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5th International Conference on Computer Engineering and Intelligent control, ICCEIC 2024

作者： Zhang, Yue Sun, Yong Song, Chunhe Gao, Pengpei Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China

ISBN: (纸本)9798331507992

In modern container cloud computing environments, achieving efficient elastic scaling is crucial to optimizing resource utilization and improving system performance. This paper proposes a new prediction model based on gated recurrent unit (GRU) and attention mechanism for load prediction and elastic scaling strategy optimization. The model uses the time series processing capability of GRU combined with the optimization characteristics of the attention mechanism to improve the accuracy and real-time performance of load prediction. Experimental results show that compared with traditional methods, the model can more accurately capture the load change trend and achieve more agile and efficient resource scheduling and management, thereby effectively reducing resource waste and improving service quality. This study provides a novel and effective solution for elastic scaling in container cloud environments. © 2024 IEEE.

关键词： Prediction models

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6-DOF AUV Identification with MIMO-NARX

6-DOF AUV Identification with MIMO-NARX

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2023 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2023

作者： Kabanov, Aleksey A. Lipko, Ivan Y. Dementiev, Kirill V. Sevastopol State University Department of Informatics and Control in Technical Systems Sevastopol Russia Sevastopol State University Robotics and Intelligent Control System Laboratory Sevastopol Russia

ISBN: (纸本)9781665475952

This paper applies the MIMO NARX neural model to identify AUV with six degrees of freedom. Strongly nonlinear dependencies are modeled using a MIMO NARX model trained using «input-output» experimental data. This results in a grey box model with a partially known internal structure that can be supervised. This is achieved by specifying a certain regressors type, which is feedback to the model input. Obtained results show that the neural model trained by the Levenberg-Marquardt numerical algorithm provides acceptable performance and accuracy. Validation of the model was performed using data from full-scale experiments, which allowed to identify the weaknesses and advantages of the resulting system more accurately. © 2023 IEEE.

关键词： Degrees of freedom (mechanics)

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Research on Sensorless control of Pulse Generator based on Sliding Mode Observer

Research on Sensorless Control of Pulse Generator based on S...

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2023 International Conference on Artificial Intelligence and Automation control, AIAC 2023

作者： Zhang, Hui Wu, Zhiguo Jin, Bopi Yang, Shengxuan Yin, Guoliang Shenyang Jianzhu University College of Electrical and Control Engineering Shenyang China College of Electrical and Control Engineering Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of Automation Institutes of Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Institutes of Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China

ISBN: (纸本)9798350383805

To address the problems of chattering and slow response in the sliding mode control system of surface-mounted permanent magnet synchronous motor (SPMSM), a novel sliding mode controller combined with an enhanced sliding mode observer is proposed. A new reaching law of sliding mode is designed, which uses the tanh function as the switching function of the control system to smooth the switching process. The terminal attractor is introduced to improve the convergence speed and control quality of the system. An improved sliding mode observer is developed, which replaces the sign function with a continuous function, compensates for the observation error, reduces the chattering effect, and improves the observation accuracy. A simulation model of double closed-loop speed control system based on the proposed sliding mode controller and observer is established, and a simulation experiment is conducted to compare it with the PI control system and the sliding mode control system based on exponential reaching law. The simulation results show that the proposed control strategy can effectively diminish the chattering effect, enhance the system convergence, and better track the given signal. © 2023 IEEE.

关键词： Sliding mode control

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The Influence of Uncertainties and Inaccuracies in the Parameters on the Underwater Vehicle Model

The Influence of Uncertainties and Inaccuracies in the Param...

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2022 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2022

作者： Lipko, Ivan Dementiev, Kirill Robotics and Intelligent Control Systems Laboratory Sevastopol State University Sevastopol Russia

ISBN: (纸本)9781665483698

The development of an underwater vehicle model is an important preparation step for potentially marine exploration. There are several complex factors that hinder the performance of this task, e.g., fluid and rigid-body physics. Moreover, real vehicles have different designs and dimensions. That fact complicates the calculations of dynamic parameters and requires the use of known approximation methods. This article discusses the research of uncertainties in the parameters of two different forms of underwater vehicle model approximations: cylindrical and rectangular prism. We simulate an underwater vehicle with several parameters, changed in the grid, and then compare the resulting paths. The mathematical models and simulation results are shown. © 2022 IEEE.

关键词： Vehicles

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Supervisory control for Smart Manufacturing Using FIWARE 3

Supervisory Control for Smart Manufacturing Using FIWARE

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3rd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2024

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

ISBN: (纸本)9798331540319

The problem of providing smart manufacturing units, via supervisor control implemented in FIWARE, is studied. In order to investigate the problem at hand, an indicative manufacturing unit is considered, and the desired safe performance of the unit is achieved via a supervisory control architecture, being implemented in cloud computing environment. The model of the manufacturing unit is developed on the basis of the models of its sensors and actuators, in Discrete Event System (DES) form. The safe behavior of the unit is expressed in the form of nine rules. The rules are translated into nine regular languages that are realized as a set of proper supervisors. The supervisors are analytically determined and conducted in the open platform FIWARE, using all necessary smart data models and platform tools. © 2024 IEEE.

关键词： Smart manufacturing

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A Two-Step Design for Robust Input-Output Decoupling of a Class of Uncertain and Linear Parameter Dependent Systems 32

A Two-Step Design for Robust Input-Output Decoupling of a Cl...

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32nd Mediterranean Conference on control and Automation, MED 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 Euboea34400 Greece

ISBN: (纸本)9798350395440

This research delves into the intricacies of achieving input-output decoupling for a class of uncertain linear parameter dependent systems. A combined approach is introduced, involving the utilization of a state feedback controller that incorporates both static and time-varying elements. The design of this controller aims to maintain insensitivity to uncertainties. The investigation establishes criteria for determining the feasibility of solving the robust input-output decoupling problem. Under these established conditions, a specific class of state feedback controllers is systematically identified as proficient in effectively addressing the stated problem. The proposed methodology entails deriving the controller and formulating solvability conditions to convert the original Parameter Dependent System (PDS) into an uncertain Linear Time-Invariant (L TI) system. Then an analytical presentation of a static state feedback controller is provided as a mean to resolve the input-output robust decoupling for the uncertain L TI system. The practical applicability of these findings is exemplified through successful implementation in a two-mass translation system, appropriately linked with a hydraulic actuator. © 2024 IEEE.

关键词： controllers

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Identification of the Horizontal Movement of the Underwater Vehicle MiddleAUV

Identification of the Horizontal Movement of the Underwater ...

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2022 International Russian Automation Conference, RusAutoCon 2022

作者： Lipko, Ivan Sevastopol State University Robotics and Intelligent Control Systems Laboratory Sevastopol Russia

ISBN: (数字)9781665466554

ISBN: (纸本)9781665466554

This article is devoted to the identification of the mathematical model of the underwater vehicle MiddleAUV. The central issues of the article are planning and conducting experiments, identifying and comparing simulation results with real data. The experiments were performed inside the pool of the laboratory of robotics and Intelligent control Systems of Sevastopol State University. Linear motions and circulations were performed at different speeds of rotation of the propellers. The main result obtained in this article is the transfer functions of the horizontal movement of a small autonomous underwater vehicle. The inputs to the transfer functions are the numbers that control propellers' angular velocity and outputs are the angular velocity of the yaw and general velocities during horizontal movement. The movement identification was carried out according to the data received from the onboard navigation module and the built-in bottom video camera. The bottom camera monitors the chessboard located at the bottom of the pool and allows us to get the relative coordinates of device location in the pool. To anyone interested in the identification of underwater vehicles. © 2022 IEEE.

关键词： Transfer functions

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Input-Output Supervisor Design for Systems Analyzed in Cooperating Pairs of Subsystems 32

Input-Output Supervisor Design for Systems Analyzed in Coope...

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Koumboulis, Fotis N. Fragkoulis, Dimitrios G. School of Science National & Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies Euboea34400 Greece

ISBN: (纸本)9798350395440

The problem of supervisor design for systems analyzed in cooperating pairs of subsystems is studied. The supervisors realize the cooperation using only sensor and actuator data of each pair of subsystems. The analysis of the system in cooperating pairs of subsystems covers a wide range of applications. Each cooperating ordered pair forms a master/slave relation between the sensor signals of the second element of the pair and the actuator of the first element of the pair. All possible cooperation relations are determined and investigated with respect to the avoidance of blocking and stuck to the initial states of the actuators. The system properties of the cooperation are formulated in a set theoretic scheme that allows the determination of the set of admissible cooperation rules. The present theoretical results are illustrated through one manufacturing application and one infrastructure application. © 2024 IEEE.

关键词： Supervisory personnel

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Lidar-Visual-Inertial Odometry with Online Extrinsic Calibration

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Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 70-76页

作者：茅天阳赵文韬王景川陈卫东 Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration ***,we propose a lidar-visual-inertial odometry,which is combined with an adapted sliding window mechanism and allows for online nonlinear optimization and extrinsic *** the adapted sliding window mechanism,spatial-temporal alignment is performed to manage measurements arriving at different *** nonlinear optimization with online calibration,visual features,cloud features,and inertial measurement unit(IMU)measurements are used to estimate the ego-motion and perform extrinsic *** experiments were carried out on both public datasets and real-world *** indicate that the proposed system outperforms state-of-the-art open-source methods when facing challenging sensor-degenerating conditions.

关键词： autonomous vehicles multi-sensor fusion online calibration

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Passivity-Based Sliding Mode controller Design for Quadrotor Using Ant Colony Optimization 5th

Passivity-Based Sliding Mode Controller Design for Quadrotor...

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5th International Conference on Electrical Engineering and control Applications, ICEECA 2022

作者： Bouhabza, Khedidja Guiatni, Mohamed Bouzid, Yasser Hamerlain, Mustapha Complexe Systems Control and Simulators Laboratory Ecole Militaire Polytechnique Bordj El Bahri Algeria Robotics Laboratory Head Centre de Développement des Technologies Avancées Algiers Algeria

ISBN: (纸本)9789819700448

A Passivity-based Sliding Mode controller (P-SMC) is designed in this paper to control a quadrotor (UAV) that tracks its trajectory using the Ant Colony Optimization algorithm. As a starter, feedback pacification is used to create a sliding surface, with passivity ensuring stability. A Conventional Sliding Mode method is also developed, the proposed control strategy has a faster reaching time, high accuracy, and reduces chattering. Additionally, the ant colony optimization algorithm (ACO) was used to ensure optimal performance, such as low energy consumption and small errors, finally, the validity of the proposed method is demonstrated by simulation results. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Ant colony optimization

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