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7th International Symposium on Autonomous Systems, ISAS 2024

作者： Liu, Shanlin Zhang, Yingwei Zhao, Xudong Wang, Hesheng Northeastern University College of Information Science and Engineering Shenyang China Northeastern University State Laboratory of Synthesis Automation of Process Industry Shenyang China Dalian University of Technology Faculty of Electronic Information and Electrical Engineering Dalian China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9798350363173

In this article, an adaptive event-triggered asymp¬totically fault-tolerant control (FTC) issue for nonlinear systems with actuator faults is investigated. An extended neural networks (NNs) technique is introduced to estimate unknown functions of the system under consideration. Compared with traditional NNs that ignore approximation errors, the proposed extended NNs further processes approximation errors, reducing the conservatism of the proposed algorithm. Then, within the framework of backstepping method, a new adaptive control strategy is developed by combining event-triggered mechanism (ETM) and bound estimation (BE) approach, which ensures the asymptotic convergence of system states while also reducing the transmission of unnecessary information, thus improving the utilization of communication resources. At the same time, the designed controller eliminates the adverse effects of actuator failures and system nonlinear terms. Finally, a simulation example of a single-link robot system is provided to demonstrate that the developed control strategy can ensure that all signals are bounded and system states are asymptotically convergent. © 2024 IEEE.

关键词： Approximation algorithms

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Developing Digital Twin for Electromechanical System of Rolling Stand in Simulink Real Time

Developing Digital Twin for Electromechanical System of Roll...

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2024 International Ural Conference on Electrical Power engineering, UralCon 2024

作者： Radionov, Andrey A. Karandaev, Alexandr S. Loginov, Boris M. Khramshin, Vadim R. Moscow Polytechnic University Department of Automation and Control Moscow Russia Magnitogorsk Iron and Steel Works Magnitogorsk Russia Power Engineering and Automated Systems Institute Nosov Magnitogorsk State Technical University Magnitogorsk Russia

ISBN: (纸本)9798350386028

The development of digital twins (DTs) of industrial electrical systems is attributed to the need for the reduction of time and material resource inputs during their virtual commissioning (VC). The same problem occurs during renovation with complete or partial equipment replacement and/or control systems. These problems can be efficiently solved by developing object-oriented DTs based on the Simulink Real Time software and using hardware-in-the-loop simulation (HIL). This software is compatible with Matlab Simulink and the Simscape package, which makes it suitable for the industrial usage. The authors suggest a HIL-based approach that helps make a virtual real-time computer model, with process control signals coming from the industrial PLC that controls the real physical object. This problem occurred during the renovation of the horizontal stand electric drives of a 5000 plate mill. The authors provide the flow charts of the electromechanical system and the object-oriented DT. The implementation of DT in Matlab Simulink Desktop Real Time is reviewed in laboratory settings. The authors present the block structures that make up a virtual model of the electromechanical system. The developed DT was used to adjust control algorithms and controllers and study the dynamic modes over a rolling cycle. The adequacy of the processes was tested by comparing the oscillograms obtained with the developed DT and the rolling mill. The authors stress the feasibility of developing DTs on the Simulink Real Time platform using HIL simulation during VC and renovation of complex industrial objects. © 2024 IEEE.

关键词： MATLAB

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Dynamic Parameter Identification based on the Least Squares method for a 6-DOF Manipulator

Dynamic Parameter Identification based on the Least Squares ...

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2023 International Conference on System Science and engineering, ICSSE 2023

作者： Nguyen, Ngoc Thien Nguyen, Thi Ngoc Thuy Tong, Hai Ninh Truong, Hoai Vu Anh Tran, Duc Thien Ho Chi Minh City University of Technology and Education Automation Control Department Ho Chi Minh City70000 Viet Nam Department of Mechanical Engineering Gyeongbuk37673 Korea Republic of

ISBN: (纸本)9798350322941

Accurate dynamics play crucial roles in designing advanced control algorithms to ensure the feasibility, stability, and efficiency of the system. However, the manipulator is a complex multi-input-multi-output system, and so many system noises seriously affect parameter identification results, thereby the process of determining them is challenging. In order to manage this challenge, a Least Squares (LS) method is proposed to estimate the dynamic parameters. First of all, the kinematics of the system is built according to Denavit-Hartenberg (DH) notation, and the dynamic model is calculated by using Lagrange-Euler equations. After that, the regrouped parameters in the dynamic model are given to the general linear matrix to apply the least squares method for the model. Finally, to demonstrate the effectiveness and reliability of the proposed method, data acquisition is carried out by using a PD controller in simulations via Simscape Multibody/MATLAB Simulink for the dynamic estimate model and the Solidworks robot model. After that, the Root Mean Squared Error (RMSE) formula is used to analyze the accuracy of the LS method. © 2023 IEEE.

关键词： Dynamic models

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A Differential Game Approach to Collision Avoidance in Multi-Agent Systems 41

A Differential Game Approach to Collision Avoidance in Multi...

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第41届中国控制会议

作者： Wenyan Xue Zhihong Wu Siyuan Zhan Yutao Chen Jie Huang College of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Department of Electronic Engineering Maynooth University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper gives a novel differential game scheme to solve the collision avoidance problem for multi-agent *** on the concept of artificial potential field(APF),we combine obstacle avoidance objectives with trajectory optimization targets as the performance *** feedback strategies are based on the solutions of coupled Riccati ***,it is proved that the feedback strategies will converge to a Nash equilibrium(NE).Finally,simulation results are provided to show the advantages,which make agents arrive at the targeted position collision-free with a reduced time.

关键词： Collision avoidance differential game trajectory optimization Nash equilibrium

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Effective State Estimation for a Class of Nonlinear Systems using Soft Actor-Critic Reinforcement Learning

Effective State Estimation for a Class of Nonlinear Systems ...

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International Conference on Computer Theory and Applications (ICCTA)

作者： Sohila Megahed Ayman El-Badawy Automation and Control German International University Mechatronics Engineering Department German University in Cairo

ISBN: (数字)9798331529680

ISBN: (纸本)9798331529697

A state estimator using soft actor-critic (SAC) reinforcement learning (RL) algorithm is presented in this paper. Estimating states of non linear systems is a challenging task due to the inherent complexities of such systems, including uncertainties, nonlinearities, and measurement noise. Motivated by the need to address these limitations, thereby enhancing control performance, this work proposes an efficient state estimation technique. Specifically, we aim to replace the computationally expensive gain calculation within the Extended Kalman Filter (EKF) with the output of a neural network trained using the SAC algorithm. This approach eliminates the requirement for explicit computation of the covariance and Jacobian matrices, which are significant bottlenecks in the EKF. Consequently, the estimation process exhibits improved efficiency, particularly after the neural network has been adequately trained. To validate the efficacy of the proposed technique, a deep RL agent was implemented, trained, and tested on an unmanned aerial vehicle (UAV) system. The convergence of the estimation error and the observed 71% reduction in simulation execution time serve as evidence for the accuracy and efficiency of this estimation method.

关键词： Estimation error Accuracy Neural networks Reinforcement learning Autonomous aerial vehicles Real-time systems Mathematical models Vectors State estimation Nonlinear systems

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Optimizing Maximum Profit for Electric Vehicle Users in a Bipolar DC Distribution Grid with Probabilistic EV Load Demand and V2G Integration 12

Optimizing Maximum Profit for Electric Vehicle Users in a Bi...

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12th International Electrical engineering Congress, iEECON 2024

作者： Sakulphaisan, Guntinan Son-In, Sirirat Junhuathon, Nitikorn Pathumwan Institute Of Technology Industrial Technology And Innovation Management Faculty Of Science And Technology Bangkok Thailand Bansomdejchaopraya Rajabhat University Electrical Engineering And Automation Control Systems Faculty Of Engineering And Industrial Technology Bangkok Thailand Rajamangala University Of Technology Thanyaburi Faculty Of Engineering Department Of Electrical Engineering Pathumthani Thailand

ISBN: (纸本)9798350383591

This article delves into the synergistic potential of integrating Bipolar DC distribution grids, Probabilistic EV load demand forecasting, and Vehicle-to-Grid (V2G) technology. It offers a blueprint for electric vehicle (EV) users to smartly improve their financial results. Through the amalgamation of these components, individuals who possess electric vehicles have the potential to mitigate their energy expenditures while concurrently generating additional income. The study reveals that the integration of EV into the distribution system can lead to a substantial increase in daily energy loss, reaching up to 25.91%. However, when V2G technology is employed within the distribution grid, it has the remarkable capability to mitigate this increase in daily energy loss significantly, achieving a reduction of up to 64.12%. © 2024 IEEE.

关键词： Integration

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PID-fuzzy switching-based strategy to heading control for remote operated vehicle

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Neural Computing and Applications 2024年 1-17页

作者： Xie, Baolong He, Shuping Cao, Xiang Wang, Honghai Stojanovic, Vladimir Shi, Kaibo School of Electrical Engineering and Automation Anhui University Hefei230039 China School of Artificial Intelligence Anhui University Hefei230039 China School of Computing and Artificial Intelligence Chaohu University Chaohu238024 China Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil Engineering University of Kragujevac Kraljevo36000 Serbia School of Electronic Information and Electrical Engineering Chengdu University Chengdu610106 China

Accurate heading control is the premise for underwater vehicles to complete underwater operations. In order to improve the performance of heading control, this paper proposes a heading control strategy based on PID-fuzzy switching. First, the force analysis of the steering motion was carried out to derive the dynamics model of the steering motion. Then, the whole heading control process is divided into two phases, steering phase and holding phase. Fuzzy control is used in the steering phase, and PID control is used in the holding phase. By setting the automatic switching switch, the control system can switch freely between the two to meet the needs of system adjustment under different errors. Finally, the performance of the established heading control system is verified through motion control simulations and pool experiments, and the proposed control strategy is compared with other methods. The results show that the control strategy can effectively achieve ROV heading control with good steady-state accuracy, and the overall performance has been greatly improved. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Fuzzy control

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Acoustic Positioning of Partial Discharges in High-Voltage Transformer Tank

Acoustic Positioning of Partial Discharges in High-Voltage T...

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2024 International Ural Conference on Electrical Power engineering, UralCon 2024

作者： Karandaev, Alexandr S. Loginov, Andrey B. Nikolaev, Andrey A. Moscow Polytechnic University Department of Automation and Control Moscow Russia Power Engineering and Automated Systems Institute Nosov Magnitogorsk State Technical University Magnitogorsk Russia Magnitogorsk Iron and Steel Works Magnitogorsk Russia

ISBN: (纸本)9798350386028

This report reviews an example of acoustic positioning of partial discharges (PD) in the tank of a high-voltage oil-filled transformer. The literature review confirms the importance of PD monitoring and justifies the feasibility of positioning discharge activity centers. The precise positioning of PD sources is required to determine the location of insulation defects. The authors provide brief information on the development of PD positioning methods and note that their practical application has been insufficiently covered in publications. They present the results of electromagnetic and acoustic PD positioning in a 110 kV transformer. Some details are provided on the devices and measurement methods used, including the localization of areas with increased PD intensity using one acoustic sensor and the subsequent center localization through the installation of 4 sensors at even intervals. The authors provide PD signals and defect impulses received from each of the sensors and demonstrate the difference in the registration time of these signals. They explain the principle behind PD center positioning, which is determined considering delays in signal reception. The authors demonstrate the usage of the Inva (Portable) software for the processing and visualization of acoustic positioning results. They note that changes in the propagation rate of acoustic waves in a heterogeneous medium result in the reduced accuracy of results. The authors also outline the prospects of the research into the elimination of occurring defects. © 2024 IEEE.

关键词： Oil filled transformers

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Sequential Convex Program for Variable Speed Pump Scheduling in Water Distribution Systems

Sequential Convex Program for Variable Speed Pump Scheduling...

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International Conference on Electronics, Computers and Artificial Intelligence (ECAI)

作者： Pham Duc Dai Department of Control Engineering and Automation Thuyloi University Hanoi Vietnam

Operation of water distribution systems (WDSs) to reduction of water leakage can be achieved by properly operating variable speed pumps (VSPs). This practical problem can be casted into a nonlinear program (NLP) where decision variables are relative speeds of pumps while the state variables are flows and nodal heads. The formulated NLP consists of both convex and non-convex constraints, for this reason, we proposed to apply the sequential convex programming technique (SCP) for solving the NLP. The advantage of the SCP method lies in the fact that instead of solving the non-convex NLP, we solve sequential convex NLPs and, in this case, it requires less number of iterates for solution convergence than solving the problem directly by using standard NLP solvers. The effectiveness of the approach was demonstrated on two WDSs for optimal VSP scheduling problem

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Design of Image-Based Autonomous Landing Instrumentation and control System for Unmanned Quadrotor Vehicles 10

Design of Image-Based Autonomous Landing Instrumentation and...

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10th IEEE Information Technology International Seminar, ITIS 2024

作者： Fauzan, Ihsan M. Mukhlish, Faqihza Prayoga, Aditya Ahmad, Robby Azhari Institut Teknologi Bandung Instrumentation and Control Master Program Faculty of Industrial Technology Indonesia Institut Teknologi Bandung Engineering Physics Research Group Center for Instrumentation Technology and Automation Indonesia PT. Sas Aero Sishan Engineering Department Indonesia

ISBN: (纸本)9798331521295

The study designs an instrumentation and control system for autonomous quadrotor landing using a visual marker as the landing target. For landing process, the marker used as a landing target is an embedded ArUco marker, capable for detection for both long range and close-range detection. Position of the quadrotor relative from the ArUco marker is estimated using Perspective-N-Point pose estimation. The estimation errors compared to actual measurements are under 20 cm, which is less than the distance between ArUco border and its center. To keep camera for facing downward during the flight, the 2 axis inertially stabilization platform (ISP). The designed ISP can maintain the camera orientation even when quadrotor angle has changed. The landing control system is made for two different scenarios. First scenario is for landing with Global Positioning System (GPS) support, and the second scenario is without GPS support. The landing control system in GPS support scenario uses velocity setpoint to control the quadrotor while in without GPS support scenario, control system uses angle-thrust setpoint to control quadrotor. Quadrotor landing control system can attempt landing on top of the ArUco marker in both scenarios. The trajectory Mean Average Error (MAE) of x and y coordinates and radius of the landing process is (0.108, 0.326, 0.359) m for GPS support scenario and (0.301, 0.251, 0.436) m for without GPS support scenario. © 2024 IEEE.

关键词： Global positioning system

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