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arXiv 2022年

作者： Tsiamis, Anastasios Ziemann, Ingvar Morari, Manfred Matni, Nikolai Pappas, George J. Automatic Control Laboratory ETH Zurich Switzerland School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Department of Electrical and Systems Engineering University of Pennsylvania United States

In this paper, we study the statistical difficulty of learning to control linear systems. We focus on two standard benchmarks, the sample complexity of stabilization, and the regret of the online learning of the Linear Quadratic Regulator (LQR). Prior results state that the statistical difficulty for both benchmarks scales polynomially with the system state dimension up to system-theoretic quantities. However, this does not reveal the whole picture. By utilizing minimax lower bounds for both benchmarks, we prove that there exist non-trivial classes of systems for which learning complexity scales dramatically, i.e. exponentially, with the system dimension. This situation arises in the case of underactuated systems, i.e. systems with fewer inputs than states. Such systems are structurally difficult to control and their system theoretic quantities can scale exponentially with the system dimension dominating learning complexity. Under some additional structural assumptions (bounding systems away from uncontrollability), we provide qualitatively matching upper bounds. We prove that learning complexity can be at most exponential with the controllability index of the system, that is the degree of underactuation. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear systems

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History Data Driven Distributed Consensus in Networks

arXiv

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arXiv 2022年

作者： Renganathan, Venkatraman Fontan, Angela Ganapathy, Karthik Department of Automatic Control LTH Lund University Lund Sweden Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Department of Mechanical Engineering The University of Texas at Dallas RichardsonTX United States

The association of weights in a distributed consensus protocol quantify the trust that an agent has on its neighbors in a network. An important problem in such networked systems is the uncertainty in the estimation of trust between neighboring agents, coupled with the losses arising from mistakenly associating wrong amounts of trust with different neighboring agents. We introduce a probabilistic approach which uses the historical data collected in the network, to determine the level of trust between each agent. Specifically, using the finite history of the shared data between neighbors, we obtain a configuration which represents the confidence estimate of every neighboring agent’s trustworthiness. Finally, we propose a History-Data-Driven (HDD) distributed consensus protocol which translates the computed configuration data into weights to be used in the consensus update. The approach using the historical data in the context of a distributed consensus setting marks the novel contribution of our paper. Copyright © 2022, The Authors. All rights reserved.

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Bio-inspired Multi-agent Model and Optimization Strategy for Collaborative Aerial Transport

Bio-inspired Multi-agent Model and Optimization Strategy for...

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2021中国智能自动化大会(CIAC 2021)

作者： Kangyao Huang Jingyu Chen John Oyekan Xinyu Zhang Tsinghua University School of Vehicle and Mobility Department of Automatic Control and Systems Engineering The University of Sheffield

Collaboration between robots provides solutions for transporting more complex and heavier loads. In this work, inspired by the ant colony foraging and transport, we put forward two collaborative models, Coupled-Carriers and Navigator-Carrier, for aerial cooperative transport. To achieve this, a linear quadratic regulator(LQR) is applied to optimize the performance. The results show the task of dual-drone transport of a bar load is successfully accomplished.

关键词： Cooperative transport Swarm intelligence Swarm robotics Multi-agent system Optimal control

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PID controller tuning by Virtual Commissioning - A step to Industry 4.0 15

PID Controller tuning by Virtual Commissioning - A step to I...

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15th Global Congress on Manufacturing and Management, GCMM 2021

作者： Bysko, Szymon Bysko, Sara Fratczak, Michal Nowak, Pawel Klopot, Tomasz Czeczot, Jacek Stebel, Krzysztof Laszczyk, Piotr Simulation Department Pro Point Sp. Z O.o. Sp. K. Ul. Bojkowska 37R Gliwice Poland Department of Systems Biology and Engineering Silesian University of Technology Ul. Akademicka 2A Gliwice Poland Department of Automatic Control and Robotics Silesian University of Technology Ul. Akademicka 16 Gliwice Poland

This paper deals with the validation of the concept of using virtual commissioning of the low-level industrial control systems to adjust PID controller settings. General hardware configurations and logical layers of the experimental setups, which were used during the experiments, are shown and described in details. It is shown how to determine the controller settings using pre-tuning and fine-tuning functionality, available in standard Siemens® Function Blocks Library, that have been launched in virtual commissioning environment. Comparison of the results is a basis to answer the question if the modern virtual commissioning tools currently used in industry have sufficient accuracy to be used as a master tool for the initial PID controller tuning. It is also important to know whether these systems are suitable for use as Industry 4.0 tools, as the simulation is one of its most important part. The first section in your paper © Published under licence by IOP Publishing Ltd.

关键词： Industry 4.0

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Digital phenotyping from heart rate dynamics: Identification of zero-poles models with data-driven evolutionary learning

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Computers in Biology and Medicine 2025年 186卷 109596-109596页

作者： Patrascu, Adrian Ion, Andreea Vislapuu, Maarja Husebo, Bettina S. Tache, Irina Andra Reithe, Haakon Patrascu, Monica Centre for Interdisciplinary Research in Physical Education and Sport Babes-Bolyai University Cluj-Napoca Romania Complex Systems Laboratory University Politehnica of Bucharest Bucharest Romania Centre for Elderly and Nursing Home Medicine University of Bergen Bergen Norway Department of Nursing VID Specialized University Bergen Norway Neuro-SysMed Center University of Bergen Bergen Norway Department of Automatic Control and Systems Engineering University Politehnica of Bucharest Bucharest Romania Department of Image Fusion and Analytics Siemens SRL Brasov Romania

Heart rate response to physical activity is widely investigated in clinical and training practice, as it provides information on a person's physical state. For emerging digital phenotyping approaches, there is a need for individualized model estimation. In this study, we propose a zero-poles model and a data-driven evolutionary learning method for identification. We also perform a comparison with existing first and second order models and gradient descent identification methods. The proposed model is based on a five-phase description of heart rate dynamics. Data was collected from 30 healthy participants using a treadmill and a thoracic sensor in two protocols (static and dynamic), for increasing and decreasing activity. Results show that the zero-poles model is a good fit for heart rate response to exercise (Pearson's coefficient ρ>.95), while first and second order models are also suitable (ρ>.92). The evolutionary learning method shows excellent results for fast model identification, in comparison with least-squares methods (p © 2024 The Author(s)

关键词： Contrastive Learning

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Pushing and Rotating a Heavy Mass Rigid Body Using an Omnidirectional Aerial Manipulator

Pushing and Rotating a Heavy Mass Rigid Body Using an Omnidi...

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International Conference on Robotics and Artificial Intelligence (ICRAI)

作者： Hameed Ullah Santos Miguel Orozco Soto Naveed Mazhar Irfan Ahmad Vincenzo Lippiello Fabio Ruggiero Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy Science and Technology College Autonomous University of Mexico City Mexico City Mexico Unmanned Vehicles Research Lab DEE CEME National University of Sciences & Technology Islamabad Pakistan Department of Automatic Control and Systems Engineering School of Bilbao University of the Basque Country Bilbao Spain

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

This paper presents the pushing and rotation of a heavy rigid body using an omnidirectional actively tilted aerial manipulator, controlled via a hybrid force/position controller. Unlike conventional unmanned aerial vehicles, the proposed system enables precise horizontal force application, making it ideal for aerial physical interaction tasks. The hybrid controller is implemented in the Robot Operating System and validated through extensive simulations in a Gazebo physics-engine-based environment. The manipulator's performance was evaluated in two scenarios: circular trajectory tracking and the rotation of a heavy rigid mass. Results demonstrated its capability to follow complex trajectories with high accuracy and exert sustained forces for object manipulation. The system exhibited excellent stability and precision, underscoring its potential for real-world applications in challenging environments.

关键词： Accuracy Trajectory tracking Force Refining Rotors Stability analysis Robustness Trajectory Robotics and automation Manipulator dynamics

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Development of CAE and CAD Sy1stem for Six-Axis Manipulator control System

Development of CAE and CAD Sy1stem for Six-Axis Manipulator ...

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Educational Innovation (ECEI), IEEE Eurasian Conference on

作者： Hao-Jyun Jhang Chih-Cheng Chen Wun-Jie Zheng Chiu-Hung Chen Cheng-Fu Yang Wen-Yuan Yu Department of Automatic Control Engineering Feng Chia University Taichung Taiwan School of Ocean Information Engineering Jimei University Xiamen China Department of Chemical and Materials Engineering Feng Chia University Taichung Taiwan Artificial intelligence of intelligent manufacturing systems (AIMS) Research Center National Tsing Hua University Hsinchu Taiwan

Automated mechanical equipment is adjusted as the production line changes with the manipulator. Through real-time equipment monitoring and management, it is ensured that the equipment runs and adjust at any time. Modern equipment monitoring and control are used to accurately judge equipment usage status with the help of sensors, big data, the Internet, and artificial intelligence. The computer-aided design (CAD) is used to establish a six-axis manipulator including the dimensions of each axis, the speed, and acceleration of the motor, and kinematics. All the data is collected in one archive to create a 3D model and simulate and analyze its performance with the computer-aided engineering (CAE) method.

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Nonlinear MPC and MHE of a Gasoline controlled Auto-Ignition Engine based on Reduced-Order Differential Equation Models

Nonlinear MPC and MHE of a Gasoline Controlled Auto-Ignition...

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IEEE Conference on Decision and control

作者： Jochem De Schutter Eugen Nuss Katrin Baumgärtner Dirk Abel Moritz Diehl Department of Microsystems Engineering (IMTEK) and Department of Mathematics Systems Control and Optimization Laboratory University of Freiburg Freiburg Germany Institute of Automatic Control RWTH Aachen University Aachen Germany Department of Mathematics University of Freiburg Freiburg im Breisgau Germany

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Gasoline controlled Auto-Ignition (GCAI) is a novel combustion technology that promises higher efficiency and lower pollutant emissions than conventional combustion engines. These advantages come at the cost of a high sensitivity to disturbances and instabilities in combustion phasing. Closed-loop control methods such as linear model predictive control are able to stabilize the process, although the operating range remains limited. Nonlinear model predictive control and moving horizon estimation are able to optimize the fully nonlinear system model and promise higher prediction and estimation accuracy. Nonlinear models based on differential equations offer high physical detail and flexibility, however they pose a high computational burden on the control and estimation algorithms. This paper proposes an efficient, real-time capable MPC and MHE scheme based on the Real Time Iteration (RTI) for a continuous-time GCAI model. We achieve a feedback delay of below 1 ms and RTI preparation time of below 18 ms in numerical simulations on the embedded hardware of an existing GCAI engine test setup. Thereby the proposed scheme satisfies the computational constraints imposed by the engine speed by a safety factor of 4.

关键词： Computational modeling Estimation Mathematical models Real-time systems Combustion Hardware Numerical models

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Linearized ADMM for Nonsmooth Nonconvex Optimization with Nonlinear Equality Constraints

Linearized ADMM for Nonsmooth Nonconvex Optimization with No...

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IEEE Conference on Decision and control

作者： Lahcen El Bourkhissi Ion Necoara Panagiotis Patrinos Department of Automatic Control and Systems Engineering Universitatea Nationala de Stiinta si Tehnologie Politehnica Bucuresti Bucharest Romania Gheorghe Mihoc-Caius Iacob Institute of Mathematical Statistics and Applied Mathematics of the Romanian Academy Bucharest Romania Department of Electrical Engineering (ESAT-STADIUS) KU Leuven Leuven Belgium

This paper proposes a new approach for solving a structured nonsmooth nonconvex optimization problem with nonlinear equality constraints, where both the objective function and constraints are 2-blocks separable. Our method is based on a 2-block linearized ADMM, where we linearize the smooth part of the cost function and the nonlinear term of the functional constraints in the augmented Lagrangian at each outer iteration. This results in simple subproblems, whose solutions are used to update the iterates of the 2 blocks variables. We prove global convergence for the sequence generated by our method to a stationary point of the original problem. To demonstrate its effectiveness, we apply our proposed algorithm as a solver for the nonlinear model predictive control problem of an inverted pendulum on a cart.

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Modeling of Ship Power systems with Semiconductor Propulsion Complexes and Advanced Power Quality Assurance Tools 19th

Modeling of Ship Power Systems with Semiconductor Propulsion...

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19th International Conference on Mathematical Modeling and Simulation of systems, MODS 2024

作者： Zhuk, Dmytro Zhuk, Oleksandr Stepenko, Serhii Chornyi, Oleksii Al-Suod, Mahmoud M. S. Kozlov, Maksym Education and Scientific Institute of Automatics and Electrical Engineering National University of Shipbuilding named after Admiral Makarov Mykolaiv Ukraine Department of Electrical Engineering Information and Measurement Technologies Chernihiv Polytechnic National University Chernihiv Ukraine Department of Automatic Control and Electric Drive Systems Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine Department of Electrical Engineering Al-Ahliyya Amman University Amman19328 Jordan Department of Electrical and Mechatronics Engineering Tafila Technical University Tafila66110 Jordan

ISBN: (纸本)9783031907340

The paper examines possible directions for improving power quality assurance tools by achieving their multifunctionality, controllability, and efficiency, with the aim of enhancing their performance while considering the circuit and operational specifics of integrated ship electrical power systems with semiconductor propulsion complexes. To address the challenges posed by increasing harmonic distortions and reactive power in such systems, one- and two-stage versions of system-controlled filter-compensating devices are proposed and thoroughly investigated. These devices are specifically designed to enable full reactive power compensation while significantly reducing voltage and current harmonic distortions, thus ensuring improved power quality and system reliability in ship electrical power systems with semiconductor propulsion complexes. The proposed modeling approach provides a comprehensive framework for analyzing and comparing the impact of controlled filter-compensating devices on the integral harmonic distortion coefficient of voltage across systems with various types of input rectifiers incorporated within the frequency converters of semiconductor propulsion complexes. Additionally, the study takes into account possible deviations in the ship network frequency, which can influence system performance under real operating conditions. The results demonstrate the effectiveness of the proposed tools in mitigating power quality issues, thereby contributing to the overall stability and efficiency of modern ship electrical power systems. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Reliability analysis

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