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International Carpathian control Conference (ICCC)

作者： Krisztián Szilveszter Gál Dénes Nimród Kutasi Automation Engineer Thermo Control Srl. Sfantu Gheorghe Romania Department of Electrical Engineering Sapientia Hungarian University of Transylvania Tirgu Mures Romania

The paper proposes a case study on modeling, model validation, model-based temperature control of a building to demonstrate the effectiveness of a modern control technique versus a classical control used in a residential building. Energy efficiency is a key topic today, thus it is important to study the methods of temperature control in buildings to achieve the desired control with minimum energy usage. The paper presents the heat transport modeling using the R-C model technique, the model validation (parameter tuning) based on long-term measurements, classical control and model-based predictive (MPC) distributed temperature control in the rooms of the building and the comparison of the energy consumption for each case. Moreover, there are two MPC algorithms discussed, with and without external temperature forecast as disturbance variable. The simulation results and real-time measurements are presented.

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Leader-Following Entrapping control of AUVs Using Bearing Measurements in Local Coordinate Frames

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Guidance, Navigation and control 2022年第4期2卷 85-121页

作者： Yingbo Fu Ziwen Yang Shanying Zhu Cailian Chen Department of Automation Shanghai Jiao Tong UniversityShanghai 200240P.R.China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240P.R.China Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240P.R.China

In this paper,the entrapping control problem of discrete-time AUVs with local coordinate frames is *** achieve entrapment in arbitrarily shaped orbits and formations,we design a bearingbased leader-following framework fully in the discrete-time domain with four parts:the orientation estimation unit,estimator unit,controller unit and parameters tuning *** bearing measurements and communication information,the orientation estimation unit can estimate orientations of local coordinate frames infinite time,and the estimator unit can achieve local *** on estimation,the controller unit can drive each AUV to track the desired orbit or formation with an arbitrary *** present su±cient conditions under which stability of the overall system is proved using the theorem offinite-time stability and LaSalle's theorem for the discrete-time ***,the parameters tuning unit can calculate optimal parameters to improve overall ***,we extend our schemes to nonholonomic AUVs with unicycle ***,simulation results demonstrate the effectiveness of the proposed scheme.

关键词： Entrapping control discrete-time AUVs bearing measurements local coordinate frames

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A Modified Data-driven Distributed Information-Weighted Kalman Consensus Filtering with Switching Topology and Packet Loss

A Modified Data-driven Distributed Information-Weighted Kalm...

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Data Driven control and Learning Systems (DDCLS)

作者： Honghai Ji Yuxin Wu Shida Liu Li Wang Lingling Fan Shuangshuang Xiong Department of Electrical and Control Engineering North China University of Technology Beijing China School of Automation Beijing Information Science and Technology University Beijing China

This paper is concerned with distributed state estimation problem over sensor networks with uncertainty in communication networks. Because of the instability of communication in real systems, it is meaningful to consider packet loss and topology change. Thus, based on Kalman consensus filtering algorithm and Data-driven filtering technique, we proposed a modified Data-driven Distributed information-weighted Kalman Consensus Filter to estimate the state. Finally, the effectiveness of the designed algorithm is validated by a simulation example.

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Smith predictor-based nonlinear internal model control for water temperature regulation of combi-boiler systems

Smith predictor-based nonlinear internal model control for w...

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2023 Jiangsu Annual Conference on automation, JACA 2023

作者： Liu, Ruihao Cao, Mengying Li, Shihua Yang, Jun The Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University Nanjing210096 China BDR THERMEA HVAC Co. Ltd Jiaxing314000 China The Department of Aeronautical and Automotive Engineering Loughborough University LoughboroughLE11 3TU United Kingdom

ISBN: (纸本)9781839539848

This paper proposes a reliable and practical water temperature control scheme for combi-boiler systems working in domestic hot water mode. In practice, the water temperature regulation process of a combi-boiler is strongly affected by the nonlinearities of actuators, the variation of system parameters caused by the fluctuation of water flow rate, external disturbances, and large, variable time delays. Although there are some results that can address one or two of these factors, a comprehensive and concise control scheme with consideration of all these factors is lacking. This paper aims to change this situation. First, based on the modeling and identification of real combi-boiler systems, the feedback linearization method is adopted in the controller synthesis to solve the effects of actuator nonlinearity. Next, a Smith predictor-based control structure is designed to eliminate system time delays. Finally, based on the internal model control (IMC) theory, an IMC-based parameter tuning method is proposed for the parameter selection of feedback controllers, in which the model parameters used in the controller synthesis are calculated in real-Time based on the system identification results. As a result, the influence of model uncertainties and external disturbances can be effectively attenuated, and only one parameter is required to be tuned for the desired performance. The feasibility and effectiveness of the proposed control scheme are verified by simulations. © The Institution of engineering & Technology 2023.

关键词： Water temperature

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Fuzzy-based filtering of autonomous vehicle system via memory-based event-triggered mechanism

Fuzzy-based filtering of autonomous vehicle system via memor...

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Fully Actuated System Theory and Applications (CFASTA), Conference on

作者： Yaxin Gu Weiyi Zhao Xinxin Liu Xiaojie Su Jianxing Liu Department of Automation Nanjing University of Information Science and Technology Nanjing P. R. China Department of Automation Chongqing University Chongqing P. R. China Department of Control Science and Engineering Harbin Institute of Technology Harbin P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

The fuzzy reduced-based filtering problem within autonomous vehicles featuring dynamic positioning systems is employed via an enhanced event-triggered scheme. A reduced-based filtering approach is proposed capable of approximating the original high-order model with a given system performance level. The stability analysis is solved by employing the memorybased event-triggered scheme. Thus the usage of network transmission computational resources is saved effectively.

关键词： Filtering Computational modeling System performance Bandwidth Stability analysis Vehicle dynamics Autonomous vehicles

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ColorDynamic: Generalizable, Scalable, Real-time, End-to-end Local Planner for Unstructured and Dynamic Environments

arXiv

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arXiv 2025年

作者： Xin, Jinghao Liang, Zhichao Zhang, Zihuan Wang, Peng Li, Ning Department of Automation Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

Deep Reinforcement Learning (DRL) has demonstrated potential in addressing robotic local planning problems, yet its efficacy remains constrained in highly unstructured and dynamic environments. To address these challenges, this study proposes the ColorDynamic framework. First, an end-to-end DRL formulation is established, which maps raw sensor data directly to control commands, thereby ensuring compatibility with unstructured environments. Under this formulation, a novel network, Transqer, is introduced. The Transqer enables online DRL learning from temporal transitions, substantially enhancing decision-making in dynamic scenarios. To facilitate scalable training of Transqer with diverse data, an efficient simulation platform E-Sparrow, along with a data augmentation technique leveraging symmetric invariance, are developed. Comparative evaluations against state-of-the-art methods, alongside assessments of generalizability, scalability, and real-time performance, were conducted to validate the effectiveness of ColorDynamic. Results indicate that our approach achieves a success rate exceeding 90% while exhibiting real-time capacity (1.2–1.3 ms per planning). Additionally, ablation studies were performed to corroborate the contributions of individual components. Building on this, the OkayPlan-ColorDynamic (OPCD) navigation system is presented, with simulated and real-world experiments demonstrating its superiority and applicability in complex scenarios. The codebase and experimental demonstrations have been open-sourced on our website1 to facilitate reproducibility and further research. Copyright © 2025, The Authors. All rights reserved.

关键词： Decision making

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Relative-Posture-Fixed Model Predictive Human-Following control with Visibility Constraints in Obstacle Environments 8

Relative-Posture-Fixed Model Predictive Human-Following Cont...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Zhang, Yikun Huang, Jian Yu, Jinqi Zhu, Yaonan Hasegawa, Yasuhisa School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory for Image Processing and Intelligent Control Wuhan430074 China Shenzhen Huazhong University of Science and Technology Research Institute ShenZhen518060 China Nagoya University Department of Micronano Mechanical Science and Engineering Nagoya464-8603 Japan

ISBN: (纸本)9798350300178

The relative-posture-fixed human following is critical for the human-robot interaction and cooperation in daily scenes such as domestic service and healthcare. However, few of previous researches have discussed the difficulties faced by mobile robots in the real world, including the limitation of sensing range and hindrance from obstacles. For practicality, in this paper we investigate the relative-posture-fixed following control with collision avoidance and visibility constraints. The control task is formulated as a receding-horizon optimization problem and solved under the Nonlinear Model Predictive control (NMPC) framework, while an Extended Kalman Filter (EKF) based human trajectory predict algorithm is integrated into the robot controller. The effectiveness of the proposed algorithm is verified in a simulation, and the results demonstrate a promising performance of our controller for the human-following task in complicated environments. © 2023 IEEE.

关键词： Human robot interaction

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Reduced Network Cumulative Constraint Violation for Distributed Bandit Convex Optimization under Slater’s Condition

arXiv

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arXiv 2024年

作者： Zhang, Kunpeng Yi, Xinlei Ding, Jinliang Cao, Ming Johansson, Karl H. Yang, Tao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201800 China Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen GroningenAG 9747 Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures Stockholm10044 Sweden

This paper studies the distributed bandit convex optimization problem with time-varying inequality constraints, where the goal is to minimize network regret and cumulative constraint violation. To calculate network cumulative constraint violation, existing distributed bandit online algorithms solving this problem directly use the clipped constraint function to replace its original constraint function. However, the use of the clipping operation renders Slater’s condition (i.e, there exists a point that strictly satisfies the inequality constraints at all iterations) ineffective to achieve reduced network cumulative constraint violation. To tackle this challenge, we propose a new distributed bandit online primal–dual algorithm. If local loss functions are convex, we show that the proposed algorithm establishes an O(T max{c,1−c})network regret bound and an O(T 1−c/2) network cumulative constraint violation bound, where T is the total number of iterations and c ∈ (0, 1) is a user-defined trade-off parameter. When Slater’s condition holds, the network cumulative constraint violation bound is reduced to O(T 1−c). In addition, if local loss functions are strongly convex, for the case where strongly convex parameters are unknown, the network regret bound is reduced to O(T1−c), and the network cumulative constraint violation bound is O(T1−c/2) and O(T1−c) without and with Slater’s condition, respectively. For the case where strongly convex parameters are known, the network regret bound is further reduced to O)(log(T)), and the network cumulative constraint violation bound is reduced to O(log(T)T) and O(log(T)) without and with Slater’s condition, respectively. To the best of our knowledge, this paper is among the first to establish reduced (network) cumulative constraint violation bounds for (distributed) bandit convex optimization with time-varying constraints under Slater’s condition. Finally, a numerical example is provided to verify the theoretical results. Copyright © 2

关键词： Convex optimization

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A Survey Research on the Fiber Optic Demand in the Philippines Using CART Analysis with Predictive ANN Model Creation

A Survey Research on the Fiber Optic Demand in the Philippin...

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Digital Applications, Transformation & Economy (ICDATE), International Conference on

作者： Chrisjonpane F. Lazaga Gerhard P. Tan Marife A. Rosales Master of Science in Electronics Engineering with Specialization in Artificial Intelligence and Automation Graduate School Polytechnic University of the Philippines Manila Philippines Department of Electronics Engineering Graduate School Polytechnic University of the Philippines Manila Philippines De La Salle University Manila Philippines

This study provides help to the department of Information and Communication Technology with statistical data and analysis on the ICT’s SDG plans that are ramping up in the Philippines. The researchers use special-purpose surveys to produce an Internal-External Matrix in determining DICT’s strategy in terms of strengths, weakness, opportunities, and threats in an environment where fiber optic connectivity is available. CART and ANN models are used for analyzing and predicting the individual’s behaviors in taking fiber optic internet as their selected internet mode. The IE Matrix showed that the current strategies benefit and produce results, but not enough to make their organization known to the respondents. The CART and ANN models both resulted in approximately 86% of prediction accuracy aligned that the CART model’s top 3 feature importance results are; Certification Platform, Internet in Public Sector, and Professional Status, while the ANN model showed similar on CART results having the latter; Age, Incentive Motivation, and Salary of an individual are deemed integral in the created predicting model. The researcher hopes that this study will provide insight and solutions in improving the strategy, plans and market penetration in the future where fiber optic internet is widely available in the Philippines.

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Generating Synthetic Values on Automatic Weather Station Dataset using GAIN 8

Generating Synthetic Values on Automatic Weather Station Dat...

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8th International Conference on Instrumentation, control, and automation, ICA 2023

作者： Santoso, Bayu Ryan, Muhammad Mukhlish, Faqihza Kurniadi, Deddy Institut Teknologi Bandung Master Program in Instrumentation and Control Bandung Indonesia Badan Meteorologi Klimatologi Department of Instrumentation and Calibration Dan Geofisika Medan Indonesia Badan Meteorologi Klimatologi Dan Geofisika Center of Aviation Meteorology Jakarta Indonesia Faculty of Industrial Technology Institut Teknologi Bandung Engineering Physics Research Group Bandung Indonesia Faculty of Industrial Technology Institut Teknologi Bandung Instrumentation and Control Research Group Bandung Indonesia

ISBN: (纸本)9798350301274

The Automatic Weather Station (AWS) is an automated instrument designed to gather meteorological parameters within a given environment. The dataset obtained from AWS often contains missing values due to various factors such as sensor malfunction or transmission issues. Nonetheless, the data produced by AWS plays a vital role in weather analysis and prediction. In this study, the authors employ the Generative Adversarial Imputation Network algorithm to generate synthetic values for the missing data in the AWS dataset. The dataset is divided into four schemes, each exhibiting different distributions of missing values at 5, 25, 50, and 80 gaps, respectively. The synthetic values generated by the algorithm are subsequently compared to the ground truth values using the Root Mean Square Error (RMSE) and Mean Absolute Error (MAE) metrics. The findings demonstrate that for the air pressure parameter, both the 5 gaps and 25 gaps models exhibit RMSE and MAE values below 2 hPa. Similarly, the models for the air temperature parameter demonstrate RMSE and MAE values below 2°C. As for the relative humidity parameter, the models achieve RMSE and MAE values below 15%. Therefore, both the 5 gaps and 25 gaps models satisfy the error threshold established by the Badan Meteorologi Klimatologi, dan Geofisika for AWS data quality control. © 2023 IEEE.

关键词： Quality control

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