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arXiv 2024年

作者： Nonhoff, Marko Dall’Anese, Emiliano Müller, Matthias A. The Institute of Automatic Control Leibniz University Hannover Hannover Germany The Department of Electrical and Computer Engineering Boston University BostonMA02215 United States

This article investigates the problem of controlling linear time-invariant systems subject to time-varying and a priori unknown cost functions, state and input constraints, and exogenous disturbances. We combine the online convex optimization framework with tools from robust model predictive control to propose an algorithm that is able to guarantee robust constraint satisfaction. The performance of the closed loop emerging from application of our framework is studied in terms of its dynamic regret, which is proven to be bounded linearly by the variation of the cost functions and the magnitude of the disturbances. We corroborate our theoretical findings and illustrate implementational aspects of the proposed algorithm by a numerical case study on a tracking control problem of an autonomous vehicle. © 2024, CC BY-NC-ND.

关键词： Cost functions

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Optimal Multi-Target Path Planing control for Multiple Mobile Robot System

Optimal Multi-Target Path Planing Control for Multiple Mobil...

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2023 International Conference on System Science and engineering, ICSSE 2023

作者： Vu, Van-Phong Nguyen, Tu-Gia-Thinh Nguyen, Xuan-Sang Le, Van-Tung Ngo, Van-Thuyen Pham, Duc-Hung Uyen, Hoang Kim Ho Chi Minh City University of Technology and Education Department of Automatic Control Ho Chi Minh city Viet Nam Hung Yen University of Technology and Education Faculty of Electrical and Electronic Engineering Hung Yen Viet Nam Da Nang University of Science and Technology Faculty of Electronics and Telecommunication Engineering Da Nang Viet Nam

ISBN: (纸本)9798350322941

In this paper, the problems related to cooperative control for the multiple mobile robot system (MMRS) is presented. The LIDAR sensor is employed to obtain the 2D map of the indoor space. The formation control and the leader-following algorithm are applied to control the MMRS moving in a specific formation. Additionally, this paper considers the scenario that the MMRS has to move to several targets in the indoor space with many obstacles. Therefore, the indoor travelling salesman problem-based Ant Colony Optimization (ACO) is studied in this work to determine the optimal moving path of the MMRS. To prove the effectiveness and merit of the proposed methods, the simulation results are provided in this article. © 2023 IEEE.

关键词： Ant colony optimization

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control of Isolated AC Microgrids with Constant Power Loads: A Set Invariance Approach

Control of Isolated AC Microgrids with Constant Power Loads:...

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Mediterranean Conference on control and Automation (MED)

作者： Grigoris Michos George C. Konstantopoulos Paul A. Trodden Visakan Kadirkamanathan Department of Automatic Control & Systems Engineering University of Sheffield Mappin Street Sheffield UK Department of Electrical and Computer Engineering University of Patras Rion Greece

This paper proposes a robust control scheme for isolated AC Microgrids, where each node is connected locally to a constant power load (CPL). Contrary to many approaches in the literature, we consider the explicit model of the inverter dynamics and separate the overall system into two parts; a nominal subsystem parametrized by a nominal load and an error subsystem describing the difference between the true and the nominal voltage, resulting from perturbations of the load demand. In the presented analysis, we investigate the non-linear structure of the CPL in order to analytically describe its geometric effect on the network dynamics. We exploit this information to propose mild conditions on the tuning parameters such that a positive invariant set for the error dynamics exists and the distance between the true and the nominal voltage trajectories is bounded at all times. We demonstrate the properties of the proposed control scheme in a simulated scenario.

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A Novel Zero Common-Mode Voltage Modulation Strategy for Dual Three-Phase PWM Inverter Based on Unified Voltage Modulation

A Novel Zero Common-Mode Voltage Modulation Strategy for Dua...

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Energy, Power and Electrical engineering (EPEE), International Conference on

作者： Jinpeng Kan Yongqing Meng Changyi Li Wenjie Chen Fengjiao Li Yixin Shi School of Electrical Engineering Xi’an Jiaotong University Xi’an China Department of Computer and Electronic Systems Engineering AVIC Xi’an Flight Automatic Control Research Institute Xi’an China

ISBN: (数字)9798331518066

ISBN: (纸本)9798331518073

Power electronic switching devices and pulse width modulation (PWM) not only improves the performance of motor drive systems, but also brings about common-mode voltage (CMV) issues, that challenging the normal operation of the system. This article proposes a zero common-mode voltage modulation strategy based on unified voltage modulation for a 60° Y-connected six-phase permanent magnet synchronous motor system driven by a dual three-phase inverter. The theoretical basis and zero common-mode implementation scheme of unified modulation are analyzed, and the effectiveness of the proposed zero common-mode voltage modulation strategy is finally verified through simulation.

关键词： Pulse width modulation inverters Performance evaluation Simulation Modulation Voltage Switches Permanent magnet motors Inverters Permanent magnets Switching circuits

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Fixed-Time Convergent control Barrier Functions for Coupled Multi-Agent Systems under STL Tasks

Fixed-Time Convergent Control Barrier Functions for Coupled ...

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2021 European control Conference, ECC 2021

作者： Sharifi, Maryam Dimarogonas, Dimos V. KTH Royal Institute of Technology School of Electrical Engineering and Computer Science Department of Automatic Control Stockholm Sweden

ISBN: (纸本)9789463842365

This paper presents a control strategy based on a new notion of time-varying fixed-time convergent control barrier functions (TFCBFs) for a class of coupled multi-agent systems under signal temporal logic (STL) tasks. In this framework, each agent is assigned a local STL task regradless of the tasks of other agents. Each task may be dependent on the behavior of other agents which may cause conflicts on the satisfaction of all tasks. Our approach finds a robust solution to guarantee the fixed-time satisfaction of STL tasks in a least violating way and independent of the agents' initial condition in the presence of undesired violation effects of the neighbor agents. Particularly, the robust performance of the task satisfactions can be adjusted in a user-specified way. © 2021 EUCA.

关键词： Multi agent systems

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Development of an Executive Design of a Station for Measuring the Curvature of Metallurgical Charge for Rolling 21st

Development of an Executive Design of a Station for Measurin...

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21st Polish control Conference, PCC 2023

作者： Placzek, Marek Krauze, Piotr Ryfa, Arkadiusz Jablonka, Tomasz Balys, Karol Helmich, Magdalena Badora, Dawid Florkiewicz, Bartosz Polak, Kamil Slonka, Piotr Trybulowski, Mateusz Faculty of Mechanical Engineering Silesian University of Technology Konarskiego 18A Gliwice44-100 Poland Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Faculty of Energy and Environmental Engineering Silesian University of Technology Konarskiego 18 Gliwice44-100 Poland MOSTOSTAL ZABRZE Biprohut S.A Dubois 16 Gliwice44-100 Poland

ISBN: (纸本)9783031351723

The work is a report on the implementation of interdisciplinary group project classes conducted in accordance with the Project Based Learning approach. The aim of the project was to develop an automated station for measuring the curvature of metallurgical charge and to create its technical documentation. The station is intended to work in cooperation with devices of an automated line for spreading and transporting metallurgical charges, which is a part of the technological line for hot rolling. The task of the station is to identify the curvature value, so that a charge with exceeded parameters does not proceed to the next stage of the process (the goal is significant in terms of eliminating defects). The final outcome of the project was to be a complete technical documentation of the designed station along with the measurement algorithm. Additionally, a laboratory test station and a system design for use in real industrial conditions were developed. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Hot rolling

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Efficient Frameworks for EEG Epileptic Seizure Detection and Prediction

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Annals of Data Science 2022年第2期9卷 393-428页

作者： Emara, Heba M. Elwekeil, Mohamed Taha, Taha E. El-Fishawy, Adel S. El-Rabaie, El-Sayed M. El-Shafai, Walid El Banby, Ghada M. Alotaiby, Turky Alshebeili, Saleh A. Abd El-Samie, Fathi E. Department of Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Security Engineering Laboratory Department of Computer Science Prince Sultan University Riyadh11586 Saudi Arabia Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt KACST Riyadh Saudi Arabia King Saud University Riyadh Saudi Arabia Department of Electrical Engineering King Saud University Riyadh11421 Saudi Arabia Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University Riyadh21974 Saudi Arabia

Seizure detection and prediction are a very hot topics in medical signal processing due to their importance in automatic medical diagnosis. This paper presents three efficient frameworks for applications related to electroencephalogram (EEG) signal processing. The first one is an automatic seizure detection framework based on the utilization of scale-invariant feature transform (SIFT) as an extraction tool. The second one depends on the utilization of the fast Fourier transform (FFT) and an artificial neural network for epileptic seizure prediction. Finally, an automated patient-specific framework for channel selection and seizure prediction is presented based on FFT. The simulation results show the success of the proposed frameworks for automated medical diagnosis. © 2021, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Fast Fourier transforms

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Neural network developed for obstacle avoidance of the four wheeled electric vehicle 30

Neural network developed for obstacle avoidance of the four ...

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30th IEEE International Conference on Electronics, Circuits and Systems, ICECS 2023

作者： Sciuto, Grazia Lo Kowol, Pawel Nowak, Pawel Banaś, Waclaw Coco, Salvo Capizzi, Giacomo Silesian University of Technology Department of Mechatronics Gliwice Poland University of Catania Department of Electrical Electronics and Informatics Engineering Catania Italy Silesian University of Technology Department of Automatic Control and Robotic Gliwice Poland Silesian University of Technology Faculty of Applied Mathematics Department of Mathematics Applications and Methods for Artificial Intelligence Gliwice Poland

ISBN: (纸本)9798350326499

Several solutions have been proposed for vehicle navigation in unknown environments to ensure safer driving by avoiding obstacles and collisions. In this work, an electric vehicle equipped with Mecanum 4 omnidirectional holonomic wheels, analog joystick to control driving movement, LiDAR sensors and Wi-Fi able to detect obstacles is investigated based on neural network approach. By experimental tests conducted to avoid collisions by detecting the presence of obstacles, the relation between the resistance distance and speed is described by the artificial neural network. © 2023 IEEE.

关键词： Vehicle safety

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Deep Neural Networks for Halyomorpha Halys Detection

Deep Neural Networks for Halyomorpha Halys Detection

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Mediterranean Conference on control and Automation (MED)

作者： Alexandru Dinca Nicoleta Angelescu Loretta Ichim Dan Popescu Faculty of Automatic Control and Computer Science University Politehnica of Bucharest Bucharest Romania Faculty of Electrical Engineering Electronics and Information Technology Valahia University of Targoviste Targoviste Romania

Pest detection and identification in a timely manner is a crucial step for precision agriculture. Halyomorpha Halys is a common pest whose negative effects are known in agricultural areas and on various crops. The present work implemented and studied four performant neural networks, VGG19_BN, EfficientNetB7, DenseNet161, and ResNet152 for the detection of these insects. Although the detection of these insects in the natural environment through automated means, excluding traps, is a challenge, the results obtained are promising.

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Prediction of Radiated Electromagnetic Interference Based on Four-module Motor Drive System

Prediction of Radiated Electromagnetic Interference Based on...

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Energy, Power and Grid (ICEPG), International Conference on

作者： Yixin Shi Wenjie Chen Fengjiao Li Jinpeng Kan Yongqing Meng Guang Yang School of Electrical Engineering Xi’an Jiaotong University Xi’an China Department of Computer and Electronic Systems Engineering AVIC Xi’an Flight Automatic Control Research Institute Xi’an China

ISBN: (数字)9798350377798

ISBN: (纸本)9798350377804

In recent years, wide bandgap semiconductor devices such as silicon carbide (SiC) and gallium nitride (GaN) have been increasingly applied in electric drive systems, effectively enhancing system power density. However, the high-frequency and high-speed characteristics of SiC devices exacerbate electromagnetic interference (EMI) issues within the system. Additionally, the cables in electric drive systems exhibit significant antenna effects, radiating conducted EMI into the surrounding space, thereby affecting the normal operation of other sensitive equipment. Therefore, it is essential to research motor drive system topologies that can actively suppress EMI and predict radiated interference in motor drive systems. The topology of a four-module motor paired with parallel inverters can achieve active suppression of EMI at the source. This paper conducts a simulation-based prediction of radiated interference for a parallel inverter-driven four-module motor system. It analyzes the coupling mechanisms of common mode and differential mode radiated interference and validates the radiated interference from both DC and AC cables through simulations, predicting the impact on surrounding sensitive equipment in practical systems.

关键词： Motor drives Accuracy Silicon carbide Electromagnetic interference Layout Predictive models Motors Topology Gallium nitride Cables

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