belt has an actuator (motor) for the belt's clockwise move and a sensor for the detection of the presence of a product. The model of each actuator and the model of each sensor of the belt are expressed in DES form. The input-output relation between consecutive conveyor belts is formally expressed. The satisfactory cooperation between consecutive conveyor belts has been guaranteed by developing a set of two types of supervisors for each cooperative pair. The actuators and the sensors of each belt have been described as smart data models. Finally, an implementation of the proposed supervisor scheme in FIWARE has been proposed. © 2024 IEEE.

关键词： Cloud Computing Smart Data Models Supervisory control

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Water Indicator Measurement and Data Processing From Internet of Things Modules

Water Indicator Measurement and Data Processing From Interne...

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2024 International Conference on Electrical Engineering and Photonics, EExPolytech 2024

作者： Altay, Yeldos A. Bazarbay, Lashin Uskenbayeva, Raisa K. Fedorov, Alexey V. Kalpeyeva, Zhuldyz B. Satbayev University Department of Robotics and Technical Means of Automation Almaty Kazakhstan Satbayev University Almaty Kazakhstan Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia Satbayev University Institute of Automation and Information Technologies Almaty Kazakhstan

ISBN: (纸本)9798350388879

This article presents the results of the implementation of a measuring system based on an IoT module for remote transmission of aggregate measurement data obtained during analytical monitoring of five water parameters via a wireless communication channel. A model of an experimental setup is presented and discussed, demonstrating the operability and consistency of the model for monitoring physical parameters during aggregate measurements. The obtained results of remote data transmission via a wireless communication channel revealed a statistically significant correlation between spring water parameters and the most influential predictor of acidity, conductivity, turbidity and oxidation-reduction potential is water temperature. The discovered relationship between the measured parameters is mainly associated with the effect of temperature on the processes occurring with an increase and decrease in the temperature of the analyzed water samples. © 2024 IEEE.

关键词： Data transfer

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Robust Triangular Decoupling Velocity Varying controllers for Four Wheel Steering Autonomous Vehicles 29

Robust Triangular Decoupling Velocity Varying Controllers fo...

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29th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2024

作者： Skarpetis, Michael G. Koumboulis, Fotis N. School of Science National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies Euripus Campus Euboea 34400 Greece

ISBN: (纸本)9798350361230

This study explores the challenges of achieving triangular decoupling in a specific group of linear parameter-dependent systems that have uncertain structures, with a particular emphasis on its relevance to four-wheel steering (4WS) vehicles. A new method is presented, combining a state feedback controller that includes static and time-varying elements. The main goal of this controller design is to guarantee triangular decoupling properties and Hurwitz invariability in the face of system uncertainties. The proposed method involves developing the controller and setting solvability criteria to transform the original Parameter Dependent Uncertain System into an uncertain Linear Time-Invariant (LTI) system and subsequently meeting LTI triangular decoupling characteristics. The practical significance of the results is shown by their effective use in controlling the motion of a velocity varying four-wheel steering (4WS) car model with uncertain virtual mass and cornering stiffnesses. © 2024 IEEE.

关键词： Four wheel steering

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Optimization of Cylindrical Blades for Wind Turbine Based on Magnus Effect

Optimization of Cylindrical Blades for Wind Turbine Based on...

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2023 International Conference on Electromechanical and Energy systems, SIELMEN 2023

作者： Lukin, Aleksandr Demidova, Galina Lukichev, Dmitry Poliakov, Nikolai Anuchin, Alecksey ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia Moscow Power Engineering Institute Electric Drives Department Moscow Russia

ISBN: (纸本)9798350315240

Wind turbines based on the Magnus effect open new prospects in terms of energy generation for areas with low average wind speeds. The main feature of these turbines is rotating cylinders which are used to create lift instead of blades. Due to this unconventional design, different parameters of the cylinder, such as mass and moment of inertia, can greatly affect the dynamic characteristics of such energy systems. The goal of this paper was to present an approach to structural optimization of a cylinder flange of the experimental Magnus effect-based wind turbine. The proposed approach, presented as an algorithm, allows us to determine input data for the preferred structural optimization software and achieve lightweight, low-inertia parts. control simulation has shown that optimized parts ensure a high enough factor of safety while also significantly reducing the moment of inertia. © 2023 IEEE.

关键词： Finite element method

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Finite-Time Sensors Diagnosis Based on Unknown Input Observers

Finite-Time Sensors Diagnosis Based on Unknown Input Observe...

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International Russian Automation Conference (RusAutoCon)

作者： Alexey Margun Van Huan Bui Alexey Bobtsov Control Systems and Robotics Department ITMO University Saint Petersburg Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

The paper focuses on developing a finite-time approach for sensors fault detection and isolation in MIMO systems. The proposed solution utilizes the synthesis of a bank of unknown input observers, tailored specifically for each of sensor. A significant advantage of this solution over existing methods is its applicability to plants with any arbitrary relative degree. The paper introduces a modification that ensures finite-time convergence using Kreisselmeier's scheme combined with the dynamic regressor extension and mixing method. This modification guarantees that the convergence of observer estimates—and thus the diagnostic results—occurs within a user-specified timeframe. Additionally, the implementation of filters and threshold settings is discussed to prevent false alarms caused by measurement noise. The effectiveness of the developed approach is validated through computer simulations, confirming its robust performance.

关键词： Fault detection Computer simulation Noise Observers Sensor systems Vectors Sensors Nonlinear dynamical systems Noise measurement Convergence

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Multiagent Consensus over Time-Invariant and Time-Varying Signed Digraphs via Eventual Positivity

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IEEE Transactions on Automatic control 2023年第9期68卷 5429-5444页

作者： Fontan, Angela Wang, Lingfei Hong, Yiguang Shi, Guodong Altafini, Claudio Linköping University Division of Automatic Control Department of Electrical Engineering LinköpingSE-58183 Sweden KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-10044 Sweden Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Tongji University Department of Control Science and Engineering Shanghai201804 China University of Sydney Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering SydneyNSW2008 Australia

Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron-Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus. © 1963-2012 IEEE.

关键词： Lyapunov functions

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Sliding control for nonlinear electric drive system of the lower limb exoskeleton

Sliding control for nonlinear electric drive system of the l...

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2023 Seminar on Electrical Engineering, Automation and control systems: Theory and Practical Applications, EEACS 2023

作者： Truong, Dinh Dang Van Lanh, Nguyen Khanh, Nguyen Dinh Naval Academy Department of Automatic Control Systems Nha Trang Viet Nam Saint Petersburg Electrotechnical University "LETI" Department of Robotics and Industrial Automation Saint Petersburg Russia Saint Petersburg Electrotechnical University "LETI" Department of Automatic Control Systems Saint Petersburg Russia

ISBN: (纸本)9798350358537

The paper presents a method of sliding control for nonlinear electrical drive system to eliminate the influence of nonlinear factors and external disturbances on stability and position tracking of movement of the lower limb exoskeleton. Sliding control solves a powerful non-linear problem of a moving exoskeleton object with uncertain dynamic model parameters, friction elements, and external disturbance to ensure convergence and stability of the joint angle position tracking error. Modelling the dynamic movement of the lower limb exoskeleton by the mathematical method is established, which includes five links with the consideration of nonlinear elements of friction, elasticity and external disturbance to evaluate the effectiveness of the recommended control method. The stability of the recommended controller and the tracking efficiency of the control system are demonstrated by applying the theorem of Lyapunov stability and simulation in the Matlab/Simulink environment. © 2023 IEEE.

关键词： controllers

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Safety-Aware Trajectory Tracking using High-Order control Barrier Functions 63

Safety-Aware Trajectory Tracking using High-Order Control Ba...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Rousseas, Panagiotis Panagou, Dimitra Kyriakopoulos, Kostas National Technical University of Athens Control Systems Laboratory School of Mechanical Engineering Greece University of Michigan Department of Robotics and the Department of Aerospace Engineering MI United States Abu Dhabi United Arab Emirates

ISBN: (纸本)9798350316339

A novel method on safety-aware trajectory tracking is presented in this work. The proposed scheme employs control Barrier Functions (CBFs) along with a latent-space representation over the barrier and its derivatives. While such representations have also been employed in the literature, the innovation of the proposed method lies in formulating a novel tracking problem on the latent space, enabling for the shape of linear class -K functions that are included in the safety condition induced by the control barrier function to be chosen constructively. Additionally, the aforementioned safety condition is modified based on the latent-space tracking through the addition of an extra term. This enables maintaining safety guarantees and is demonstrated to provide decreased tracking errors compared to the nominal control barrier function scheme. Numerical simulations validate the efficacy of the proposed scheme, as well as its ability for online implementation. © 2024 IEEE.

关键词： Safety engineering

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Supervisors for Gas Compressor Stations with Compression and Valve Faults 8

Supervisors for Gas Compressor Stations with Compression and...

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8th South-East Europe Design Automation, Computer Engineering, Computer Networks and Social Media Conference, SEEDA-CECNSM 2023

作者： Fragkoulis, Dimitrios G. Koumboulis, Fotis N. Kouvakas, Nikolas D. Menexis, Antonis N. School of Science National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies 34400 Greece

ISBN: (纸本)9798350383676

A Discrete Event System (DES) based approach is developed for the derivation of the model and safe performance of a gas compressor station (GCS), in the presence of all possible actuator faults. The safe performance goal is surge avoidance, despite the presence of actuator faults, and is modelled as four rules, being translated to four regular languages. The respective supervisor automata are developed to realize the four regular languages. The physical realizability and nonblocking of the synchronous product of the supervisor automata and the automaton of the system is proved. Implementation of the supervisors in the Structured Text language for PLCs is provided. © 2023 IEEE.

关键词： Discrete event simulation

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