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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Chico-Villegas, Jose-Pascual Guzman, Ramon de Vicuña, Luis Garcia Miret, Jaume Castilla, Miguel Borrell, Angel Department of Electronic Engineering Universitat Politècnica de Catalunya Vilanova i la Geltrú Spain Department of Automatic Control Universitat Politècnica de Catalunya Vilanova i la Geltrú Spain Department of Electrical Engineering Escola Universitària Salesiana de Sarrià Barcelona Spain

ISBN: (纸本)9781665464543

This paper presents a switching strategy for a grid-connected voltage source inverter (VSI) using sliding mode control (SMC). The conventional SMC suffers from sliding losses due to the cross-coupling among controllers by the neutral point voltage expression. This issue can be addressed by using the switching technique to obtain the voltage and currents in a new reference frame through a non-linear transformation. In this frame, a decoupled non-linear model of the VSI is derived, and two sliding mode controllers are designed using hysteresis band comparators. The switching strategy not only avoids sliding losses but also increases the control range of the converter by introducing a third harmonic by the control signal. Simulation results using Matlab Simulink are provided to validate the robustness of the proposed controller. © 2024 IEEE.

关键词： Sliding mode control

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Lyapunov-Inspired Deep Reinforcement Learning for Robot Navigation in Obstacle Environments

Lyapunov-Inspired Deep Reinforcement Learning for Robot Navi...

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Computational Intelligence on engineering/Cyber Physical Systems (CIES), IEEE Symposium on

作者： Halil Ibrahim Ugurlu Adrian Redder Erdal Kayacan Department of Electrical and Computer Engineering Aarhus University Aarhus Denmark Department of Automatic Control Paderborn University Paderborn Germany

ISBN: (数字)9798331508272

ISBN: (纸本)9798331508289

The inherent black-box nature of deep reinforcement learning (DRL) poses challenges in ensuring safety constraints. This paper, therefore, introduces a DRL reward design inspired by Lyapunov stability theory for safe robot navigation in the presence of obstacles. The navigation problem is formulated as a state-space control problem with close obstacle locations integrated into the state representation. To ensure safe obstacle avoidance, we introduce a novel reward-shaping strategy utilizing a Lyapunov function that discourages fast movement toward obstacles. Our numerical experiments demonstrate the effectiveness of the reward design strategy compared to baselines in achieving consistent superior learning with higher mission completion rates while maintaining speeds closer to a desired target speed. In addition, we show that our reward design enables a generally smaller choice for the discount factor for value-function-based DRL algorithms, which can lead to faster convergence. This is possible since the reward design merely penalizes the one-step decay of the Lyapunov function. Furthermore, policy training simulations employ an early episode termination method to constrain exploration and add more valuable samples to the DRL training replay memory. Finally, real-world experiments with a quadrotor validate the ability of our method to safely navigate around varying densities of obstacles. The proposed method consistently takes cautious maneuvers near obstacles by slowing down, achieving greater obstacle clearance compared to baseline, although with an increase in mission completion time.

关键词： Training Navigation Deep reinforcement learning Safety Planning Collision avoidance Robots Lyapunov methods Quadrotors Convergence

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Designing Quantum-Resilient Blockchain Frameworks: Enhancing Transactional Security with Quantum Algorithms in Decentralized Ledgers

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International Journal of Advanced Computer Science and Applications 2025年第4期16卷 618-628页

作者： Kale, Meenal R. Baker El-Ebiary, Yousef A. Sathiya, L. Burugari, Vijay Kumar Yulduz, Erkiniy Muniyandy, Elangovan Alanazi, Rakan Department of Humanities Yeshwantrao Chavan College of Engineering Hingna Nagpur India Faculty of Informatics and Computing UniSZA University Malaysia Department of CSE Panimalar Engineering College Chennai India Dept of Computer Science and Engineering Koneru Lakshmaiah Education Foundation Vaddeswaram Andhra Pradesh Guntur India Automatic Control and Computer Engineering Department Turin Polytechnic University in Tashkent Tashkent Uzbekistan Department of Biosciences-Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Chennai India Applied Science Research Center Applied Science Private University Amman Jordan Department of Information Technology Faculty of Computing and Information Technology Northern Border University Rafha Saudi Arabia

Quantum computing is progressing at a fast rate and there is a real threat that classical cryptographic methods can be compromised and therefore impact the security of blockchain networks. All of the ways used to secure blockchain like Rivest–Shamir–Adleman (RSA), Elliptic Curve Cryptography (ECC) and Secure Hash Algorithm 256-bit (SHA256) are the characteristic of the traditional cryptographic techniques vulnerable to attack by quantum algorithms: Shor’s and Grover’s algorithms: can efficiently break asymmetric encryption and speed up brute force attacks. Because of this vulnerability, there exists a need to develop an advance quantum resilient blockchain framework to protect the decentralized ledgers from the future threats of the quantum. This research proposes Post-Quantum Cryptography (PQC), Quantum Key Distribution (QKD) and Quantum Random Number Generation (QRNG) as a formidable architectural integration, to fortify security of blockchain. Classical encryption is replaced with PQC, QKD with secure key exchange by detecting eavesdropping, and QRNG with improving cryptographic randomness to remove the predictable key vulnerability. Only with a small loss of transaction efficiency, we increase transaction encryption accuracy, key exchange security, and resistance to quantum attacks. In this quantum enhanced blockchain design, the idea is to preserve the decentralization, transparency and security and at the same time overcome the future quantum threat. By going through rigorous analysis and comparative evaluation, we demonstrate that the approach saves blockchain networks from the emerging quantum risks to make sure that the decentralized finance, smart contracts and cross chain transactions. © (2025), (Science and Information Organization). All rights reserved.

关键词： Quantum cryptography

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Multiagent Consensus over Time-Invariant and Time-Varying Signed Digraphs via Eventual Positivity

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IEEE Transactions on automatic control 2023年第9期68卷 5429-5444页

作者： Fontan, Angela Wang, Lingfei Hong, Yiguang Shi, Guodong Altafini, Claudio Linköping University Division of Automatic Control Department of Electrical Engineering LinköpingSE-58183 Sweden KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-10044 Sweden Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Tongji University Department of Control Science and Engineering Shanghai201804 China University of Sydney Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering SydneyNSW2008 Australia

Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron-Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus. © 1963-2012 IEEE.

关键词： Lyapunov functions

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Secure transmission of medical image using a wavelet interval type-2 TSK fuzzy brain-imitated neural network

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Soft Computing 2025年第4期29卷 2311-2329页

作者： Pham, Duc-Hung Huynh, Tuan-Tu Lin, Chih-Min Giap, Van Nam Vu, Van-Phong Department of Electrical Engineering Yuan Ze University No. 135 Yuandong Road Zhongli 320 Taoyuan Taiwan Faculty of Electrical and Electronic Engineering Hung Yen University of Technology and Education Hai Duong160000 Viet Nam Faculty of Mechatronics and Electronics Lac Hong University No. 10 Huynh Van Nghe Road810000 Bien Hoa Dong Nai Viet Nam School of Electrical & Electronic Engineering Hanoi University of Science and Technology Hai Ba Trung Hanoi100000 Viet Nam Department of Automatic Control Ho Chi Minh City University of Technology and Education Ho Chi Minh70000 Viet Nam

The purpose of this research is to develop a new design of a wavelet interval type-2 takagi–Sugeno-Kang fuzzy brain-imitated neural network (WIT2TFBINN), which is a combination of the mathematical models of a Takagi–Sugeno-Kang (TSK) fuzzy system based on wavelet interval type-2 function (WIT2) and a wavelet interval type-2 fuzzy brain imitated neural network (FBINN). The proposed WIT2TFBINN is used for synchronization control of a 4D Lorentz chaotic system and has the benefits of wavelet interval type-2 membership function, TSK fuzzy inference system, decision making, and emotional activity. To provide fast training, the proposed method's parameter update laws are derived using the gradient descent method. The proposed WIT2TFBINN synchronization technique is then applied to the transmission of medical images in a secure manner. As a cipher image, a medical image is encrypted into a chaotic trajectory. After transmission, the image can be decrypted using chaotic trajectory synchronization on the received signal. The simulation results show that the proposed neural network and the encryption/decryption method are powerful and effective. The results of the static test analysis (histogram, attack analysis, image with noise, image with cropping) show that the encryption/decryption method provides high security. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2025.

关键词： Membership functions

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On the Stabilization of a Class of OSL Conformable Fractional Order Nonlinear Systems 11

On the Stabilization of a Class of OSL Conformable Fractiona...

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11th IEEE International Conference on Systems and control, ICSC 2023

作者： Alsharif, Ali Omar M. Jmal, A. Naifar, O. Ahmed, Ausama H. Gassara, Hamdi Makhlouf, A. Ben Electrical Engineering Department BP 1173 Sfax3038 Tunisia Elmergib University Faculty of Engineering Department of Electrical & Computer Engineering Alkhums Libya National School of Engineering of Sfax University of Sfax Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering Tunisia Faculty of Sciences of Sfax Department of Mathematics Route Soukra BP 1171 Sfax3000 Tunisia

ISBN: (纸本)9798350304886

One-Sided Lipschitz (OSL) fractional order modeling is a top choice for solving the stabilization issue of nonlinear systems. Despite numerous studies on the subject, there remains a gap in understanding when it comes to fractional calculus. By providing a stabilizing strategy for a certain type of OSL fractional order nonlinear systems, this study fills the gap. A numerical example demonstrating the correctness of the suggested approach and demonstrating its efficacy for the tested class. © 2023 IEEE.

关键词： Stabilization

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A Unifying Complexity-Certification Framework for Branch-and-Bound Algorithms for Mixed-Integer Linear and Quadratic Programming

arXiv

引用

arXiv 2025年

作者： Shoja, Shamisa Arnström, Daniel Axehill, Daniel Division of Automatic Control Department of Electrical Engineering Linköping University Sweden Division of Systems and Control Department of Information Technology Uppsala University Sweden

In model predictive control (MPC) for hybrid systems, solving optimization problems efficiently and with guarantees on worst-case computational complexity is critical to satisfy the real-time constraints in these applications. These optimization problems often take the form of mixed-integer linear programs (MILPs) or mixed-integer quadratic programs (MIQPs) that depend on system parameters. A common approach for solving such problems is the branch-and-bound (B&B) method. This paper extends existing complexity certification methods by presenting a unified complexity-certification framework for B&B-based MILP and MIQP solvers, specifically for the family of multi-parametric MILP and MIQP problems that arise in, e.g., hybrid MPC applications. The framework provides guarantees on worst-case computational measures, including the maximum number of iterations or relaxations B&B algorithms require to reach optimality. It systematically accounts for different branching and node selection strategies, as well as heuristics integrated into B&B, ensuring a comprehensive certification framework. By offering theoretical guarantees and practical insights for solver customization, the proposed framework enhances the reliability of B&B for real-time application. The usefulness of the proposed framework is demonstrated through numerical experiments on both random MILPs and MIQPs, as well as on MIQPs arising from a hybrid MPC problem. © 2025, CC BY.

关键词： Branch and bound method

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Aspects of Using Rotating Modes of Hydraulic Units in Pump Complexes 5

Aspects of Using Rotating Modes of Hydraulic Units in Pump C...

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5th IEEE International Conference on Modern electrical and Energy System, MEES 2023

作者： Korenkova, Tetyana Kovalchuk, Viktoriya Qawaqzeh, Mohamed Zaidan Kremenchuk Mykhailo Ostrohradskyi National University Department of Systems of Automatic Control and Electric Drive Kremenchuk39600 Ukraine Al-Balqa' Applied University Department of Electrical and Electronics Engineering Al-Salt66110 Jordan

ISBN: (纸本)9798350359787

It is shown that pumping complexes of industrial and communal water supply are complex energy-intensive objects with low controllability in both normal and emergency modes of operation. It is proposed to use reversible modes of operation of turbomechanisms to increase the controllability of pump complex equipment. The structure of the system of active regulation of pump complex parameters with various options for including the adjustable hydroturbine unit has been developed. It is shown that active devices can perform both regulatory and protective functions. A device for controlling and protecting the pumping unit against water hammer based on an active water flow energy quencher is proposed. The algorithm of operation of the software control device of the electrohydraulic equipment protection system against excess pressure in the hydraulic network has been developed. © 2023 IEEE.

关键词： controllability

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Low-cost Arduino-based Hardware-In-the-Loop Platform for Simulation and control of Dynamic Systems

IAENG International Journal of Computer Science

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IAENG International Journal of Computer Science 2023年第4期50卷

作者： Martinez-Armero, Yineth Lopez-Blandon, Sebastian Giraldo, Eduardo Electrical Engineering at Universidad Tecnológica de Pereira Research Group in Automatic Control Pereira Colombia Department of Electrical Engineering Universidad Tecnológica de Pereira Research group in Automatic Control Pereira Colombia

This work proposes a low-cost Arduino-based methodology for simulation and control of dynamic systems. The proposed methodology allows the real-time Hardware-In-the-Loop simulation of multivariable systems and the evaluation of multivariable control techniques. In order to obtain a HIL simulation, two Arduinos are interconnected. One Arduino is used to simulate the plant, and the other is used to implement the controller. In order to evaluate the performance of the proposed methodology, three multivariable dynamic systems are simulated in real-time: an RLC system, a twin rotor MIMO system, and a microgrid. A state feedback controller by using a state observer is used to implement the controller over each dynamic system. An additional I+PD control structure is also used to compare the state feedback control method. An additional software is designed to display the data in a graphical interface in real-time and to analyze and evaluate the performance of each proposed plant and controller. © 2023, International Association of Engineers. All rights reserved.

关键词： Hardware-in-the-loop simulation

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Parallel Domain-Decomposition Algorithms for Complexity Certification of Branch-and-Bound Algorithms for Mixed-Integer Linear and Quadratic Programming

arXiv

引用

arXiv 2025年

When implementing model predictive control (MPC) for hybrid systems with a linear or a quadratic performance measure, a mixed-integer linear program (MILP) or a mixed-integer quadratic program (MIQP) needs to be solved, respectively, at each sampling instant. Recent work has introduced the possibility to certify the computational complexity of branch-and-bound (B&B) algorithms when solving MILP and MIQP problems formulated as multi-parametric MILPs (mp-MILPs) and mp-MIQPs. Such a framework allows for computing the worst-case computational complexity of standard B&B-based MILP and MIQP solvers, quantified by metrics such as the total number of LP/QP iterations and B&B nodes. These results are highly relevant for real-time hybrid MPC applications. In this paper, we extend this framework by developing parallel, domain-decomposition versions of the previously proposed algorithm, allowing it to scale to larger problem sizes and enable the use of high-performance computing (HPC) resources. Furthermore, to reduce peak memory consumption, we introduce two novel modifications to the existing (serial) complexity certification framework, integrating them into the proposed parallel algorithms. Numerical experiments show that the parallel algorithms significantly reduce computation time while maintaining the correctness of the original framework. © 2025, CC BY.

关键词： Integer linear programming

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