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Input and state constrained inverse optimal control with application to power networks

IFAC-PapersOnLine 2023年第2期56卷 5451-5456页

作者： Taouba Kaouther Jouini Zhiyong Sun Venkatraman Renganathan Veit Hagenmeyer Institute of Automation and Applied Informatics (IAI) at Karlsruhe Institute of Technology Germany Department of Electrical Engineering Eindhoven University of Technology Netherlands Department of Automatic Control LTH Lund University Sweden

We study input and state constrained inverse optimal control problems starting from a stabilizing controller with a control Lyapunov function, where the goal is to make the controller an explicit solution of the resulting constrained optimal control problem. For an appropriate cost design and initial states for which a sublevel set of the Lyapunov function is contained in the state constraint set and the initial input lies on an ellipsoid inside the input constraint set, we show that the stabilizing controller solves the constrained optimal control problem. Compared to the state-of-the-art, we avoid solving nonlinear optimization problems evaluated pointwise, i.e., for every state, or in a repetitive fashion, i.e., at each time step. We apply our theoretical results to study the angular droop control studied in (Jouini et al., 2022) of an inverter-based power network. For this, we accommodate the constraints on the angle and power generation and exemplify our approach through a two-inverter case study.

关键词： Optimal control Non-Linear control Systems Networked Systems Power and Energy Systems

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Finite-time coordinated path-following control of leader-following multi-agent systems

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Frontiers of Information Technology & Electronic engineering 2022年第10期23卷 1511-1521页

作者： Weibin CHEN Yangyang CHEN Ya ZHANG School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China Robot Department Jiangsu Automation Research InstituteLianyungang 222061China

This paper presents applications of the continuous feedback method to achieve path-following and a formation moving along the desired orbits within a finite *** is assumed that the topology for the virtual leader and followers is *** additional condition of the so-called barrier function is designed to make all agents move within a limited area.A novel continuous finite-time path-following control law is first designed based on the barrier function and *** a novel continuous finite-time formation algorithm is designed by regarding the path-following errors as *** settling-time properties of the resulting system are studied in detail and simulations are presented to validate the proposed strategies.

关键词： Finite-time Coordinated path-following Multi-agent systems Barrier function

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Container Distance Estimation for Automated RTG via Improved SOLOv2 Instance Segmentation

Container Distance Estimation for Automated RTG via Improved...

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第43届中国控制会议

作者： Zhengtao Yu Jun Yang Jinya Su School of Automation Southeast University Key Laboratory of Measurement and Control of CSE Ministry of Education Southeast University Department of Aeronautical and Automotive Engineering Loughborough University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This study develops a simple real-time algorithm inferring the relative distance between containers stacked in operational yards and spreaders of Rubber Tire Gantry(RTG) in support of fully automated RTG operations in ports. The proposed scheme is based on SOLOv2 instance segmentation network with image captured by camera mounted on RTG driver's ***, distance calculation is achieved by containers' surface recognition via instance segmentation and geometric information pertaining to the containers. To meet the dual demands of accuracy and reduced resource consumption, the original backbone network of SOLOv2, namely resnet18, is replaced by GhostNet. This substitution enables the extraction of multi-level feature maps for fusion, significantly reducing network complexity without sacrificing accuracy. The proposed algorithm is validated by comparative experiments on a self-curated real-life dataset, demonstrating a remarkable reduction of 91.6% in FLOPS and 55.7% in Params for the improved SOLOv2 framework.

关键词： Distance Estimation Instance Segmentation Rubber Tire Gantry Network lightweight

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Impact of Augmented Reality on the Teaching of Anatomy: A Study in Health Sciences Students

Impact of Augmented Reality on the Teaching of Anatomy: A St...

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IEEE ANDESCON

作者： Angel Julian Burgos Víctor Hugo Mosquera Industrial Automation Engineering Universidad del Cauca Popayán Colombia Electronic Instrumentation and Control Department Universidad del Cauca Popayán Colombia

ISBN: (数字)9798350355284

ISBN: (纸本)9798350355291

In the domain of health sciences education, the integration of innovative educational technologies is indispensable for enhancing the comprehension of anatomical concepts. This study explores the impact of Augmented Reality (AR) on anatomy education, specifically focusing on the upper limb. The aim is to assess how AR influences learning outcomes, student engagement, and motivation. Forty-two students from the Faculty of Health Sciences at the University of Cauca actively participated in the study. The findings reveal a significant preference for frequent utilization of educational technologies among the participants, showcasing a high level of technological integration in their learning practices. The tool's ease of use and its substantial impact on improving the understanding of upper limb anatomy received positive feedback, with an average rating of 4.5 on a scale of 0 from 5. This study demonstrates that AR, when implemented in anatomy education for health sciences students, not only improves understanding but also fosters motivation and engagement. These results underscore the potential of AR as a transformative tool in health sciences education, offering an immersive and interactive learning experience that aligns with the preferences and needs of actual generation learners.

关键词： Training Visualization Technological innovation Adaptation models Refining Focusing Educational technology Medical services Anatomy Augmented reality

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A Derivative-free Kalman Filter-based Disturbance Observer using Flat Inputs

A Derivative-free Kalman Filter-based Disturbance Observer u...

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IEEE International Conference on Automatica (ICA-ACCA)

作者： José Oniram de A. Limaverde Filho Matheus T. de Sousa Anderson B. Rodrigues Eugênio Fortaleza Department of Electrical Engineering University of Brasília Brasília Brazil Automation and Control Group (GRACO) University of Brasília Brasília Brazil

ISBN: (数字)9798350378115

ISBN: (纸本)9798350378122

Differential flatness theory has proven useful in providing efficient solutions to advanced control and state estimation problems. However, its application to differentially flat systems whose flat output vector is not directly measurable may face practical limitations. Recently, the concept of flat inputs has emerged as a promising approach to overcome these constraints. Nevertheless, to the best of our knowledge, existing studies with flat inputs have not considered the presence of unknown external disturbances in controller design. To address this gap, this paper proposes a derivative-free Kalman filter-based disturbance observer using flat inputs for differentially flat nonlinear systems with stable internal dynamics where the flat output vector is not a measurable variable. The effectiveness of the proposed scheme is numerically verified for the well-known quadruple-tank process.

关键词： Simulation Noise Process control Vectors Filtering theory Disturbance observers Trajectory Nonlinear dynamical systems Kalman filters State estimation

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Deep Learning-Based Prediction of Subsurface Oil Reservoir Pressure Using Spatio-Temporal Data 49

Deep Learning-Based Prediction of Subsurface Oil Reservoir P...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Cheng, Haibo He, Yunpeng Zeng, Peng Li, Shichao Vyatkin, Valeriy Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Luleå University of Technology Department of Computer Science Electrical and Space Engineering Luleå Sweden Aalto University Department of Electrical Engineering and Automation Helsinki Finland

ISBN: (纸本)9798350331820

Prediction of subsurface oil reservoir pressure are critical to hydrocarbon production. However, the accurate pressure estimation faces great challenges due to the complexity and uncertainty of reservoir. The underground seepage flow and petrophysical parameters (permeability and porosity) are important but difficult to measure in oilfield. Deep learning methods have been successfully used in reservoir engineering and oil & gas production process. In this study, the effective but inaccessible subsurface seepage fields are not used, only the spatial coordinates and temporal information are selected as model input to predict reservoir pressure. A stacked GRU-based deep learning model is proposed to map the relationship between spatio-temporal data and reservoir pressure. The proposed deep learning method is verified by using a three-dimensional reservoir model, and compared with commonly-used methods. The results show that the stacked GRU model has a better performance and higher accuracy than other deep learning or machine learning methods in pressure prediction. © 2023 IEEE.

关键词： Forecasting

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System Structure for Railway Switch Points and Signals Electrical Interlocking Powered by Renewable Energy Sources and Emergency Cable Network

System Structure for Railway Switch Points and Signals Elect...

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International Conference on Industrial engineering, Applications and Manufacturing (ICIEAM)

作者： Dmitrii V. Efanov Davron Kh. Ruziev Valerii V. Khóroshev Transport Higher School of Mechanical Engineering Material and Transport Institute in Peter the Great St. Petersburg Polytechnic University St. Petersburg Russia “Automation and Remote Control” Department Tashkent State Transport University Tashkent Uzbekistan “Automation Remote Control and Communication on Railway Transport” Department Russian University of Transport Moscow Russia “Automation Remote Control and Communication on Railway Transport” department Russian University of Transport (MIIT) Moscow Russia

ISBN: (数字)9798350395013

ISBN: (纸本)9798350395020

Article propose a hybrid technology of power supply in the electrical interlocking systems development for railway stations. The main feed input is proposed to be carried out from renewable energy sources. Such sources are near the railway track. Redundant power supply should be provided using traditional cable networks with local placement. The article presents the structures of electrical interlocking systems based on hybrid technology. In addition, when supplying power to railway automation and remote control, the power supply must be guaranteed. That is why, at this stage of the transition, it is necessary to maintain redundant cable glands. In the future, a complete transition to energy supply from renewable energy sources is proposed. The authors considered the use of energy sources with solar panels. The following solutions are proposed for organizing the power supply of railway automation and remote-control devices: providing power supply in the yard neck with local power sources - solar panels, linking between wayside device and the signal box using fiber optic cables and radio channels. The main attention is paid to the environmentally friendly energy sources, the wire routing shorts and maintenance.

关键词： Renewable energy sources automation Costs Power supplies Optical switches Optical fiber cables control systems

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Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours

Comparison of Autonomous Robot's Mapping Performance Based o...

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2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022

作者： Altinpinar, Ozan Vahit Contarli, Emre Can Kagizman, Ahmet Uguzlar, Umut Cansu, Enes Sezer, Volkan Autonomous Mobility Group Istanbul Technical University Department of Mechatronics Engineering Istanbul Turkey Autonomous Mobility Group Istanbul Technical University Department of Control and Automation Engineering Istanbul Turkey Autonomous Mobility Group Istanbul Technical University Department of Institute of Science Istanbul Turkey

ISBN: (数字)9781665488945

ISBN: (纸本)9781665488945

Autonomous mobility is increasing its popularity day by day. Mapping, localization, planning, and control are the main research topics of autonomous systems. The performance of localization directly depends on the map quality. This paper aims to show how to improve mapping performance, by increasing the measurements and number of tours. In this context, using the GMapping package of the ROS platform, the mapping performance of two lidars located in different regions and heights of the wheelchair, working separately and together, is examined. In addition, the mapping performance according to the number of tours in the mapped region is also tested. As a result, it is confirmed that the results obtained using two lidars are more successful than a single lidar. Additionally, loop closure's effect on increasing the map quality is shown in the paper. © 2022 IEEE.

关键词： Mapping

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A Three-Dimensional Force Estimation Method for the Cable-Driven Soft Robot Based on Monocular Images

A Three-Dimensional Force Estimation Method for the Cable-Dr...

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IEEE International Conference on Robotics and Biomimetics

作者： Xiaohan Zhu Ran Bu Zhen Li Fan Xu Hesheng Wang Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Artificial Intelligence Research Institute and School of Information and Control Engineering China University of Mining and Technology

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further applications in precise manipulation. This paper proposes an end-to-end network to estimate the 3D contact force of the soft robot, with the aim of enhancing its capabilities in interactive tasks. The presented method features directly utilizing monocular images fused with multidimensional actuation information as the network inputs. This approach simplifies the preprocessing of raw data compared to related studies that utilize 3D shape information for network inputs, consequently reducing configuration reconstruction errors. The unified feature representation module is devised to elevate low-dimensional features from the system's actuation signals to the same level as image features, facilitating smoother integration of multimodal information. The proposed method has been experimentally validated in the soft robot testbed, achieving satisfying accuracy in 3D force estimation (with a mean relative error of 0.84% compared to the best-reported result of 2.2% in the related works).

关键词： Three-dimensional displays Accuracy Shape Force Time series analysis Estimation Surgery Soft robotics Pulse width modulation Real-time systems

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Edge-Assisted Flexible Platooning of Connected and Automated Vehicles Under Traffic Anomaly

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IEEE Transactions on Vehicular Technology 2025年

作者： Gao, Fengkun Yang, Bo Chen, Cailian Guan, Xinping Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Industrial Intelligent Control and Management Shanghai200240 China

The platooning of connected and automated vehicles (CAVs) has the great potential to significantly improve travel experience in terms of safety, comfortableness, and energy efficiency. However, constrained by sensing range and prediction accuracy, the performance of CAV platoon can not be guaranteed in the scenario of mixed traffic consisting of CAVs and human-driven vehicles (HDVs). This is not only due to the uncertainty of HDVs but also related to the occurrence of various traffic anomalies, such as emergency braking and accidents. In this paper, we aim to investigate an efficient control strategy to guarantee the operation of the platoon in mixed traffic, especially in the case of traffic anomalies. To tackle the problem, an edge-assisted platoon control strategy, called E-CACC, is proposed. First, an error-aware flexible tracking policy is designed to adapt to HDV uncertainties and speed prediction errors. Based on the tracking policy, a zone model predictive control (ZMPC) method is then designed to guarantee travel safety and avoid undesired acceleration. Further, a coordination strategy of CAV platoon and roadside unit (RSU) is proposed to prevent the platoon from potential collision in the case of traffic anomalies, where an event-based communication trigger is designed to determine whether and when the platoon establishes communication links with RSU to acquire exogenous sensing data of anomaly segment. Finally, the evaluation results illustrate the effectiveness of the proposed method in improving travel safety and comfortableness. © 1967-2012 IEEE.

关键词： Braking performance

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