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Implementation of a Robust Electric Brake Actuator Design Based on H-infinity control Theory

Periodica Polytechnica Transportation engineering 2019年第3期47卷 178-185页

作者： Péter, Gábor Max, György Kiss, Bálint Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics P.O.B. 91 BudapestH-1521 Hungary

This paper deals with the robust control system design and implementation of a brake actuator for a smart car. To deliver robust performance, an H∞ controller had been chosen for the task. This allows excellent disturbance rejection while requiring low computational needs. In order to realize the controller a nominal model of the system has been identified, then, the parameter uncertainties were taken into account to find the stabilizing controller. The brake system consists of a low level H∞ controller sustaining robustness, a mid-level serial compensator for effective setpoint tracking and a high level supervisory control logic to deliver a reliable system. The implementation was tested and verified on a test bench using rapid prototyping tools and HIL methods. © 2019 Budapest University of Technology and Economics. All rights reserved.

关键词： Robust control

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Distributed Constrained Online Nonconvex Optimization with Compressed Communication

arXiv

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arXiv 2025年

作者： Zhang, Kunpeng Xu, Lei Yi, Xinlei Cao, Ming Johansson, Karl H. Chai, Tianyou Yang, Tao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Mechanical Engineering University of Victoria VictoriaBCV8W 2Y2 Canada Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai201210 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 considers distributed online nonconvex optimization with time-varying inequality constraints over a network of agents. For a time-varying graph, we propose a distributed online primal–dual algorithm with compressed communication to efficiently utilize communication resources. We show that the proposed algorithm establishes an O(T max{1−θ1,θ1}) network regret bound and an O(T 1−θ1/2) network cumulative constraint violation bound, where T is the number of iterations and θ1 ∈ (0, 1) is a user-defined trade-off parameter. When Slater’s condition holds (i.e, there is a point that strictly satisfies the inequality constraints at all iterations), the network cumulative constraint violation bound is reduced to O(T 1−θ1). These bounds are comparable to the state-of-the-art results established by existing distributed online algorithms with perfect communication for distributed online convex optimization with (time-varying) inequality constraints. Finally, a simulation example is presented to validate the theoretical results. Copyright © 2025, The Authors. All rights reserved.

关键词： Convex optimization

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Integrating backstepping control of outdoor quadrotor UAVs

Periodica polytechnica Electrical engineering and computer s...

引用

Periodica polytechnica electrical engineering and computer science 2019年第2期63卷 122-132页

作者： Bodó, Zsófia Lantos, Béla Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Magyar Tudósok krt. 2 BudapestH-1117 Hungary

In this paper an improved approach is presented for integrating backstepping control of outdoor quadrotor UAVs. The controller uses the approximated nonlinear dynamic model, while for simulation or test purposes the quadrotor can be modeled either with the precise or the simplified model. A hierarchical integrating backstepping control algorithm was constructed that has the capability of handling every effect in the dynamic model and in the meantime successfully ignores the realistic measurement noises. The hierarchical control structure consists of position, attitude and rotor control, extended with path design with continuous acceleration and/or continuous jerk. The state estimation is based on sensor fusion. control parameters can be easily tuned. Adaptive laws are elaborated for mass and vertical disturbance force estimation. The tracking algorithm is able to follow the prescribed path with small error. The sensory system and the state estimation are prepared for outdoor applications. The embedded control system contains a HIL extension to test the control algorithms before the first flight under real time conditions. © 2019 Budapest University of Technology and Economics. All rights reserved.

关键词： State estimation

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Modelling and identification of magnetic levitation model CE 152/revised 7th

Modelling and identification of magnetic levitation model CE...

引用

7th Computer Science On-line Conference, CSOC 2018

作者： Honc, Daniel Department of Process Control Faculty of Electrical Engineering and Informatics University of Pardubice nám. Čs. legií 565 Pardubice532 10 Czech Republic

ISBN: (纸本)9783319911915

Paper describes procedure of first principle modelling and experimental identification of Magnetic Levitation Model CE 152. Author optimized and simplified dynamical model to a minimum what is needed to characterize given system for the simulation and control design purposes. Only few experiments are needed to estimate the unknown parameters. Model quality is verified in the feedback control loop where the real and simulated data are compared. © 2019, Springer International Publishing AG, part of Springer Nature.

关键词： Feedback control

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Mechanism of defect evolution in H^(+)and He^(+)implanted InP

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Chinese Physics B 2021年第8期30卷 70-74页

作者： Ren-Jie Liu Jia-Jie Lin N Daghbouj Jia-Liang Sun Tian-Gui You Peng Gao Nie-Feng Sun Min Liao Key Laboratory of Low Dimensional Materials and Application Technology of Ministry of Education School of Materials Science and EngineeringXiangtan UniversityXiangtan 411105China Hunan Provincial Key Laboratory of Thin Film Materials and Devices School of Materials Science and EngineeringXiangtan UniversityXiangtan 411105China State Key Laboratory of Functional Materials for Informatics Shanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghai 200050China China Nanhu Academy of Electronics and Information Technology Jiaxing 314000China Department of Control Engineering Faculty of Electrical EngineeringCzech Technical University in PragueTechnick´a 216000 Prague 6Czechia Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049China Science and Technology on Power Sources Laboratory Tianjin Institute of Power SourcesTianjin 300384China The 13th Research Institute CETCShijiazhuang 050051China

The defect evolution in InP with the 75 keV H^(+)and 115 keV He^(+)implantation at room temperature after subsequent annealing has been investigated in *** the same ion implantation fluence,the He^(+)implantation caused much broader damage distribution accompanied by much higher out-of-plane strain with respect to the H^(+)implanted *** annealing,the H^(+)implanted InP did not show any blistering or exfoliation on the surface even at the high fluence and the H2 molecules were stored in the heterogeneously oriented platelet ***,the He molecules were stored into the large bubbles which relaxed toward the free surface,creating blisters at the high fluence.

关键词： ion implantation defect evolution ion-slicing damaged band

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Hidden attractors in a new fractional-order discrete system: Chaos, complexity, entropy, and control

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Chinese Physics B 2020年第5期29卷 174-181页

作者： Adel Ouannas Amina Aicha Khennaoui Shaher Momani Viet-Thanh Pham Reyad El-Khazali Laboratory of Mathematics Informatics and Systems(LAMIS)University of Laarbi TebessiTebessa12002Algeria College of Humanities and Sciences Ajman UniversityAjmanUAE Laboratory of Dynamical Systems and Control University of Larbi Ben M’hidiOum El BouaghiAlgeria Department of Mathematics Faculty of ScienceUniversity of JordanAmman 11942Jordan Nonlinear Systems and Applications Faculty of Electrical and Electronics EngineeringTon Duc Thang UniversityHo Chi Minh CityVietnam ECCE Department Khalifa UniversityAbu-Dhabi 127788United Arab Emirates

This paper studies the dynamics of a new fractional-order discrete system based on the Caputo-like difference *** is the first study to explore a three-dimensional fractional-order discrete chaotic system without *** phase portrait,bifurcation diagrams,and largest Lyapunov exponents,it is shown that the proposed fractional-order discrete system exhibits a range of different dynamical ***,different tests are used to confirm the existence of chaos,such as 0-1 test and C0 *** addition,the quantification of the level of chaos in the new fractional-order discrete system is measured by the approximate entropy ***,based on the fractional linearization method,a one-dimensional controller to stabilize the new system is *** results are presented to validate the findings of the paper.

关键词： discrete chaos discrete fractional calculus hidden attractor

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DeepGrapes: Precise Detection of Grapes in Low-resolution Images

引用

IFAC-PapersOnLine 2018年第6期51卷 185-189页

作者： krabánek, Pavel Department of Process Control Faculty of Electrical Engineering and Informatics University of Pardubice Pardubice Czech Republic

We proposed a deep convolutional network aimed at detection of single grapes of white varieties in low-resolution colour images. With accuracy, precision and recall at 97.35 %, 96.53 %, and 98.27 %, the proposed grape detector is a state of the art solution. The detector is intended for practical applications that require high exactitude, such as in the process of yield estimation. © 2018

关键词： Deep learning Convolution Neural networks Convolutional networks Convolutional neural network Low resolution images Precision and recall precision viticulture Scene image State of the art Yield estimation

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Soft-Sensing Estimation of Optical Density for PHA Production Using Multilayer Perceptron Neural Network 4

Soft-Sensing Estimation of Optical Density for PHA Productio...

引用

4th International Conference on engineering Technology 2019, ICET 2019

作者： Mamat, Nor Hana Mohd Noor, Samsul Bahari Che Soh, Azura Saleena Taip, Farah Rashid, Ahmad Hazri Ab. Jufika Ahmad, Nur Liyana Yusof, Ishak Mohd Mohamad, Adida Zuraida Control System and Signal Processing Research Centre Department of Electrical and Electronic Engineering Faculty of Engineering Universiti Putra Malaysia UPM Serdang Selangor43400 Malaysia Food and Process Department Faculty of Engineering Universiti Putra Malaysia UPM Serdang Selangor43400 Malaysia Industrial Biotechnology Research Centre SIRIM Berhad Persiaran Dato' Menteri Seksyen 2 Selangor Shah Alam40700 Malaysia Faculty of Electrical and Automation Engineering Technology TATI University College Teluk Kalong Kemaman Terengganu24000 Malaysia

Biomass concentration is an important indicator of production rate in polyhydroxyalkanoates (PHA) fermentation process. In current practice, measurement of biomass concentration is done off-line by laboratory analysis that is unsuitable for online process monitoring and control. Soft-sensor is often used as an alternative that provides an estimate of hard to measure parameters from easy to measure process data. However, most of these studies use simulated data or data generated from mathematical model that was developed without full consideration of process and measurement uncertainty. In this study, a soft-sensor is developed from real production data for PHA fermentation in pilot-scale bioreactor with the appropriate data pre-processing techniques applied to process data that was obtained from this system. Multilayer perceptron (MLP) neural network is used to estimate biomass concentration using secondary process parameters such as dissolved oxygen (DO), temperature, pH and agitation speed as inputs. Different models are developed based on different batches of production data and various network architecture in order to study the appropriate integration of process data and network topology that gives the best model accuracy. Results indicate that the biomass soft-sensor developed using MLP-ANN provides a better estimate of biomass in comparison to radial basis function (RBF) neural network and support vector regression (SVR) methods. The developed soft-sensor can be further used in monitoring and control of production output. © 2020 Published under licence by IOP Publishing Ltd.

关键词： Multilayer neural networks

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The Use of Various Neurostimulators in Therapy of Neurodegenerative Disorders – A Survey

The Use of Various Neurostimulators in Therapy of Neurodegen...

引用

Progress in Applied electrical engineering (PAEE)

作者： Aleksandra Kawala-Sterniuk Agata Gajos Mateusz Pawłowski Witold Libionka Władysław Piotr Duch Bartosz Pańczyszak Monika Stomal-Słowińska Michał Podpora Waldemar Bauer Adam Sudoł Mariusz Pelc Jarosław Zygarlicki Piotr Sterniuk Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland Department of Neurosurgery "Vital Medic" Hospital Kluczbork Poland Department of Extrapyramidal Diseases Medical University of Łódź Łódź Poland Faculty of Health Sciences Wroclaw Medical University Wrocław Poland Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland Faculty of Natural Sciences and Technology University of Opole Opole Poland School Of Computing and Mathematical Sciences University of Greenwich London United Kindgom Center for Technology Transfer Opole University of Technology Opole Poland

ISBN: (数字)9781665455152

ISBN: (纸本)9781665455169

The use of neurostimulators in the treatment and therapy of neurodegenerative diseases is an alternative to pharmacological treatment. Unfortunately, most of these disorders are incurable, however, the use of neurostimulators can delay the onset of symptoms, the course of the disease and significantly improve the quality of life. Treatment with the use of neurostimulators also allows you to avoid side effects which usually accompany pharmacotherapy, or in order to replace it when prescribed medication is not working properly or not working at all. This paper focuses mainly on vagus nerve and deep brain stimulation.

关键词： electrical engineering Deep brain stimulation Medical treatment Delays Diseases

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Machine Learning and Computer Vision Techniques in Continuous Beehive Monitoring Applications: A Survey

arXiv

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arXiv 2022年

作者： Bilik, Simon Zemcik, Tomas Kratochvila, Lukas Ricanek, Dominik Richter, Miloslav Zambanini, Sebastian Horak, Karel Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Technická 3058/10 Brno61600 Czech Republic Computer Vision and Pattern Recognition Laboratory Department of Computational Engineering Lappeenranta-Lahti University of Technology LUT Yliopistonkatu 34 Lappeenranta53850 Finland Computer Vision Lab Institute of Visual Computing & Human-Centered Technology Faculty of Informatics TU Wien Favoritenstr. 9/193-1 ViennaA-1040 Austria

Wide use and availability of machine learning and computer vision techniques allows development of relatively complex monitoring systems in many domains. Besides the traditional industrial domain, new applications appears also in biology and agriculture, where they may be used to detect infections, parasites and weeds, but also for automated monitoring and early warning systems. This goes in concordance with the introduction of the easily accessible hardware and development kits such as the Arduino, or RaspberryPi families. In this paper, we survey 50 papers focusing on the methods of automated beehive monitoring using computer vision techniques. Particularly on the pollen and Varroa mite detection together with the bee traffic monitoring. Such systems could also be used for monitoring of honeybee colonies and for the inspection of their health state, which could potentially identify dangerous states before the situation is critical, or to better plan periodic bee colony inspections and therefore save significant costs. Further on, we also include analysis of the research trends in this application field and we outline the possible directions of new development. Our paper is also aimed at veterinary and apidology professionals and experts, who may not be familiar with machine learning to introduce them to its capabilities, hence each family of techniques is prefaced by a brief theoretical introduction and motivation related to its base method. We hope that this paper will inspire other scientists to use machine learning techniques for other applications in beehive monitoring. © 2022, CC BY.

关键词： Computer vision

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