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Development and modeling of some elements of the twowheeled mobile robot system 8

Development and modeling of some elements of the twowheeled ...

8th International Young Scientists Conference on Information Technologies, Telecommunications and control Systems, ITTCS 2021

作者： Karpov, Alexander O Karpov, Alexey O Vasilyeva, M Yu Belashova, E.S. Process Dynamics and Control Department Kazan National Research Technical University named after A.N. Tupolev - KAI Kazan Russia Federal University Kazan Russia Department of Automation and Process Control Systems Kazan National Research Technological University Kazan Russia Department of Computer Systems Kazan National Research Technical University named after A.N. Tupolev - KAI Kazan Russia

The article deals with the navigation system elements development process. The movement and positioning of a two-wheeled mobile robot with a high level of accuracy are realized through this system. Also, the algorithms mechanisms based on the construction of the optimal path for the autonomous device movement and based on a map building in an unknown area and avoiding obstacles are described. Using mathematical models, computer modeling of the device executive system is carried out using the engineering program MatLab. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Navigation systems

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Robust Event-Triggered control of Nonlinear Systems Under a Global Sector-Bound Condition

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Guidance, Navigation and control 2022年第2期2卷 59-79页

作者： Pengpeng Zhang Tengfei Liu Zhong-Ping Jiang Department of Control Science&Engineering Frontiers Science Center for Intelligent Autonomous SystemsTongji UniversityShanghai 201804P.R.China State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819P.R.China Department of Electrical and Computer Engineering New York University370 Jay StreetBrooklynNY 11201USA

This paper studies an event-tniggered control problem for nonlinear systems subject to both external disturbancoes and dy namic *** is assumed that the system satisfies a global sector bound *** avold infnitely fast samplng,a novel eventriggred sampling mechanism is propoeed,which use8 not only the measuned system state but also an estimation of the inluence of the *** the propoeed design,the intersampling intervals an be lower bounded by a poeitive constant,and it is independent of botb external disturbances and dynamie ***,the doeedl loop event-tniggered system i proved to be input-torstate stable with repect to the extemal *** smalgain techmigues are;used for the stability analysis of the dloeeil-bop system.

关键词： Event-triggered control external disturbance dynamic uncertainty input-to-state stability

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Design of Supervisory Model Predictive control for Building HVAC System Subject to Time-Varying Operating Points

Design of Supervisory Model Predictive Control for Building ...

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International Conference on control, automation and Systems ( ICCAS)

作者： Sitthiphat Promchaiwattana David Banjerdpongchai Department of Electrical Engineering Faculty of Engineering Intelligent Control Automation of Process Systems Research Unit Chulalongkorn University 254 Phayathai Road Pathumwan Bangkok Thailand

This paper presents the design of supervisory model predictive control for HVAC systems with consideration of peak demand shaving and thermal comfort. In this work, we analyze the operating points with the thermal comfort requirement. Afterwards, we linearize the nonlinear dynamic model to a linear time-varying model. In particular, we specify that the operating point of the open-loop HVAC system satisfies the thermal comfort condition. This makes the predicted mean vote (PMV) equal to zero or nearly to zero. Subsequently, we calculate the zone temperature, the zone humidity ratio, and the volumetric flow rate. When considering the time-varying disturbance profiles, it appears that the operating points are time-varying. We observe that the coefficient of performance (COP) and the operating points are time-varying which lead to time-varying model. Moreover, we design supervisory control (SC) and model predictive control (MPC) for linear time-varying model. In the SC design, we aim to find the optimal reference zone temperature which is used as the reference signal for MPC. In the MPC design, the objectives are twofold. First, the zone temperature tracks the reference signal. Second, both electrical energy cost and deviation of desired thermal comfort are minimized. The computer simulation shows that MPC of time-varying HVAC system yields the best reference tracking. In addition, it reduces total electrical energy cost the most. We conclude that the optimal temperature reference can be effectively applied to the building HVAC systems while the occupants feel comfortable and the total electrical energy cost is the lowest.

关键词： HVAC Costs Input variables Buildings Predictive models Supervisory control Thermal analysis

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Discrete-time Formation control With Attitude Alignment: A Geometric Approach under Ergodic Products

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IEEE Transactions on control of Network Systems 2025年

作者： Li, Zhen Tang, Yang Zhang, Wenbing Fan, Yongqing Huang, Tingwen Xi-an University of Posts and Telecommunications School of Automation Xian710121 China East China University of Science and Technology Key Laboratory of Smart Manufacturing in Energy Chemical Process Shanghai200237 China Yangzhou University Department of Mathematics Jiangsu225002 China Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen518055 China

Assuming agents possess sensing capabilities and dynamics relative to their body coordinate frames, this paper addresses a displacement-based strategy for discrete-time formation control through attitude synchronization. Unlike the Eulerian approximation, the first challenge lies in developing discrete-time models that capture both position and attitude motions, thereby complementing existing continuous-time systems with a discretized version. Then, two leader-following control protocols are designed, incorporating a jointly-connected topology to relax the connectivity requirements. The analysis of these systems often relies on the Lyapunov function, the existence of which may be hard to guarantee. Consequently, geometric properties of several polytopes are explored under the dynamic topologies and time-varying parameters. By extending the ergodicity results to leader-following scenarios, these properties are characterized as positively invariant sets. This invariance, which is independent of the existence of the Lyapunov function or the solvability of its associated criteria, provides a beneficial tool for analyzing time-variant systems. Utilizing this invariance and some mathematical techniques, the desired formation shape can be achieved in the cases where the attitudes of the followers synchronize with the leader. Finally, a numerical simulation validates the results. © 2014 IEEE.

关键词： Lyapunov functions

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Streaming-Data-Driven Multi-Objective Optimal Operation for Ammonia-based Integrated Energy Chemical Systems:An Event-Triggered Scheme

Streaming-Data-Driven Multi-Objective Optimal Operation for ...

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第42届中国控制会议

作者： Longyan Li Chao Ning Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of EducationEast China University of Science and Technology

As an important component in the industry sector,the integrated energy chemical system is inescapably responsible for carbon reduction in addition to economic and reliability *** propose a novel streaming-data-driven multi-objective optimal operation for ammonia-based integrated energy chemical systems（AIECS）.In the day ahead scheduling,a detailed mathematical model for AIECS is presented,upon which a multi-objective optimization considering cost,CO emission and reliability is *** the intra-day operation,an event-triggered mechanism is firstly developed in the real-time operation of AIECS,and it enables the AIECS to be risk-aware just in *** monitoring the difference between the predicted state of charge and the capacity limitations of battery,the AIECS identifies whether it is in hazardous ***,the intelligent switch between certainty equivalence model predictive control and online-learning based distributionally robust model predictive control is proposed,such that their respective advantages are *** studies demonstrate that the proposed approach guarantees the system safety,and brings good revenue.

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Data-Driven Distributionally Robust Planning of Energy Hub Coupled with Carbon Capture Utilization and Storage Facilities

Data-Driven Distributionally Robust Planning of Energy Hub C...

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第42届中国控制会议

作者： Xutao Ma Chao Ning Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education East China University of Science and Technology

Toward carbon peaking and carbon neutrality goals in China, a transition from traditional fossil power to renewable energy becomes an imperative need. This paper aims to address the planning problem of a highly renewable-energy penetrated energy hub system, coupled with carbon capture facilities and downstream production processes of hydrogen and methanol,under the uncertainty of renewable power output. To this end, we propose a two-stage distributionally robust optimal planning model, where investment decisions are the first-stage variables and operation variables are determined at the second stage after the realization of uncertainty. In the proposed model, we utilize historical data samples to construct a strengthened ambiguity set that leverages both Wasserstein distance and moment information for a better characterization of renewable generation uncertainty. Moreover, to efficiently solve the proposed planning problem, we develop a simplified affine decision rule method in a general setting with both moment and Wasserstein ambiguity, and then apply it to reformulate the distributionally robust planning problem. The derived reformulation possesses the favorable property that its scale is free from the sample size, thus greatly reducing the computational complexity. Computational results validate the effectiveness of the proposed planning model and the computational efficiency of the solution methodology.

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Research of the Influence of the Training Sample Frequency on the Quality of Virtual Analyzers of Oil Refining Products

Research of the Influence of the Training Sample Frequency o...

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2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Ulazevich, Vladislav Yu. Saint Petersburg Electrotechnical University 'LETI' LLC kINEF Department of Automation and Control Processes Department of Automated Process Control Systems St. Petersburg Russia

ISBN: (纸本)9781728157610

Training sample rate selection is one of the controversial issues arising in the process of virtual sensor development. Increasing the sample rate results in the initialization execution time extension, but it can also have a positive effect on the quality of the resulting models. In the study the virtual analyzer of the final boiling point for 62-105 °C fraction was initialized in five time segments with different sample rate using industrial data obtained from ELOU-AVT-2 unit of Kirishi refinery KINEF and EM-algorithm. © 2020 IEEE.

关键词： Distillation

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Consensus Robustness under PI Protocols with Undirected Graphs

Consensus Robustness under PI Protocols with Undirected Grap...

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American control Conference (ACC)

作者： Qi Mao Dan Ma Yanling Ding Hui Peng Jie Chen Department of Electrical Engineering City University of Hong Kong Hong Kong China College of Information Science and Engineering State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China School of Automation Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of Technology Guangzhou China

This paper concerns robust consensus problems for continuous-time first-order multi-agent systems with respect to uncertain gain and phase of the agent’s frequency response varying within certain ranges. We consider dynamic output feedback control protocol in the form of proportional-integral (PI) control. The agents can in general be nonminimum phase and unstable systems, which are interconnected by an undirected graph network. We seek to determine the largest ranges of gain and phase variations, referred to as the gain consensus margin (GCM) and the phase consensus margin (PCM), respectively, so that consensus can be achieved robustly within these ranges. Our main results consist of explicit analytical expressions of the GCM and PCM, which demonstrate how the agent’s unstable pole and nonminimum phase zero, as well as the network connectivity may fundamentally confine the gain and phase variation ranges so that consensus can or cannot be maintained.

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A low-cost gold-coated optical fiber sensor for in-situ microplastic detection in water

A low-cost gold-coated optical fiber sensor for in-situ micr...

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BioSensors Conference (BioSensors), IEEE

作者： Noppasin Ajchareeyasoontorn Jade Udomkittivorakul Tatinee Changlor Chanyanut Rungchaiwattanakul Jenyuk Lohwacharin Charusluk Viphavakit International School of Engineering (ISE) Faculty of Engineering Chulalongkorn University Bangkok Thailand Department of Environmental Engineering Faculty of Engineering Chulalongkorn University Bangkok Thailand Intelligent Control Automation of Process Systems Research Unit Faculty of Engineering Chulalongkorn University Bangkok Thailand

An optical fiber-based sensor in the configuration of single-multi-single (SMS) modes structure is proposed to detect polyethylene microplastic particles inside aquatic environments via the interaction of light at the interface of optical fiber and the microplastic solutions. Microplastics negatively affect biological systems since living creatures may consume the pollutant. The data on the relationship between the transmittance spectrum and its corresponding wavelength value can be used to correlate and identify the concentration of the microplastic solution. Deposition of gold on the sensing region through sputtering is investigated to improve the sensitivity and reliability of the SMS sensor. This suggests the potential for a gold-coated SMS sensor for in-situ, low-cost and real-time microplastic sensing applications.

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Finite-time asynchronous dissipative filtering of conic-type nonlinear Markov jump systems

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Science China(Information Sciences) 2021年第5期64卷 151-162页

作者： Xiang ZHANG Shuping HE Vladimir STOJANOVIC Xiaoli LUAN Fei LIU Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education) School of Electrical Engineering and Automation Anhui University Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil EngineeringUniversity of Kragujevac Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of AutomationJiangnan University

In the present study, the finite-time asynchronous dissipative filter design problem for the Markov jump systems with conic-type nonlinearity is studied. The hidden Markov model can describe the asynchronism embodied in the system modes and the filter modes reasonably. Moreover, a suitable LyapunovKrasovskii function is utilized and linear matrix inequalities are applied to obtain adequate conditions. These techniques guarantee the finite-time boundedness and strict dissipativity of the filtering error dynamic system. Furthermore, the design problems of the passive filter and the H∞ filter are studied by adjusting the three parameters U, G and V. Finally, the filter gains and the optimal index α*are obtained and the correctness and feasibility of the designed approach are verified by a simulation example.

关键词： dissipative filtering hidden Markov model finite-time boundedness Markov jump systems conic-type nonlinearity

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