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Reducing the computational effort of MPC with closed-loop optimal sequences of affine laws

IFAC-PapersOnLine 2020年第2期53卷 11344-11349页

作者： Martin Mönnigmann Gabriele Pannocchia Automatic Control and Systems Theory Department of Mechanical Engineering Ruhr-Universität Bochum Germany Department of Civil and Industrial Engineering University of Pisa 56122 Pisa Italy

We consider the classical infinite-horizon constrained linear-quadratic regulator (CLQR) problem and its receding-horizon variant used in model predictive control (MPC). If the terminal constraints are inactive for the current initial condition, the optimal input signal sequence that results for the open-loop CLQR problem is equal to the closed-loop optimal sequence that results for MPC. Consequently, the closed-loop optimal solution is available from solving only one CLQR problem instead of the usual infinite number of CLQR problems solved on the receding horizon. In the presence of disturbances or because of plant-model mismatch, the system will eventually leave the predicted optimal trajectory. Consequently, the solution of the single open-loop CLQR problem is no longer optimal, and the receding horizon problem must resume. We show, however, that the open-loop solution is also robust. Robustness essentially is given, because the solution of the CLQR problem not only provides the sequence of nominally optimal input signals, but a sequence of optimal affine laws along with their polytopes of validity. We analyze the degree of robustness by computational experiments. The results indicate the degree of robustness is practically relevant.

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Regional predictive control with suboptimally extended regions of validity

arXiv

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arXiv 2020年

作者： König, Kai Mönnigmann, Martin Automatic Control and Systems Theory Department of Mechanical Engineering Ruhr-Universität Bochum Bochum44801 Germany

Model predictive control (MPC) is based on perpetually solving optimization problems. The solution of the optimization is usually interpreted as the optimal input for the current state. However, the solution of the optimization does not just provide an optimal input, but an entire optimal affine feedback law and a polytope on which this law is optimal. We recently proposed to use this feedback law as long as the system remains in its polytope. This can be interpreted as an event-based approach, where leaving the current polytope is the event that triggers the next optimization. This approach is especially appropriate for a networked control setting since the feedback laws and their polytopes can be evaluated with a low computational effort on lean local nodes. In this article the region of validity for a feedback law is extended. More precisely, the optimal polytopes are extended to nonlinearly bounded regions of validity resulting from the intersection of a feasibility and stability region. As a result, fewer quadratic programs need to be solved compared to the optimal approach. The new validity regions are still suitable for the evaluation on a lean local node. Moreover, the regions can be adjusted for a desired closed-loop performance. Copyright © 2020, The Authors. All rights reserved.

关键词： Topology

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Stator Phase Resistance Trade-off between Output Torque and Braking Torque of PMSM 4

Stator Phase Resistance Trade-off between Output Torque and ...

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4th IEEE China International Electrical and Energy Conference, CIEEC 2021

作者： Zhang, Fan Song, Bing Zhu, Shushu Hu, Yaohua Liu, Chuang Nanjing University of Aeronautics and Astronautics Department of Electrical Engineering Nanjing China Shanghai Aerospace Control Technology Research Institute and Astronautics Shanghai China Institute of Aircraft Systems Aviat. Key Lab. of Sci. and Technol. on Aero Electromechanical Syst. Integration Nanjing Engineering Nanjing China

ISBN: (纸本)9781728171494

In this paper, the braking torque of the surface mounted permanent magnet (SPM) motor for the electric sliding plug door (ESPD) system of the rail transport is studied. When the three-phase armature coils are short- circuited, the braking torque should be small to ensure passengers can open the door by themselves. The relationship between the impedance of the three-phase armature coils and the braking torque is deduced. The variation law of motor stator phase resistance and braking torque is obtained. The output torque and braking torque of motor with different stator phase resistance is compared. The model of the motor is built. A prototype of 12-slot/10-pole surface mounted permanent magnet synchronous (SPM) motor is designed and manufactured. The results of the experiment agree well with the theoretical and FE-simulation results. © 2021 IEEE.

关键词： Timing circuits

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Optimizing machine learning algorithms to enhance blood donation for liver patients: a case study

Optimizing machine learning algorithms to enhance blood dona...

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7th IET Smart Cities Symposium (SCS 2023)

作者： Maad M. Mijwil El-Sayed M. El-kenawy Indu Bala Mohammad Aljanabi Mostafa Abotaleb Abdelhameed Ibrahim Computer Techniques Engineering Department Baghdad College of Economic Sciences University Baghdad Iraq Department of Communications and Electronics Delta Higher Institute of Engineering and Technology Egypt School of Electrical and Electronics Engineering Lovely Professional University Punjab India Department of Computer Aliraqia University Baghdad Iraq Department of System Programming South Ural State University Chelyabinsk Russia Computer Engineering and Control Systems Department Faculty of Engineering Mansoura University Mansoura Egypt

Blood is vital for transporting oxygen, nutrients, and hormones to all body parts as it circulates through arteries and veins. It removes carbon dioxide, regulates body temperature, and maintains the body's immune system. Individuals constantly need blood and its derivatives to save their lives and improve their health through medical treatments and surgical operations. Liver diseases are one of the diseases that affects the health of individuals and requires blood to continue living. These diseases cause significant damage to people's health, and early diagnosis plays a crucial role in saving lives. In this paper, machine learning algorithms (support vector machine and random forest) are involved in detecting liver diseases and determining whether donors are suitable to donate blood from blood values. This paper is applied research that found that the performance measures of the random forest algorithm achieved excellent performance in identifying suitable people to donate blood.

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Optimal Sliding Mode control of Single Arm PAM-Actuated Manipulator

Optimal Sliding Mode Control of Single Arm PAM-Actuated Mani...

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11th IEEE International Conference on System Engineering and technology, ICSET 2021

作者： Sadiq, Musaab Esam Humaidi, Amjad Jaleel Kadhim, Saleem Khalefa Mhdawi, Ammar Al Alkhayyat, Ahmed Ibraheem, Ibraheem Kasim General Company for Grain Processing Ministry of Trade Baghdad Iraq University of Technology Control and Systems Eng. Dept. Baghdad Iraq Edge Hill University Department of Computer Science United Kingdom College of Technical Engineering Islamic University Najaf Iraq College of Engineering University of Baghdad Baghdad Iraq

ISBN: (纸本)9781665437660

The manipulators actuated by Pneumatic Artificial Muscles (PAMs) are characterized by high nonlinearity and time varying of their coefficients. Therefore, nonlinear and robust controllers are required to cope with these challenging control problems. This work presents the development of control design for trajectory tracking of PAM-Actuated manipulator based on Sliding Mode control (SMC). The PSO technique is used to tune the design parameters of proposed controller for further enhancement of controlled PAM system performance. A comparison study has been conducted between the optimal and non-optimal SMC controllers via computer simulation using MATLAB programming software. © 2021 IEEE.

关键词： Trajectory tracking System performance Programming Muscles Manipulators systems engineering and theory Numerical simulation

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Deviated Pursuit based Nonlinear Impact-Time Guidance with Finite-Time Convergence

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IFAC-PapersOnLine 2020年第1期53卷 93-98页

作者： Himanshu U.S. Bishwash Abhinav Sinha Shashi Ranjan Kumar Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai India

This paper proposes two finite-time convergent guidance schemes to intercept a constant velocity target at a pre-specified impact-time. The guidance commands exploit the archetype of deviated pursuit scheme to facilitate the synthesis of impact-time constrained guidance strategies. Deviated pursuit guidance offers an exact expression of time-to-go, thereby circumventing the errors associated with approximate time-to-go estimates. The guidance strategy is derived using nonlinear engagement dynamics, which helps in avoiding errors due to linearization. The first guidance strategy is based on traditional sliding mode control with constant rate reaching law. The second guidance scheme utilizes super-twisting control, which is a higher-order sliding mode technique avowed for guaranteeing finite-time convergence and better control precision. Finally, simulations are presented to invigorate the theoretical claims and it is also shown through simulations that the desired impact-time can even be lower than the initial time-to-go value.

关键词： Deviated Pursuit Impact-Time Finite-Time Convergence Sliding Mode Guidance

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Hydrone: Modeling of a Hybrid Unmanned Aerial Underwater Vehicle Considering Trans-Media Dynamics

SSRN

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SSRN 2024年

作者： de Oliveira Evald, Paulo Jefferson Dias Brião, Stephanie Loi Aoki, Vivian Misaki da Silva, César Bastos dos Santos Cardoso, Dayana Pinheiro, Pedro Miranda de Oliveira, Felipe Gomes André Barbosa Cunha, Mauro Jorge Drews, Paulo Lilles Intelligent Systems and Control Group Federal University of Pelotas RS Pelotas Brazil Intelligent Robotics and Automation Group Federal University of Rio Grande RS Rio Grande Brazil Department of Computer Engineering and Industrial Automation State University of Campinas SP Campinas Brazil Federal Institute of Education Science and Technology in Rio Grande do Sul RS Pelotas Brazil Institute of Exact Sciences and Technology Federal University of Amazonas Itacoatiara AM Amazonas Brazil Brazil

Research in mobile robotics is growing into applications for difficult-to-access environments, such as in rescue and transport missions. Furthermore, autonomous vehicles can perform data collection in complex approach areas. Therefore, the study of hybrid unmanned vehicles is relevant for several areas, since these vehicles can act in different domains. The developed vehicle, called Hydrone, is designed in a quadrotor-type structure and equipped with a set of aerial and underwater propellers, which are fixed and independent between them. In this sense, this work presents the mathematical modeling of an unmanned hybrid vehicle, which can navigate underwater and aerial environments. Furthermore, the modeling considers the ground effect due to the influence on the vehicle’s trajectory change and the dynamics of the transition zone between water-air and air-water. These dynamics are important to evaluate the controller’s performance. Numerical simulations consider both transitions (water-air and air-water) and they are performed to discuss the influence of acting forces on the vehicle stability and position-tracking performance using a classical control system. © 2024, The Authors. All rights reserved.

关键词： Hybrid vehicles

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Development a cross-loop during adaptive stimulation of hippocampal neural networks by an artificial neural network 4

Development a cross-loop during adaptive stimulation of hipp...

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4th International Conference "Neurotechnologies and Neurointerfaces", CNN 2022

作者： Lebedeva, Albina Beltyukova, Anna Fedulina, Anastasiya Gerasimova, Svetlana Mishchenko, Mikhail Matveeva, Mariya Maltseva, Kseniya Belov, Alexey Mikhaylov, Alexey Pisarchik, Alexander Kazantsev, Victor University of Nizhny Novgorod Neurotechnologies Department N.I. Lobachevsky State Nizhny Novgorod Russia University of Nizhny Novgorod Faculty of Radiophysics N.I. Lobachevsky State Department of Theory of Oscillations and Automatic Control Nizhny Novgorod Russia Intitute of Neuroscience N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Nizhny Novgorod Russia Center for Biomedical Technology Technical University of Madrid Pozuelo de Alarcón Madrid Spain Center for Technologies in Robotics and Mechatronics Component Innopolis University Innopolis Russia Center for Neuroscience and Mashine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (数字)9781665463294

ISBN: (纸本)9781665463294

The development of promising neuromorphic compact devices (including micro- and nanochips) that reproduce the information and computational functions of the brain is currently one of the breakthrough areas of modern science and technology. Firstly, this is a promising direction in regenerative medicine - the creation of artificial neuromorphic implants that allow the regulation and modulation of electrically excitable cells, as well as replacing damaged areas of the brain. The use of a memristive structure and its ability to change and maintain internal resistance when voltage is applied and turned off. This makes the structure an almost perfect electronic analogue of synapses. Recent discoveries that nanoscale memristors can mimic the basic properties of synaptic plasticity have set the stage for the fusion of nanoelectronics and living neurons to create biohybrid neural networks (bNNs) interconnected by electronics-based plasticity elements. Thus, investigation the interaction of artificial neural networks and memristive connection with living brain neurons is actually problem in neuroscience and technologies. This study is devoted to the development of neuromorphic system for neuroprosthetics problems. © 2022 IEEE.

关键词： Memristors

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Degradation of prometryn during UV/persulfate process: Kinetics and disinfection by-product formation

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Journal of Water Process Engineering 2024年 60卷

作者： Hu, Chen-Yan Liu, Hao Xu, Ling Lin, Yi-Li Wang, Qiang-Bing Huang, Dan-Dan Wu, Yi-Hui Dong, Zi-Yi Ji, Sheng-Jie College of Environmental and Chemical Engineering Shanghai Engineering Research Center of Energy- Saving in Heat Exchange Systems Shanghai University of Electric Power Shanghai 200090 China Shanghai Institute of Pollution Control and Ecological Security Shanghai 200092 China Department of Safety Health and Environmental Engineering National Kaohsiung University of Science and Technology Kaohsiung 824 Taiwan

Prometryn is one of the commonly used triazine herbicides and is also widely used for algae removal in aquaculture. This study investigated the degradation kinetics of prometryn via UV/persulfate (PS) oxidation and confirmed its adherence to pseudo-first-order kinetics, with a calculated rate constant (k_obs) of 0.2358 min⁻¹. The impact of PS concentration, water matrix (including background ions of Cl⁻ and Br⁻ and natural organic matter (NOM)), and solution pH on prometryn degradation were assessed. Results indicated an increase in prometryn degradation with raising concentrations of PS, Cl⁻, and Br⁻, especially evident at a PS concentration of 400 μm where complete degradation was achieved. Conversely, degradation decreased with increasing NOM concentration and pH. Radical scavenging experiments affirmed the promotion of prometryn degradation in UV/PS by both HO• and SO₄⁻•, with SO₄⁻• contributing over 70 % of the total free radical contribution. Evaluation of disinfection by-product (DBP) formation revealed trichloromethane (TCM) as the predominant DBP in non‑bromine water and tribromomethane (TBM) in bromine water. Thus, this study offers a theoretical foundation for UV/PS degradation of triazine herbicides in aqueous environments. The obtained results hold significance for controlling DBPs in subsequent water treatment processes, ensuring the provision of safe drinking water to the public and meeting the sustainable development goal 6. © 2024 Elsevier Ltd

关键词： Contribution of radicals Disinfection by-products Kinetics Prometryn UV/persulfate

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Secrecy Outage Probability Analysis for Downlink RIS-NOMA Networks with On-Off control

arXiv

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arXiv 2024年

作者： Pei, Yingjie Yue, Xinwei Yi, Wenqiang Liu, Yuanwei Li, Xuehua Ding, Zhiguo Key Laboratory of Information and Communication Systems Ministry of Information Industry Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Electrical Engineering Princeton University Princeton United States School of Electrical and Electronic Engineering The University of Manchester Manchester United Kingdom

Reconfigurable intelligent surface (RIS) has been regarded as a promising technology since it has ability to create the favorable channel conditions. This paper investigates the secure communications of RIS assisted non-orthogonal multiple access (NOMA) networks, where both external and internal eavesdropping scenarios are taken into consideration. More specifically, novel approximate and asymptotic expressions of secrecy outage probability (SOP) for the k-th legitimate user (LU) are derived by invoking imperfect successive interference cancellation (ipSIC) and perfect successive interference cancellation (pSIC). To characterize the secrecy performance of RIS-NOMA networks, the diversity order of the k-th LU with ipSIC/pSIC is obtained in the high signal-to-noise ratio region. The secrecy system throughput of RIS-NOMA networks is discussed in delay-limited transmission mode. Numerical results are presented to verify theoretical analysis that: i) The SOP of RIS-NOMA networks is superior to that of RIS assisted orthogonal multiple access (OMA) and conventional cooperative communication schemes;ii) As the number of reflecting elements increases, the RIS-NOMA networks are capable of achieving the enhanced secrecy performance;and iii) The RIS-NOMA networks have better secrecy system throughput than that of RIS-OMA networks and conventional cooperative communication schemes. Copyright © 2024, The Authors. All rights reserved.

关键词： Cooperative communication

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