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IEEE Symposium on Position Location and Navigation (PLANS)

作者： Jormpon Chaisakulsurin Shariff Manuthasna Tanawish Masri Thanayuth Panyalert Kritsada Palee Pakawat Prasit Patcharin Kamsing Peerapong Torteeka Thai Space Consortium Project National Astronomical Research Institute of Thailand (Public Organization) Chiang-Mai Thailand Center of Observatory Operation and Engineering National Astronomical Research Institute of Thailand (Public Organization) Chiang-Mai Thailand Faculty of Engineering Program in Robotics and Computational Intelligence Systems International Academy of Aviation Industry King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Department of Aeronautical Engineering Air-Space Control Optimization and Management Laboratory International Academy of Aviation Industry King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

This paper proposes a Hardware-in-the-Loop sim-ulation (HiLs) tested via square Helmholtz coils as a relative magnetic field generator. In technical terms, the HiLs is an indispensable tool for engineering design during rapid proto-typing of attitude determination and control algorithms for the turning parameters that control the attitude of the satellite, since most of the satellite's mission relies on its attitude, making this system one of the most essential to the satellite's operation. More-over, performing controlled experiments with the parameters for developing adaptive control algorithms improves the overall efficiency of the satellite's kinematic system. The conceptual design of a proposed system architecture can be composed of the electrical currents of 2.4-meter square Helmholtz coils produced by a low-level microcontroller equipped with a DC-motor driver by a pulse-width modulation (PWM) signal through real-time connection to an orbit propagator using a high-level computer. This research focuses on the attitude dynamic of satellites through the interaction between the Earth's magnetic field (EMF) and the magnetotorque in the satellite. To apply this phenomenon, the intensity and the direction of the magnetic field must be identified through Biot-Savart's law. Along with the EMF, the reference position is calculated using the standard general perturbations satellite orbit model (SGP4), and the intensity is modeled based on coefficients from the 13 th edition of the International Geo-magnetic Reference Field (IGRF). Therefore, this paper presents a detailed development of a HiLs testbed for distributed attitude determination and control systems (hardware and software co-design, protocol, and control theory). Furthermore, it discusses a classic cooperative control case for the output of magnetic field intensity and direction, which was undertaken to explain the integrated simulation process and validate the effectiveness of the co-simulation tested to be

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A Hybrid controller for Obstacle Avoidance in an n-dimensional Euclidean Space

arXiv

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arXiv 2019年

作者： Berkane, Soulaimane Bisoffi, Andrea Dimarogonas, Dimos V. The Department of Automatic Control KTH Royal Institute of Technology Sweden

For a vehicle moving in an n-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded spherical region. The proposed hybrid control algorithm switches between two modes of operation: stabilization (motion-to-goal) and avoidance (boundary-following). The geometric construction of the flow and jump sets of the hybrid controller, exploiting a hysteresis region, guarantees robust switching (chattering-free) between the stabilization and avoidance modes. Simulation results illustrate the performance of the proposed hybrid control approach for a 3-dimensional scenario. Copyright © 2019, The Authors. All rights reserved.

关键词： Stabilization

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Robust data-driven state-feedback design

Robust data-driven state-feedback design

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American control Conference

作者： Julian Berberich Anne Koch Carsten W. Scherer Frank Allgower Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Institute of Mathematical Methods in the Engineering Sciences Numerical Analysis and Geometrical Modeling Department of Mathematics University of Stuttgart Stuttgart Germany

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

We consider the problem of designing robust state-feedback controllers for discrete-time linear time-invariant systems, based directly on measured data. The proposed design procedures require no model knowledge, but only a single open-loop data trajectory, which may be affected by noise. First, a data-driven characterization of the uncertain class of closed-loop matrices under state-feedback is derived. By considering this parametrization in the robust control framework, we design data-driven state-feedback gains with guarantees on stability and performance, containing, e.g., the H_ ∞-control problem as a special case. Further, we show how the proposed framework can be extended to take partial model knowledge into account. The validity of the proposed approach is illustrated via a numerical example.

关键词： data driven design process Robust control numerical example Time invariant systems

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A benchmark for multi-UAV task assignment of an extended team orienteering problem

arXiv

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arXiv 2020年

作者： Xiao, Kun Nie, Ying Wang, Xiangke Lu, Junqi Ma, Lan Wang, Guohui Beijing Institute of Aerospace Systems Engineering Beijing China Beijing Aerospace Automatic Control Institute Beijing China College of Intelligence Science and Technology National University of Defense Technology Changsha China China Academy of Launch Vehicle Technology Beijing China

A benchmark for multi-UAV task assignment is presented in order to evaluate different algorithms. An extended Team Orienteering Problem is modeled for a kind of multi-UAV task assignment problem. Three intelligent algorithms, i.e., Genetic Algorithm, Ant Colony Optimization and Particle Swarm Optimization are implemented to solve the problem. A series of experiments with different settings are conducted to evaluate three algorithms. The modeled problem and the evaluation results constitute a benchmark, which can be used to evaluate other algorithms used for multi-UAV task assignment problems. Copyright © 2020, The Authors. All rights reserved.

关键词： Combinatorial optimization

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Learning MPC: System stability and convergent identification under bounded modelling error

Learning MPC: System stability and convergent identification...

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2018 Australian and New Zealand control Conference, ANZCC 2018

作者： Grzedzinski, Kacper Trodden, Paul Rolls-Royce Control Monitoring and Systems Engineering University Technology Centre Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781538666173

The dual-control problem of simultaneously regulating a plant and identifying its dynamics is addressed in a linear model predictive control (MPC) framework. We propose and study an approach where two optimal control problems are solved in series, online: The first is a standard regulating linear quadratic MPC problem, which achieves exponential nominal stability;the second is an ancillary optimization problem that promotes persistency of excitation, in order to facilitate online learning of the system dynamics. Maximization of the minimum eigenvalue of predicted information matrix increments, in a recursive least squares (RLS) scheme, is used. Our main result, achieved by employing inherent robustness from exponentially stabilizing MPC, establishes a bound on the permitted magnitude of excitation applied by the secondary optimization;in terms of the system model error. Satisfaction of this bound guarantees stability of the closed-loop uncertain system, despite the exciting perturbations. © 2018 IEEE.

关键词： Model predictive control

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Reference design for closed loop system optimization

arXiv

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arXiv 2020年

作者： Balula, Samuel Liniger, Alex Rupenyan, Alisa Lygeros, John Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zurich Switzerland Inspire AG ETH Zurich Switzerland Computer Vision Lab Department of Electrical Engineering and Information Technology ETH Zurich Switzerland

An optimization-based method for improving the productivity of precision machine tools is proposed, where the reference path is computed in local coordinates, and information about the machine tool performance is learned from experimental data. The optimization yields a modified reference that is tracked by the existing low-level controller. The method is tested in simulation for a biaxial positioning system. The positioning system is modelled as double integrator, and the controller characteristic is modelled from experimental data using a least-squares fit. Simulation results show that the method is effective in designing optimal references even for challenging geometries such as sharp corners. The application of this procedure allows the retrofit of the control of existing machines with minimal overhead, by providing a modified reference file to track. Copyright © 2020, The Authors. All rights reserved.

关键词： Closed loop systems

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Adaptive fault accommodation of pitch actuator stuck type of fault in floating offshore wind turbines: a subspace predictive repetitive control approach

Adaptive fault accommodation of pitch actuator stuck type of...

引用

American control Conference

作者： Yichao Liu Joeri Frederik Alessandro Fontanella Riccardo M.G. Ferrari Jan-Willem van Wingerden Delft Center for Systems and Control Delft University of Technology Delft The Netherlands Mechanical Engineering Department Politecnico di Milano Milano Italy

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

Individual Pitch control (IPC) is a well-known and, in normal operating conditions, effective approach to alleviate blade loads in wind turbines. However, in the case of a Pitch Actuator Stuck (PAS) type of fault, conventional IPC is not beneficial since its action is disturbed by the failed pitch actuator. In this paper, a Subspace Predictive Repetitive control (SPRC)-based IPC is proposed to implement a Fault Tolerant control (FTC) strategy for Floating Offshore Wind Turbines (FOWTs) affected by PAS faults. In particular, an online subspace identification step is first carried out to obtain a linearized model of the FOWT system in faulty condition. The identified FOWT system is then used to develop a repetitive control law. Consequently, the adaptive repetitive control solution is implemented on the remaining healthy pitch actuators, in order to accommodate the PAS fault. Results show the developed SPRC approach allows to accommodate the PAS faults, achieving a considerable reduction of the blade loads in combination with lower pitch activities for the healthy actuators. This allows to continue power production and postpone maintenance operations, thus reducing the O&M costs.

关键词： Blade loading Wind Energy Conversion systems actuators Repetitive Subspace Power production control law

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AGV Semantic Attack Detection Based on Hidden Markov Model

AGV Semantic Attack Detection Based on Hidden Markov Model

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IEEE International Conference on Industrial technology (ICIT)

作者： Sichao Zhang Wei Liang Yinlong Zhang Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Department of Automation Technology ABB Corporate Research Sweden Vasteras Sweden

ISBN: (纸本)9781728119496

automatic Guided Vehicle (AGV) semantic attack is now becoming an important research topic in digital workshops. Unfortunately, the conventional attack detections could trigger the wrong attack detection alarms, because of the unexpected wireless radio frequency interference. This paper investigates a new method for AGV semantic attack detection based on Hidden Markov Model (HMM). Our method is able to discriminate the typical wireless retransmission in presence of environment interference or in the context of AGV semantic attack by comparing the hidden state transition probability with the predefined threshold. Our model has been evaluated on our developed platform. The extensive experimental results and analysis prove the effectiveness of our method.

关键词： Wireless communication Conferences Semantics Hidden Markov models Interference Markov processes Radiofrequency interference

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Finite sample guarantees for quantile estimation: An application to detector threshold tuning

arXiv

引用

arXiv 2021年

作者： Umsonst, David Ruths, Justin Sandberg, Henrik The Division of Decision and Control Systems The School of Electrical Engineering and Computer Science The KTH Royal Institute of Technology Stockholm10044 Sweden The Department of Mechanical Engineering The University of Texas at Dallas 800 W. Campbell Rd RichardsonTX United States

In threshold-based anomaly detection, we want to tune the threshold of a detector to achieve an acceptable false alarm rate. However, tuning the threshold is often a non-trivial task due to unknown detector output distributions. A detector threshold that provides an acceptable false alarm rate is equivalent to a specific quantile of the detector output distribution. Therefore, we use quantile estimators based on order statistics to estimate the detector threshold. The estimation of quantiles from sample data has a more than a century long tradition and we provide three different distribution-free finite sample guarantees for a class of quantile estimators. The first is based on the Dworetzky-Kiefer-Wolfowitz inequality, the second utilizes the Vysochanskij-Petunin inequality, and the third is based on exact confidence intervals for a beta distribution. These guarantees are then compared and used in the detector threshold tuning problem. We use both simulated data as well as data obtained from an experimental setup with the Temperature control Lab to validate the guarantees provided. Copyright © 2021, The Authors. All rights reserved.

关键词： Sampling

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Observation of quantum strong Mpemba effect

arXiv

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arXiv 2024年

作者： Zhang, Jie Xia, Gang Wu, Chun-Wang Chen, Ting Zhang, Qian Xie, Yi Su, Wen-Bo Wu, Wei Qiu, Cheng-Wei Chen, Ping-Xing Li, Weibin Jing, Hui Zhou, Yan-Li Institute for Quantum Science and Technology College of Science National University of Defense Technology Changsha410073 China Hunan Key Laboratory of Mechanism and technology of Quantum Information Changsha410073 China Hefei National Laboratory Anhui Hefei230088 China Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Hunan Normal University Changsha410081 China Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore School of Physics and Astronomy University of Nottingham NottinghamNG7 2RD United Kingdom Centre for the Mathematics and Theoretical Physics of Quantum Non-equilibrium Systems University of Nottingham NottinghamNG7 2RD United Kingdom College of Science National University of Defense Technology Changsha410073 China

An ancient and counterintuitive phenomenon known as the Mpemba effect showcases the critical role of initial conditions in relaxation processes. How to realize and utilize this effect for speeding up relaxation is an important but challenging task in purely quantum system till now. Here, we experimentally study the strong Mpemba effect in a single trapped ion system in which an exponentially accelerated relaxation in time is observed by preparing an optimal quantum initial state with no excitation of the slowest decaying mode. Also, we demonstrate that the condition of realizing such effect coincides with the Liouvillian exceptional point, featuring the coalescence of both the eigenvalues and the eigenmodes of the systems. Our work provides an efficient strategy to engineer the dynamics of open quantum system, and suggests a link unexplored yet between the Mpemba effect and the non-Hermitian physics. Copyright © 2024, The Authors. All rights reserved.

关键词： Trapped ions

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