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Automatic crossbow control in industrial hot-dip galvanizing lines

JOURNAL OF PROCESS control 2023年第1期122卷 147-158页

作者： Marko, L. Kugi, A. Steinboeck, A. TU Wien Automation & Control Inst Christian Doppler Lab Intelligent Proc Control Hig Vienna Austria TU Wien Automation & Control Inst Vienna Austria

In industrial hot-dip galvanizing lines, the crossbow flatness defect of steel strips constitutes one of the main sources for coating thickness deviations and inhomogeneities. In this work, a novel algorithm for online minimization of the crossbow flatness defect based on the automatic adjustment of the pot roll intermesh is developed. The devised model-free control algorithm can be easily implemented on an industrial programmable logic controller, even with very limited computational resources. The controller uses measurement data from an electromagnetic strip stabilization device and avoids the use of the delayed measurement data from the downstream radiometric coating thickness gauges. Assuming that a hot-dip galvanizing line is already equipped with an electromagnetic strip stabilization device, additional hardware is not required for implementation. The control algorithm can also be easily adapted to processing lines without an electromagnetic strip stabilizer. A detailed stability analysis allows to derive some basic guidelines to guarantee the convergence of the overall control scheme. A short-and long-term evaluation of measurement results from an industrial hot-dip galvanizing line demonstrates the effectiveness and robustness of the proposed control scheme.(c) 2023 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY license (http://***/licenses/by/4.0/).

关键词： Hot-dip galvanizing Steel industry Crossbow Model-free control Sampled-data extremum seeking

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Coalition formation problem: a capability-centric analysis and general model

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Science China(Information Sciences) 2024年第11期67卷 180-193页

作者： Jie CHEN Miao GUO Bin XIN Qing WANG Shengyu LU Yipeng WANG Yulong DING School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Department of Control Science and Engineering Tongji University

Coalition formation(CF) refers to reasonably organizing robots and/or humans to form coalitions that can satisfy mission requirements, attracting more and more attention in many fields such as multirobot collaboration and human-robot collaboration. However, the analysis on CF problems remains *** provide a valuable study reference for researchers interested in CF, this paper proposed a capabilitycentric analysis of the CF problem. The key problem elements of CF are firstly extracted by referencing the concepts of the 5W1H method. That is, objects(who) form coalitions(what) to accomplish missions(why) by aggregating capabilities(how) in a specific environment(where-when). Then, a multi-view analysis of these elements and their correlation in terms of capabilities is proposed through various logic diagrams, structure charts, etc. Finally, to facilitate a deeper understanding of capability-centric CF, a general mathematical model is constructed, demonstrating how the different concepts discussed in this analysis contribute to the overall model.

关键词： coalition formation capability aggregation capability metric mission requirement environmental effect

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A Novel Data-Based Fault-Tolerant control Method for Multicontroller Linear Systems via Distributed Policy Iteration

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2023年第5期53卷 3176-3186页

作者： Wei, Qinglai Li, Hongyang Li, Tao Wang, Fei-Yue Chinese Acad Sci Inst Automation State Key Lab Management & Control Complex Syst Beijing Peoples R China Chinese Acad Sci Inst Automation State Key Lab Management & Control Complex Syst Beijing Peoples R China Chinese Acad Sci Inst Automation State Key Lab Management & Control Complex Syst Beijing Peoples R China Chinese Acad Sci Inst Automation State Key Lab Management & Control Complex Syst Beijing Peoples R China

This article presents a novel data-based fault-tolerant control method for multicontroller linear systems via distributed policy iteration. The traditional fault-tolerant control methods based on policy iteration may cause a huge-computational burden under the situation of high-dimension control laws. In order to solve this problem, a novel distributed policy iteration method is presented, where only one iterative control law is updated in each iteration, to realize the fault-tolerant control of multicontroller linear systems. The main contributions can be highlighted as follows: 1) a novel data-based distributed policy iteration method is presented to reduce the computational burden;2) the fault-tolerant control method is presented via designing fault compensators;and 3) the developed data-based method only requires the partial system information. First, the model-based fault-tolerant control via distributed policy iteration and fault compensation is provided. Based on the model-based method, a data-based fault-tolerant control method is presented. Finally, numerical experiments are given to show the performance of the presented method.

关键词： Fault tolerant systems Fault tolerance Linear systems control systems Actuators Optimal control Mathematical models Distributed policy iteration fault-tolerant control multicontroller linear systems optimal control

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A Guidance Module Based Formation control Scheme for Multi-Mobile Robot Systems With Collision Avoidance

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IEEE TRANSACTIONS ON automation SCIENCE AND ENGINEERING 2024年第1期21卷 382-393页

作者： Wang, Guodong Wang, Xiangyu Li, Shihua Southeast Univ Sch Automation Key Lab Measurement & Control Complex Syst Engn Minist Educ Nanjing Peoples R China

This paper investigates distributed formation control of multi-mobile robot systems with collision avoidance. A novel guidance module based formation control scheme is established, which consists of two main parts. In the first part, on the communication network of the multi-mobile robot system, a distributed guidance module is constructed from some pre-designed virtual dynamics scattered in the robots' feedback loops. By using some proper distributed formation control methods and distributed observer techniques, some formation references are generated by the guidance module. In the second part, by taking these references as the tracking references, some tracking con-trollers are designed and assigned to the robots such that the robots' positions track their respective references asymptotically. A two-layer constraint mechanism is presented in the above controller design to limit both the formation references and the robots' tracking errors such that robots' collision avoidance is guaranteed. In this way, the multi-mobile robot system completes the desired collision-free formation control task. Compared with existing results, the method proposed in this paper has a better plug-and-play function and wider application scope, especially when the practical robots have tight encapsulations such that their pre-equipped tracking controllers cannot be arbitrarily redesigned. Moreover, under the proposed scheme, the asymptotic formation convergence is achieved by the robots without extra limitations on robots' initial states and the utilization of global information. Some simulations and an experiment are given to validate the effects of the proposed methods.

关键词： Robots Formation control Collision avoidance Robot kinematics Task analysis Convergence Trajectory Multi-mobile robot systems formation control guidance module time-vary trajectory tracking collision avoidance

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Structural Conditions for Chattering Avoidance in Implicitly Discretized Sliding Mode Differentiators

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IEEE control SYSTEMS LETTERS 2023年 7卷 2065-2070页

作者： Seeber, Richard Koch, Stefan Graz Univ Technol Inst Automation & Control Christian Doppler Lab Model Based Control Complex A-8010 Graz Austria

This letter considers the implicit discretization of Levant's arbitrary order robust exact differentiator. It is shown that an improper implicit discretization may lead to an undesired bias in the differentiation error and, surprisingly, to discretization chattering despite the implicit discretization. Necessary and sufficient structural conditions for avoiding both of these problems are presented, which define a family of chattering-free discrete-time differentiators. A guideline for selecting a representative from this family is given. Numerical simulations illustrate the results.

关键词： Robust exact differentiator implicit Euler discretization sampled measurements

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Robust data-driven iterative learning control for nonlinear cyber-physical systems

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2023年第14期33卷 8433-8451页

作者： Shi, Tao Che, Wei-Wei Qingdao Univ Sch Automation Shandong Key Lab Ind Control Technol Qingdao 266071 Peoples R China

This article mainly studies the problem of the robust security iterative learning control for nonlinear cyber-physical systems, which suffer from external disturbances and denial-of-service (DoS) attacks. First, the nonlinear system can be transformed into an iterative linear data model, which is only used for the controller parameter design and the stability analysis without the physical meaning. Then, an extended state observer is introduced to estimate external disturbances along the iteration axis. At the same time, considering the influence of DoS attacks, an attack compensation mechanism is designed for DoS attacks along the iteration axis. In addition, an iterative-varying penalty is designed to accelerate the convergence of the tracking error. Further, the mathematical induction is used to decouple the control input from the tracking error and the compression mapping principle is utilized to prove that the tracking error is ultimately bounded under the influence of disturbances and DoS attacks. Finally, the main results are verified by the motor simulation.

关键词： cyber-physical systems DoS attacks extended state observer external disturbances iterative learning control

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Intentional Blocking Based Photoelectric Soft Pressure Sensor with High Sensitivity and Stability

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SOFT ROBOTICS 2023年第1期10卷 205-216页

作者： Li, Zhengwei Cheng, Long Liu, Zeyu Chinese Acad Sci Inst Automation State Key Lab Management & Control Complex Syst Beijing Peoples R China

Soft pressure sensors have recently attracted considerable attention because of their applications in human-machine interface, soft robotics, and prosthetics. However, there remain some challenges in achieving satisfactory performance (e.g., high sensitivity, wide sensing range, high stability) for soft pressure sensors. This article reports an intentional blocking based photoelectric pressure sensor. Two different blocking methods are investigated: the single-row-pyramid blocking and the double-row-pyramid blocking. The sensor has a simple structure, which is made of a light-emitting diode, photosensitive element, and silicone sensor shell. Experiments demonstrate that the sensor has a high sensitivity (the maximum sensitivity is 48.07 kPa(-1), and the minimum measurement pressure is 0.8 Pa), large pressure-sensing range (the sensing range is up to 120 kPa), superior stability (a drift about 0.4% over 12,130 repetitive cycles at 0-80 kPa), low drift (< +/- 0.2% in different 3-day testing), negligible hysteresis, and high signal-to-noise ratio (over 55 dB). By mounting the pressure sensor at the end of a robotic arm, the robot can detect subtle collisions (such as touching a balloon through a pinpoint). In addition, this article fabricates a tactile glove based on the proposed pressure sensor and shows the application of this glove for music playing and object weighing. This study provides a new structure for photoelectric sensors to increase sensitivity and also provides a more convenient way to fabricate photoelectric pressure sensors.

关键词： pressure sensor soft sensor intentional blocking structure photoelectric effect

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Learning Robust Point-to-Point Motions Adversarially: A Stochastic Differential Equation Approach

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IEEE ROBOTICS AND automation LETTERS 2023年第4期8卷 2357-2364页

作者： Zhang, Haoyu Cheng, Long Zhang, Yu Chinese Acad Sci Inst Automation State Key Lab Management & Control Complex Syst Beijing Peoples R China

This letter proposes a robust stochastic differential equation approach for learning point-to-point motions in an adversarial way. The proposed stochastic dynamical model combines the advantages of the stochastic differential equation and the transformer-like function together to achieve both robustness and accuracy of the learning. The adversarial training method is proposed to simplify the way of updating the parameters of the model. The state of the proposed stochastic dynamical system is mathematically proved to converge asymptotically in the mean square sense, and it has been experimentally validated on the LASA dataset and by the trajectory-programming task of the Franka Emika robot. The experimental results show that: (1) the adversarial training method helps the model to achieve higher reproduction accuracy;(2) the trajectories generated by the proposed model achieve higher accuracy in both the noise-free condition (by approximately 14.9%) and the noisy condition (by approximately 17.8%) compared with the state-of-the-art methods in terms of the similarity to the demonstration;and (3) the proposed approach can learn smoother trajectories even if the observations are contaminated by noises.

关键词： Point-to-point task stochastic differential equation adversarial method learning from demonstrations

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Cost-optimal design and energy management of fuel cell electric trucks

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INTERNATIONAL JOURNAL OF HYDROGEN ENERGY 2023年第43期48卷 16420-16434页

作者： Ferrara, Alessandro Jakubek, Stefan Hametner, Christoph TU Wien Inst Mech & Mechatron Div Proc Control & Automation A-1060 Vienna Austria TU Wien Christian Doppler Lab Innovat Control & Monitoring A-1060 Vienna Austria

Road freight transport on hilly routes represents a significant challenge for the advance-ment of fuel cell electric trucks because of the high-performance requirements for fuel consumption, vehicle lifetime, and battery charge control. Therefore, it is essential to optimize the vehicle design and energy management, which greatly influence the driving performance and total cost of ownership. This paper focuses on the cost-optimal design and energy management of fuel cell electric trucks, considering five key influencing fac-tors: powertrain component sizing, driving cycle, vehicle weight, component degradation, and market prices. The cost optimization relies on a novel predictive energy management scheme based on dynamic programming and the systematic calibration of control pa-rameters. The paper analyzes the simulation results to highlight three main findings for fuel cell electric trucks: 1) cost-optimal energy management is essential to define the best trade-off between fuel consumption and component degradation;2) the total cost of ownership is significantly influenced by component sizing, driving cycles, vehicle weight, and market prices;3) predictive energy management is highly beneficial in challenging road topographies for substantial cost-saving and lower component size requirements.(c) 2023 The Author(s). Published by Elsevier Ltd on behalf of Hydrogen Energy Publications LLC. This is an open access article under the CC BY license (http://***/ licenses/by/4.0/).

关键词： Energy management Fuel cell vehicles Optimal vehicle design Total cost of ownership Powertrain component sizing Dynamic programming

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Inventory control for Omnichannel Retailing Between One Warehouse and Multiple Stores

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IEEE TRANSACTIONS ON ENGINEERING MANAGEMENT 2023年 71卷 7395页

作者： Li, Ning Wang, Zheng Southeast Univ Sch Automation Key Lab Measure & Control Complex Engn Syst Minist Educ Nanjing Peoples R China

In this article, we research a multiperiod two-echelon inventory control problem for omnichannel retailing [i.e., online channel, offline channel, and buy-online-and-pick-up-in-store (BOPS) channel]. Especially, we jointly consider the limited storage capacity of the stores and the delivery lead time of the warehouse. For the out of stock, the unsatisfied demands for multiple purchasing channels have different processes (i.e., lost sales or backlog), based on the different characteristics of multiple channels. First, we divide the multiperiod inventory control problem for omnichannel retailing into two subproblems (the inventory control problem for the stores and the inventory control problem for the warehouse). Then, to reduce the scale of the first subproblem and the computation effort, we propose a method based on Lagrangian relaxation and value iteration to solve the inventory control problem of stores. Further, based on the results of the inventory control problem of stores, we construct a delay-aware Markov decision process (DAMDP) for the inventory control problem of the warehouse and employ the Q-learning technique based on the constructed DAMDP to solve the second subproblem. Besides, we also extend our analysis to the case of the low-level backlog in buying-online channels (i.e., online and BOPS channels). Finally, some numerical experiments are conducted to illustrate the performance of the inventory control policy for omnichannel retailing and reveal some managerial insights.

关键词： Inventory control Relaxation methods Q-learning Process control Markov processes Delays Couplings Delay-aware Markov decision process (DAMDP) inventory control Lagrangian relaxation omnichannel retailing stochastic demand

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