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Practical Application of the Dynamic Output-Only Iterative Learning control Design To The Crane System*

IFAC-PapersOnLine 2022年第12期55卷 476-481页

作者： Lukasz Hladowski Krzysztof Galkowski Eric Rogers Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland Institute of Automation Electronic and Electrical Engineering University of Zielona Góra ul. prof. Z. Szafrana 2 65-516 Zielona Góra Poland Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK

Iterative learning control applies to systems that repeatedly execute the same finite duration task. The distinguishing feature of this form of control action is that all data generated on a previous execution of the task are available to compute the control action for the subsequent execution. This paper uses the linear repetitive process stability analysis and optimization techniques to design a dynamic controller that, in contrast to previous designs in the repetitive process/2D systems setting, does not require measurement of the state dynamics or observer-based estimation. Supporting experimental validation results are also given.

关键词： Iterative learning control repetitive processes output control

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EigenMPC: An Eigenmanifold-Inspired Model-Predictive control Framework for Exciting Efficient Oscillations in Mechanical Systems

EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control...

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IEEE Conference on Decision and control

作者： Andre Coelho Alin Albu-Schaeffer Arne Sachtler Hrishik Mishra Davide Bicego Christian Ott Antonio Franchi Institute of Robotics and Mechatronics of the German Aerospace Center (DLR) Oberpfaffenhofen Germany Dextrous Robotics Inc Memphis TN USA Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Netherlands Department of Informatics Technical University of Munich Germany Automation and Control Institute (ACIN) Technical University of Vienna Austria LAAS-CNRS University of Toulouse France

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper proposes a Nonlinear Model-Predictive control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently developed Eigenmanifold theory, which defines the sets of line-shaped oscillations of a robot as an invariant two-dimensional submanifold of its state space. By defining the control problem as a nonlinear program (NLP), the controller is able to deal with constraints in the state and control variables and be energy-efficient not only in its final trajectory but also during the convergence phase. An initial implementation of this approach is proposed, analyzed, and tested in simulation.

关键词： Analytical models Aerospace electronics Energy efficiency Trajectory Mechanical systems Oscillators Robots

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Composite Nonlinear Bilateral control for Teleoperation Systems With External Disturbances

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IEEE/CAA Journal of Automatica Sinica 2019年第5期6卷 1220-1229页

作者： Zhenhua Zhao Jun Yang Shihua Li Wen-Hua Chen the College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China the School of Automation Southeast UniversityKey Laboratory of Measurement and Control of School of Computer Science and Engineering (CSE)Ministry of EducationNanjing 210096China the Department of Aeronautical and Automotive Engineering Loughborough UniversityLoughboroughLE11 3TUUK

This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer(NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems' nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing bilateral control methods which usually achieve force haptic(i.e., contact force tracking)through a passive way, the newly proposed method has two major merits: 1) asymptotical convergence of both position and force tracking errors is guaranteed;2) disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation. Simulations on a nonlinear teleoperation system are carried out and the results validate the effectiveness of the proposed controller.

关键词： Bilateral control disturbance observer force haptic teleoperation

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Distributed formation control for manipulator end-effectors

arXiv

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arXiv 2021年

作者： Wu, Haiwen Jayawardhana, Bayu De Marina, Hector Garcia Xu, Dabo Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands Department of Computer Architecture and Automatic Control Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain School of Automation Nanjing University of Science and Technology Nanjing210094 China

We present three classes of distributed formation controllers for achieving and maintaining the 2D/3D formation shape of manipulator end-effectors to cope with different scenarios due to availability of modeling parameters. We firstly present a distributed formation controller for manipulators whose system parameters are perfectly known. The formation control objective is achieved by assigning virtual springs between end-effectors and by adding damping terms at joints, which provides a clear physical interpretation of the proposed solution. Subsequently, we extend it to the case where manipulator kinematic and system parameters are not exactly known. An extra integrator and an adaptive estimator are introduced for gravitational compensation and stabilization, respectively. Simulation results with planar manipulators and with seven degree-of-freedom humanoid manipulator arms are presented to illustrate the effectiveness of the proposed approach. Copyright © 2021, The Authors. All rights reserved.

关键词： Manipulators

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Distributed formation control of manipulators' end-effector with internal model-based disturbance rejection

arXiv

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arXiv 2021年

作者： Wu, Haiwen Jayawardhana, Bayu de Marina, Hector Garcia Xu, Dabo Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands Department of Computer Architecture and Automatic Control Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain The School of Automation Nanjing University of Science and Technology Nanjing210094 China

This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at each end-effector. The disturbances are assumed to be non-vanishing and are superposition of finite number of sinusoidal and step signals. The formation control objective is achieved by assigning virtual springs between end-effectors, by adding damping terms at joints, and by incorporating internal model-based dynamic compensators to counteract the effect of the disturbances;all of which presents a clear physical interpretation of the proposed approach. Simulation results are presented to illustrate the effectiveness of the proposed approach. © 2021, CC BY.

关键词： End effectors

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Parallel Planning:A New Motion Planning Framework for Autonomous Driving

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 236-246页

作者： Long Chen Xuemin Hu Wei Tian Hong Wang Dongpu Cao Fei-Yue Wang IEEE School of Data and Computer Science Sun Yat-sen University the School of Computer Science and Information Engineering Hubei University Institute of Measurement and Control Systems Karlsruhe Institute of Technology Department of Mechanical and Mechatronics Engineering University of Waterloo the State Key Laboratory of Management and Control for Complex Systems.Institute of Automation Chinese Academy of Sciences the Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology

Motion planning is one of the most significant technologies for autonomous driving. To make motion planning models able to learn from the environment and to deal with emergency situations, a new motion planning framework called as"parallel planning" is proposed in this paper. In order to generate sufficient and various training samples, artificial traffic scenes are firstly constructed based on the knowledge from the reality.A deep planning model which combines a convolutional neural network(CNN) with the Long Short-Term Memory module(LSTM) is developed to make planning decisions in an end-toend mode. This model can learn from both real and artificial traffic scenes and imitate the driving style of human ***, a parallel deep reinforcement learning approach is also presented to improve the robustness of planning model and reduce the error rate. To handle emergency situations, a hybrid generative model including a variational auto-encoder(VAE) and a generative adversarial network(GAN) is utilized to learn from virtual emergencies generated in artificial traffic scenes. While an autonomous vehicle is moving, the hybrid generative model generates multiple video clips in parallel, which correspond to different potential emergency scenarios. Simultaneously, the deep planning model makes planning decisions for both virtual and current real scenes. The final planning decision is determined by analysis of real observations. Leveraging the parallel planning approach, the planner is able to make rational decisions without heavy calculation burden when an emergency occurs.

关键词： Autonomous driving artificial traffic scene deep learning emergencies motion planning parallel planning

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Prox-DBRO-VR: A Unified Analysis on Byzantine-Resilient Decentralized Stochastic Composite Optimization with Variance Reduction

arXiv

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arXiv 2023年

作者： Hu, Jinhui Chen, Guo Li, Huaqing Guo, Xiaoyu Ran, Liang Huang, Tingwen School of Automation Central South University Hunan Changsha410083 China School of Electrical Engineering and Telecommunications University of New South Wales SydneyNSW2052 Australia Department of Mechanical Engineering City University of Hong Kong Kowloon Tong Hong Kong Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing College of Electronic and Information Engineering Southwest University Chongqing400715 China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen518055 China

Decentralized stochastic gradient algorithms efficiently solve large-scale finite-sum optimization problems when all agents in the network are reliable. However, most of these algorithms are not resilient to adverse conditions, such as malfunctioning agents, software bugs, and cyber attacks. This paper aims to handle a class of general composite optimization problems over multi-agent systems (MASs) in the presence of an unknown number of Byzantine agents. Building on a resilient model-aggregation mechanism and the proximal-gradient mapping method, a Byzantine-resilient decentralized stochastic proximal-gradient algorithmic framework is proposed, dubbed ProxDBRO-VR, which achieves an optimization and control goal using only local computations and communications. To asymptotically reduce the noise variance arising from local gradient estimation and accelerate the convergence, we incorporate two localized variance-reduced (VR) techniques (SAGA and LSVRG) into ProxDBRO-VR to design Prox-DBRO-SAGA and Prox-DBRO-LSVRG. By analyzing the contraction relationships among the gradient-learning error, resilient consensus condition, and convergence error in a unified theoretical framework, it is proved that both Prox-DBRO-SAGA and Prox-DBRO-LSVRG, with a well-designed constant (resp., decaying) step-size, converge linearly (resp., sub-linearly) inside an error ball around the optimal solution to the original problem under standard assumptions. A trade-off between convergence accuracy and Byzantine resilience in both linear and sub-linear cases is also characterized. In numerical experiments, the effectiveness and practicability of the proposed algorithms are manifested via resolving a decentralized sparse machine-learning problem under various Byzantine attacks. Copyright © 2023, The Authors. All rights reserved.

关键词： Autonomous agents

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METHODOLOGY OF MODELING THE DETECTION OF LIMESCALE DEPOSITS IN SANITARY INSTALLATIONS 21

METHODOLOGY OF MODELING THE DETECTION OF LIMESCALE DEPOSITS ...

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21st International Multidisciplinary Scientific Geoconference: Water Resources, Forest, Marine and Ocean Ecosystems, SGEM 202

作者： Czajkowski, Adrian Remiorz, Leszek Pawlak, Sebastian Remiorz, Eryk Szygula, Jakub Miscea.pl Engineering Sp. z o.o. Poland Department of Power Engineering and Turbomachinery Faculty of Energy and Environmental Engineering Silesian University of Technology Poland Doctoral School The Silesian University of Technology Poland Faculty of Mechanical Engineering Scientific and Didactic Laboratory of Nanotechnology and Materials Technologies Poland Department of Mining Mechanization and Robotisation Faculty of Mining Safety Engineering and Industrial Automation Silesian University of Technology Poland Department of Distributed Systems and Informatic Devices Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Poland

ISBN: (纸本)9786197603361

The article presents the issue of scale deposits in sanitary installations. Scale contributes to improper operation of sanitary devices and leads to their degradation. Scale build-up in pipes and measuring elements results in higher water consumption due to inaccurate estimation of this resource consumption. The consequence is that devices based on process automation do not work properly due to disturbances in the actual water flow. The formation of deposits also leads to economic and ecological losses, as sanitary installations elements have to be replaced, which affects the increased use of raw materials and the generation of waste. This is not in line with current trends and global objectives related to circular economy. Scale also results in increased energy consumption and reduced energy efficiency. This is due to the resistance of the flows and the increased work of the pumps. Scale has insulating properties, which results in less efficient heat transfer. In this stady, a mathematical model was developed to detect the formation of scale deposits in sanitary installations. On this basis, it is possible to control the quality status of sanitary installation components. In this way, by taking appropriate action at an early stage of the formation of deposits, it can extend the life of the installation. Having information on scale deposits, it will help avoid wasting water and lead to more accurate measurement of water flows. This is important for the proper operation of devices such as heat pumps, where their operation is automated and requires precise measurements of the energy processes taking place. Scale is a significant problem for households, and also for factories or public institutions that are exposed to hard water environments. © 2021 International Multidisciplinary Scientific Geoconference. All rights reserved.

关键词： Deposits

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3d-Swim: 3d Vision Based Seam Width Measurement for Industrial Composite Fiber Layup In-Situ Inspection

SSRN

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SSRN 2022年

作者： Zhang, Yinlong Yuan, Libiao Liang, Wei Xia, Xiaofang Pang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Shenyang Pharmaceutical University China School of Computer Science and Technology Xidian University Xian710071 China Department of Automation Technology ABB Corporate Research Sweden Vasteras72178 Sweden Stockholm11428 Sweden

Composite fiber layup in-situ inspection plays an important role in the advanced manufacturing. An accurate seam width measurement is an indispensable procedure during the layup inspection. However, the traditional seam measurements may fail in presence of surface curvature variance, curved edges between sheets, to name a few. This paper intentionally designs a novel 3D vision based Seam Width Measurement for Industrial Composite Fiber Layup In-situ inspection (called 3D-SWiM). It aims to address three major challenges in measuring the seam width between the composite fiber sheets, namely, seam region over-segmentation, failures on region of interests (ROI) seam detection, seam width measurement inconsistency. Firstly, the region growing with semantic refinement is designed for 3D point cloud clustering, to overcome the over-segmentation on seam regions. Afterwards, the gridding model with edge discrimination is applied to extract the 3D potential candidates in the edge areas. Eventually, we use the cubic B-spline fitting model to describe the seam region curves and the improved particle swarm optimization model to estimate the minimum and maximum distance between the seam edges. Our method has been evaluated extensively on the developed composite fiber layup platform. The experimental results prove the competitive accuracy against the state-of-the-art methods in seam width measurement. © 2022, The Authors. All rights reserved.

关键词： Inspection

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Retraction Note: CanarDeep: a hybrid deep neural model with mixed fusion for rumour detection in social data streams

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Neural Computing and Applications 2024年第18期36卷 11073-11073页

作者： Jain, Deepak Kumar Kumar, Akshi Shrivastava, Akshat Key Laboratory of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of Automation Chongqing University of Posts and Telecommunications Chongqing China Department of Information Technology Netaji Subhas University of Technology Delhi India Department of Computer Science & Engineering Delhi Technological University Delhi India

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