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2023 International Symposium on electrical and Electronics engineering, ISEE 2023

作者： Tan, Luy Nguyen Nguyen Le, Dung Nguyen Phuc, Quoc Phan Phan Huynh, Lam Cong, Thanh Pham Department of Automatic Control Viet Nam Vietnam Aviation Academy Faculty of Electrical-Electronics Engineering Viet Nam

ISBN: (纸本)9798350315486

Optimal control has been investigated for Euler-Lagrange (EL) systems. However, the existing methods have not yet considered the input constraints due to dead zones and vulnerabilities caused by malicious attackers. In this paper, we propose a novel control algorithm to gain the bounded L2-gain tracking performance with deadzone disturbance rejection and to reduce not only the effects of sensor and actuator attacks but also the burden of communication load. Firstly, an event-triggered (ET) observer is studied to conjecture the unmeasurable states and compensate for the adverse attack effects. Secondly, ET augmented control is proposed to transform Euler-Lagrange dynamics into tracking error dynamics. Thirdly, an ET H∞ optimal control law is approximated via adaptive dynamic programming (ADP). Finally, the simulation of mobile nonholonomic robots illustrates the effectiveness of the proposed method. © 2023 IEEE.

关键词： Disturbance rejection

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A Multi-party Asymmetric Self-play Algorithm and Its Application in Multi-USV Adversarial Game Simulations 24

A Multi-party Asymmetric Self-play Algorithm and Its Applica...

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2024 International Conference on Machine Learning, Pattern Recognition and Automation engineering, MLPRAE 2024

作者： Rao, Jinjun Wang, Cong Liu, Mei Lei, Jingtao Giernacki, Wojciech Department of Precision Mechanical Engineering School of Mechatronic Engineering and Automation Shanghai University China Institute of Robotics and Machine Intelligence Faculty of Automatic Control Robotics and Electrical Engineering Poznan University of Technology Poland

ISBN: (纸本)9798400709876

Aiming at the problem that the combination of self-play (SP) and deep reinforcement learning (DRL) only involves two-party games and the policy learning of each party is limited, a multi-party asymmetric self-play algorithm (MASP) is proposed. Firstly, by improving the ELO scoring system, the ELO scoring takes into account each party of the unmanned surface vehicle (USV) clusters, and the imbalance of the number of USV clusters, so that the frequency of exchanging strategies of all USV clusters in the confrontation process is equal. Secondly, it ensures that USV clusters have a balanced combat ability, and at the same time ensures that the combat ability of all parties is strong and weak and the gap is not too wide. In addition, the parameters are dynamically set to reduce the update frequency of the policy of the stronger party. The experimental results show that the MASP can make the USV clusters learn more effective policies, have a shorter game time, and obtain higher rewards and ELO scores in the simple 2v2 adversarial game scenario and the three-party game scenario of a warship escort mission. © 2024 ACM.

关键词： Deep reinforcement learning

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Deep Reinforcement Learning Method for control of Mixed Autonomy Traffic Systems

Deep Reinforcement Learning Method for Control of Mixed Auto...

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2024 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2024

作者： Liu, Xingyu Apriaskar, Esa Mihaylova, Lyudmila University of Sheffield Department of Automatic Control and Systems Engineering SheffieldS1 3JD United Kingdom Universitas Negeri Semarang Faculty of Engineering Department of Electrical Engineering Semarang50229 Indonesia

ISBN: (纸本)9798350368031

The introduction of autonomous vehicles (AVs) presents a novel approach to regulating and optimising traffic flow through the automated control of AVs. In this context, the AV is defined as the actuator and an optimal control policy is desired to make control decisions. Deep Reinforcement Learning (DRL) is a novel method which aims to maximize the cumulative rewards given by the predefined reward function by making sequential decisions in a stochastic environment. In light of the above, we propose a DRL-based vehicular control method to train an optimal policy for the control of AV in a model-free fashion, and consequently improve the traffic efficiency with the obtained control policy. A single-lane circular road environment with both AV and human-driven vehicles is selected to serve as the mixed autonomy traffic system in the Simulation of Urban MObility (SUMO) [1] traffic simulator, and the Proximal Policy Optimization (PPO) algorithm is applied for the policy improvement. Simulation results demonstrate that our strategy is effective in mitigating the unstable stop-and-go waves, increasing 67.7% of the average driving speed and reducing 19.3% of the average energy consumption in a closed-ring road environment. © 2024 IEEE.

关键词： Deep reinforcement learning

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Initial conditions for a transient steady-state induction machine simulation based on time-harmonic and multi-harmonic solutions

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Archives of electrical engineering 2025年第2期74卷 361-373页

作者： Garbiec, Tomasz Opole University of Technology Faculty of Electrical Engineering Automatic Control and Informatics ul. Prószkowska 76 Opole45-758 Poland

The paper presents the results of the author’s research on effectively determining the initial conditions for the time-stepping model of a high-speed inverter-driven induction machine. The classical time-harmonic and multi-harmonic models based on the multidimensional effective magnetic permeability were used and compared as a preconditioner for the time-stepping model to speed up the steady-state solution. The carried-out simulation experiment proved that using both approaches radically accelerates computations. Furthermore, it has been shown that the multi-harmonic model is much more effective for problems with strong harmonic effects. © 2025. The Author(s).

关键词： Turbogenerators

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Study of power and voltage maps of a tri-stable electromagnetic energy harvester connected to a step-up converter

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Archives of electrical engineering 2025年第2期74卷 409-424页

作者： Kulik, Marcin Górecki, Krzysztof Jagiela, Mariusz Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology ul. Prószkowska 76 Opole45-758 Poland

Due to the specific operation and complex structure of the energy harvesting system, comprising a tri-stable nonlinear vibration energy harvester and a step-up converter, its performance can hardly be represented by a family of curves. For this reason, this paper presents its performance maps determined experimentally. Various converter parameters and loading resistances are used to assess the influence of excitation acceleration on output voltage and power. This study reveals that the system achieves a maximum power of 30.25 mW and a maximum output voltage of 5.32 V at an excitation acceleration of 10 m/s2 under optimal conditions. The analysis identifies operating regions restricted by the converter parameters where the system attains a minimum applicable voltage between 1.8 and 3.3 V alongside the acceptable output power. This makes it appropriate for powering wireless measurement systems and MEMS devices. The results reveal the need to adjust the converter settings to real-world scenarios adaptively. © 2025. The Author(s).

关键词： Rectifying circuits

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Sliding Mode control For Underactuated Nonlinear Mechanical Systems 3

Sliding Mode Control For Underactuated Nonlinear Mechanical ...

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3rd International Conference on Advanced electrical engineering, ICAEE 2024

作者： Feddaoui, Anis Abdeldjalil, Djehaf Mohamed Bilal, Bouchelarm Youcef Islam, Djilani Kobibi Youcef, Djeriri Badji Mokhtar University Genie Electromechanique Laboratory Department of Electromechanical dept Annaba23000 Algeria Djillali Liabes University Faculty of Electrical Engineering Department of Automatic Control Sidi Bel-Abbes22000 Algeria Mustapha Stambouli University Faculty of Sciences and Technology Department of Electrical Engineering Mascara29000 Algeria Djillali Liabes University Faculty of Electrical Engineering Department of Electrical Engineering Sidi Bel-Abbes22000 Algeria

ISBN: (纸本)9798350349351

The Rotary Inverted Pendulum (RIP) serves as a quintessential benchmark in control theory, representing a challenging and unstable system of paramount importance. In this study, we focus on a Quanser platform to investigate the application and significance of sliding mode control in stabilizing the RIP. The importance of RIP lies in its portrayal of real-world control challenges encountered in industries ranging from manufacturing to robotics. Its inherent instability and underactuation make it an ideal testbed for advanced control strategies. Our research delves into the experimental application of sliding mode control, on the Quanser RIP platform. Through rigorous modeling, simulation, and practical implementation, we aim to demonstrate the effectiveness of this control strategy. This study contributes to the broader discourse on control systems and automation, showcasing the potential of sliding mode control in addressing complex and dynamic systems. The outcomes of our research not only advance the understanding of control theory but also have practical implications for industries where precise control and stabilization are critical. © 2024 IEEE.

关键词： Sliding mode control

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Machine Learning-Based Calibration Approaches for Single-Beam and Multiple-Beam Distance Sensors

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IEEE Sensors Journal 2024年第1期24卷 975-983页

作者： Syu, Jia-Hao Lin, Jerry Chun-Wei Biernacki, Piotr Ziebinski, Adam National Taiwan University Department of Computer Science and Information Engineering Taipei10617 Taiwan Silesian University of Technology Faculty of Automatic Control Electronics and Computer Science Department of Distributed Systems and Informatics Devices Gliwice44-100 Poland Silesian University of Technology Department of Distributed Systems and Informatic Devices Gliwice44-100 Poland

Sensors are the foundation to facilitate smart cities, smart grids, and smart transportation, and distance sensors are especially important for sensing the environment and gathering information. Researchers have developed various methods to calibrate distance sensors;however, they mainly focus on using external information for calibration, which is inefficient and computationally expensive. To alleviate the above problems, we propose machine learning (ML)-based calibration approaches for distance sensors. We develop two calibration mechanisms, where the naive mechanism directly predicts the true distance, while the residual mechanism predicts the residual for calibration. The conventional ML regression algorithms are then adopted to predict the true distance or calibration residual. Experimental results show that the designed residual calibration mechanism outperforms the naive mechanism by reducing the root mean square error (RMSE) by 92.2% and mean absolute error (MAE) by 93.3% in the fitting task. In prediction, the proposed 2-D-residual mechanism achieves an improvement of 78.6% and 65.7% compared to the state-of-the-art method. The experimental results show the effectiveness and generalization of the proposed ML-based calibration method, especially for the 2-D mechanism, which achieves the highest robustness in all fitting and prediction tasks. © 2001-2012 IEEE.

关键词： Calibration

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STUDYING THE INTERRELATIONS BETWEEN USALI PARAMETERS AND GOP THROUGH WAVELET COHERENCE ANALYSIS

STUDYING THE INTERRELATIONS BETWEEN USALI PARAMETERS AND GOP...

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38th ECMS International Conference on Modelling and Simulation, ECMS 2024

作者： Labanowski, Lukasz Frącz, Pawel Wotzka, Daria Dąbrowski, Ireneusz DeSilva & Mercure Hotels in Opole Poland Faculty of Economics University of Opole Poland Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Poland Collegium of Management and Finance Warsaw School of Economics Poland

The article focuses on analysing financial indicators according to the Uniform System of Accounts for the Lodging Industry (USALI) standard, examining metrics across seven selected hotel entities in Poland. It identifies Gross Operating Profit (GOP) as a crucial metric. Through wavelet coherence analysis, the research aims to reveal the temporal relationships and determine the impact of specific USALI components on the GOP within these hotels. Additionally, it seeks to identify whether there are common traits or notable differences among the analysed establishments. ©ECMS Daniel Grzonka, Natalia Rylko, Grazyna Suchacka, Vladimir Mityushev (Editors) 2024.

关键词： Profitability

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Decreasing control signal vibrations in the anti-noise model-free sliding mode control algorithm

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International Journal of Systems, control and Communications 2023年第4期14卷 341-356页

作者： Diab, Jomana Mahmoud Wasouf, Hasnaa Faculty of Biomedical Engineering Al Andalus University for Medical Sciences Al-Qadmous Tartous0963-043 Syria Al Baath University Homs0963-031 Syria Department of Automatic Control and Computers Engineering Faculty of Mechanical and Electrical Engineering Al Baath University Homs0963-031 Syria

Thanks to the model-free sliding mode control (MFSMC) algorithm, we were able to overcome errors resulting from the modelling process. When this algorithm was tested in a noise-prone environment, it was observed that the system was not able to track the desired path. In previous research, an anti-noise model-free sliding mode control (AMFSMC) algorithm was proposed. It improved the performance of MFSMC algorithm and made it noise-resistant. The control signal of that AMFSMC algorithm has a lot of chattering, which limits the use of the algorithm in practice. In this research, an improved anti-noise model-free sliding mode control (IAMFSMC) algorithm was proposed to solve the chattering problem. The control law of AMFSMC was modified using three techniques: boundary layer, quasi-sliding mode control, and saturation function. The IAMFSMC algorithm was applied to a second-order linear system. The system performance using the three techniques was compared to that when the AMFSMC algorithm was applied. Simulation results showed that using the saturation function gave good tracking response, despite the presence of noise, with chattering-free and smooth control signal. Copyright © 2023 Inderscience Enterprises Ltd.

关键词： Sliding mode control

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control System of an Autonomous Object Tracking Robot 17

Control System of an Autonomous Object Tracking Robot

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17th International Conference on engineering of Modern Electric Systems, EMES 2023

作者： Barabas, Tiberiu Silaghi, Helga Spoiala, Dragos Gamcova, Maria University of Oradea Control Systems Engineering and Management Department Oradea Romania Technical University of Kosice Faculty of Electrical Engineering and Informatics Kosice Slovakia

ISBN: (纸本)9798350310634

This paper presents the control system of a mobile robot, capable of detecting, tracking and following an object of a certain color. The mobile robot was created for educational purposes, in the CIM laboratory of the University of Oradea. It is based on a crawler robot, controlled with a Raspberry Pi development system. This system controls the movements necessary for tracking the object: moving forward, backward, left turn or right turn. For detecting and locating the object, the robot is also equipped with a video camera connected to Raspberry Pi. The acquisition and processing of images in real time, provided by the camera, are performed with programming functions provided by the OpenCV (Open Source Computer Vision Library). These functions are implemented in a control program, written in Python language. In order to facilitate the tracking of the images obtained and processed during the movements, the robot has also been provided with a graphic display connected to the Raspberry Pi board. This paper also presents the implementation of a numerical control algorithm used for tracking the objects. © 2023 IEEE.

关键词： Python

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