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Bounding the difference between model predictive control and neural networks

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arXiv 2022年

作者： Drummond, Ross Duncan, Stephen R. Turner, Matthew C. Pauli, Patricia Allgöwer, Frank Department of Engineering Science University of Oxford 17 Parks Road OxfordOX1 3PJ United Kingdom Department of Electronics and Computer Science University of Southampton SouthamptonSO17 1BJ United Kingdom Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70569 Germany

There is a growing debate on whether the future of feedback control systems will be dominated by data-driven or model-driven approaches. Each of these two approaches has their own complimentary set of advantages and disadvantages, however, only limited attempts have, so far, been developed to bridge the gap between them. To address this issue, this paper introduces a method to bound the worst-case error between feedback control policies based upon model predictive control (MPC) and neural networks (NNs). This result is leveraged into an approach to automatically synthesize MPC policies minimising the worst-case error with respect to a NN. Numerical examples highlight the application of the bounds, with the goal of the paper being to encourage a more quantitative understanding of the relationship between data-driven and model-driven control. © 2022, CC BY.

关键词： Model predictive control

CrowdSim2: an Open Synthetic Benchmark for Object Detectors

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arXiv 2023年

Data scarcity has become one of the main obstacles to developing supervised models based on Artificial Intelligence in computer Vision. Indeed, Deep Learning-based models systematically struggle when applied in new scenarios never seen during training and may not be adequately tested in non-ordinary yet crucial real-world situations. This paper presents and publicly releases CrowdSim2, a new synthetic collection of images suitable for people and vehicle detection gathered from a simulator based on the Unity graphical engine. It consists of thousands of images gathered from various synthetic scenarios resembling the real world, where we varied some factors of interest, such as the weather conditions and the number of objects in the scenes. The labels are automatically collected and consist of bounding boxes that precisely localize objects belonging to the two object classes, leaving out humans from the annotation pipeline. We exploited this new benchmark as a testing ground for some state-of-the-art detectors, showing that our simulated scenarios can be a valuable tool for measuring their performances in a controlled environment. © 2023, CC BY.

关键词： Object detection

Trends and Challenges of Sustainable Agriculture in the Iraqi Environment

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Trends and Challenges of Sustainable Agriculture in the Iraq...

Blockchain, Smart Healthcare and Emerging Technologies (SmartBlock4Health), IEEE International Conference on

作者： Hanan Hussein Al-asadi Maria Goga Haider Abdullah Ali Ramona Cristina Popa Awodele Oludele Faculty of Automatic Control and Computers University POLITEHNICA of Bucharest Bucharest Romania University of Technology-Iraq Baghdad Iraq UTCB Department for Training of Teaching Personnel Technical University of Civil Engineering of Bucharest Bucharest Romania Madenat Alelem University College Baghdad Iraq Faculty of Engineering in Foreign Languages University POLITEHNICA of Bucharest Bucharest Romania computer science department Babcock University Ogun State Nigeria

ISBN: (纸本)9781665460156

The use of Agriculture Intelligent Systems (AISs) in Iraq has become popular among farmers. The greenhouse is a solution for plant growth, which uses an effective microclimate to simulate seasons and to use alternative energy sources like solar, thermal, and photovoltaic systems for microclimate control. Greenhouses are considered a successful solution with developments and achievements in the technology of this field. However, problems like high costs, difficulties in installation and maintenance, or the need for some procedures should be considered. Because Iraq is close to the equator (3669 km), it receives sufficient solar power. It also has large areas available for the building of solar greenhouse systems. The farmers need an affordable and functional smart greenhouse to enable and encourage them to use the environment efficiently. We intend to develop low-cost, accurate, and easy-to-use greenhouse systems controlled by artificial intelligence algorithms. Farmers will be able to control the greenhouse by using simple commands. Machine learning algorithms provide real-time and effective analysis that could support farmers in decision-making and provide relevant data for researchers and policymakers. AISs algorithms can lead to a sustainable and productive agriculture system. The system can be used in Iraq with sufficient government support and subsidy.

关键词： Smart agriculture Machine learning algorithms Costs Green buildings Soil control systems Agriculture

Heat Transfer Optimization of end Winding Rotor Generator by the Use of Modified Axial Spacer: A Case Study 1

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Heat Transfer Optimization of end Winding Rotor Generator by...

1st International Conference on Industrial Automation, Smart Grid and its Application, ICIASGA 2020

作者： Baskoro, Y. Jaya, I. Glowacz, A. Sulowicz, M. Caesarendra, W. PT Indonesia Power Indonesia Department of Automatic Control and Robotics AGH University of Science and Technology Kraków30-059 Poland Institute of Electromechanical Energy Conversion Faculty of Electrical and Computer Engineering Cracow University of Technology Warszawska 24 Cracow31-155 Poland Faculty of Integrated Technologies Universiti Brunei Darussalam Jalan Tungku Link Gadong Brunei Darussalam BE1410 Brunei

This paper presents a case study of a rotor fault occurring in the rotor generator of a steam power plant located in Lontar, Banten Province, Indonesia. The steam power plant has 3 x 315 MV capacity and uses hydrogen in the cooling system. The issue arising during the operation was caused by heat transfer exceeding the normal level. The grounding of the rotor occurred through rising vibration and temperature, tripping the generator unit. During repairs, the axial spacer was replaced with a new model, where it is longer than the original, adding a bar spacer at a previously unavailable position and creating a cooling track profile. This is a case study on the replacement of the axial spacer model aimed at preventing the expansion of the winding, so as not to touch with each other, through the installation of a longer axial spacer and the addition of the spacer bar, and lastly adding the track profile to the cooling hydrogen gas flow thereby maximizing the cooling process from the end winding rotor generator. Heat transfer is an analysed parameter related to the model change of the axial spacer. The addition of a track cooling gas flow has been able to maximize the heat transfer process, which is simulated in this paper. The performance of the rotor generator increased through several parameters after the replacement of the axial spacer model. © Published under licence by IOP Publishing Ltd.

关键词： Cooling

A Hybrid Adaptive Filter for Head Tracking in Augmented Reality (AR)-based Flight Simulators

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IEEE Transactions on computers 2025年

作者： Nwobodo, Onyeka J. Kuaban, Godlove Suila Nkemeni, Valery Wereszczynski, Kamil Cyran, Krzysztof A. Silesian University of Technology Department of Computer Graphics Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Gliwice Poland Polish Academy of Sciences Institute of Theoretical and Applied Informatics Poland University of Buea Laboratory of Electrical Engineering and Computing Faculty of Engineering and Technology Buea Cameroon

This paper presents a novel approach for head tracking in augmented reality (AR) flight simulators using an adaptive fusion of Kalman and particle filters. This fusion dynamically balances the strengths of both algorithms, leveraging Kalman filters for computational efficiency and particle filters for handling non-linearities based on real-time factors such as sensor noise and head movement patterns. Our method demonstrates superior tracking precision and reduced latency, making it particularly effective for immersive pilot training in AR-based flight simulations. While focused on flight simulation, our approach holds high potential for broader applications in other AR and virtual reality (VR) environments where precise, real-time head tracking is crucial. These results provide actionable design guidance for developers optimizing tracking systems in environments that require fast response times and high accuracy. Future extensions of this research could explore the generalization of our approach across diverse AR applications, including human-computer interaction (HCI), medical simulations, and gaming. © 1968-2012 IEEE.

关键词： Flight simulators

System Level Synthesis for Affine control Policies: Model Based and Data-Driven Settings

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arXiv 2025年

作者： Schüepp, Lukas De Pasquale, Giulia Dörfler, Florian Alonso, Carmen Amo Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zurich Physikstrasse 3 Zurich8092 Switzerland Computer Science Department of Stanford University Palo AltoCA United States Control Systems Group Department of Electrical Engineering TU Eindhoven Flux Groene Loper 19 Eindhoven5612AP Netherlands

There is an increasing need for effective control of systems with complex dynamics, particularly through data-driven approaches. System Level Synthesis (SLS) has emerged as a powerful framework that facilitates the control of large-scale systems while accounting for model uncertainties. SLS approaches are currently limited to linear systems and time-varying linear control policies, thus limiting the class of achievable control strategies. We introduce a novel closed-loop parameterization for time-varying affine control policies, extending the SLS framework to a broader class of systems and policies. We show that the closed-loop behavior under affine policies can be equivalently characterized using past system trajectories, enabling a fully data-driven formulation. This parameterization seamlessly integrates affine policies into optimal control problems, allowing for a closed-loop formulation of general Model Predictive control (MPC) problems. To the best of our knowledge, this is the first work to extend SLS to affine policies in both model-based and data-driven settings, enabling an equivalent formulation of MPC problems using closed-loop maps. We validate our approach through numerical experiments, demonstrating that our model-based and data-driven affine SLS formulations achieve performance on par with traditional model-based MPC. © 2025, CC BY.

关键词： Distributed parameter control systems

Actuation attacks on constrained linear systems: a set-theoretic analysis

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IFAC-PapersOnLine 2020年第2期53卷 6963-6968页

作者： P.A. Trodden J.M. Maestre H. Ishii Department of Automatic Control & Systems Engineering University of Sheffield Sheffield UK Department of Systems and Automation Engineering University of Seville Seville Spain Department of Computer Science Tokyo Institute of TechnologyYokohama Japan

This paper considers a constrained discrete-time linear system subject to actuation attacks. The attacks are modelled as false data injections to the system, such that the total input (control input plus injection) satisfies hard input constraints. We establish a sufficient condition under which it is not possible to maintain the states of the system within a compact state constraint set for all possible realizations of the actuation attack. The developed condition is a simple function of the spectral radius of the system, the relative sizes of the input and state constraint sets, and the proportion of the input constraint set allowed to the attacker.

关键词： control problems under conflict or uncertainties Constrained control Robustness

Over-the-air computation via reconfigurable intelligent surface

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arXiv 2021年

作者： Fang, Wenzhi Jiang, Yuning Shi, Yuanming Zhou, Yong Chen, Wei Letaief, Khaled B. The School of Information Science and Technology ShanghaiTech University Shanghai201210 China Automatic Control Laboratory EPFL Switzerland The Department of Electronic Engineering Tsinghua University Beijing100084 China The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong

Over-the-air computation (AirComp) is a disruptive technique for fast wireless data aggregation in Internet of Things (IoT) networks via exploiting the waveform superposition property of multiple-access channels. However, the performance of AirComp is bottlenecked by the worst channel condition among all links between the IoT devices and the access point. In this paper, a reconfigurable intelligent surface (RIS) assisted AirComp system is proposed to boost the received signal power and thus mitigate the performance bottleneck by reconfiguring the propagation channels. With an objective to minimize the AirComp distortion, we propose a joint design of AirComp transceivers and RIS phase-shifts, which however turns out to be a highly intractable non-convex programming problem. To this end, we develop a novel alternating minimization framework in conjunction with the successive convex approximation technique, which is proved to converge monotonically. To reduce the computational complexity, we transform the subproblem in each alternation as a smooth convex-concave saddle point problem, which is then tackled by proposing a Mirror-Prox method that only involves a sequence of closed-form updates. Simulations show that the computation time of the proposed algorithm can be two orders of magnitude smaller than that of the state-of-the-art algorithms, while achieving a similar distortion performance. Copyright © 2021, The Authors. All rights reserved.

关键词： Mirrors

A sliding mode controller design for thermal comfort in buildings

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engineering Transactions 2019年第4期67卷 475-489页

作者： Skruch, Pawel Dlugosz, Marek AGH University of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Al. Mickiewicza 30 Kraków30-059 Poland

One of the factors determining comfort in buildings is the indoor air temperature of the rooms. A control system, part of the home automation system, should stabilise air temperature to the desired level, despite various disturbances such as the presence of random or occasional sources of heat. Inaccurate models of the dynamics of air temperature changes in buildings prescribe the use of robust control methods, a type of which is the sliding mode controller. This article presents the application of a sliding mode controller (SMC) to home automation systems, designed to control air temperature inside a building. The sliding-mode controller makes use of sliding surfaces, which are defined by the assumed trajectory and the system output. The control law is designed in such a way that the trajectory of the system tends to the sliding surface from any initial point and remains on it after reaching the sliding surface. In this article, a model at air temperature change dynamics inside a building is presented. The modelling approach relies on the lumped-parameter methodology, in which distributed physical properties are represented by lumped parameters (such as thermal capacity or resistance). The model takes into account the loss of heat through conduction and ventilation, as well as internal heat gain. The parameters of the model can be obtained easily from the thermal properties of the construction materials. Theoretical considerations were applied in simulation experiments and the results of these experiments confirm the performance improvement achieved by the proposed solutions. © 2019, Polish Academy of Sciences. All rights reserved.

关键词： Atmospheric temperature