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IEEE Conference on Decision and control

作者： Martin P. Neuenhofen Eric C. Kerrigan Yuanbo Nie Department of Electrical & Electronic Engineering Imperial College London London UK Department of Electrical & Electronic Engineering and Department of Aeronautics Imperial College London London UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

Direct transcription with collocation-type methods (CTM) is a popular approach for solving dynamic optimization problems. It is known that these types of methods can fail to converge for problems that feature singular-arc solutions, high-index differential-algebraic equations and overdetermined constraints. Recently, we proposed the use of quadrature penalty methods (QPM) as an alternative numerical approach to collocation-type methods. In contrast to the concept of collocation, which requires constraint-residuals to equal zero at individual points (e.g. at collocation points), the main idea of QPM is to simply oversample this number of points and use their respective quadrature weights in a quadratic penalty term, coining the name of quadrature penalty. In this paper, we provide numerical case studies and a broad numerical comparison on a wide range of problems, highlighting the benefits of QPM over CTM not only in difficult problems, but also in solving problems competitively to CTM. These results show that QPM can be considered an attractive first go-to method when solving general dynamic optimization problems.

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Tracking-in-range Formulations for Numerical Optimal control

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IFAC-PapersOnLine 2024年第18期58卷 53-58页

作者： Nikilesh Ramesh Eric C. Kerrigan Yuanbo Nie Interdisciplinary Programmes in Engineering University of Sheffield S10 2TN Sheffield UK Department of Electrical & Electronic Engineering and Department of Aeronautics Imperial College London SW7 2AZ London UK Department of Automatic Control and Systems Engineering University of Sheffield S10 2TN Sheffield UK

In contrast to set-point tracking which aims to reduce the tracking error between the tracker and the reference, tracking-in-range problems only focus on whether the tracker is within a given range around the reference, making it more suitable for the mission specifications of many practical applications. In this work, we present novel optimal control formulations to solve tracking-in-range problems, for problems requiring the tracker to be always in range, as well as problems allowing the tracker to go out of range, which yield overall better outcomes. Since the problem naturally involves discontinuous functions, we present alternative formulations and regularisation strategies to improve the performance of numerical solvers. The extension to in-range tracking with multiple trackers and in-range tracking in high-dimensional space are also discussed and illustrated with numerical examples, demonstrating substantial increases in mission performance in comparison to traditional set-point tracking.

关键词： Optimal control Nonlinear Model Predictive control Intelligent Vehicles

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Vision-based Runway Detection and Landing for Unmanned Aerial Vehicle Enhanced Autonomy 20

Vision-based Runway Detection and Landing for Unmanned Aeria...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Tsapparellas, Kyriacos Jelev, Nickolay Waters, Jonathon Brunswicker, Sabine Mihaylova, Lyudmila S. University of Sheffield Department of Automatic Control and Systems Engineering S1 3JD United Kingdom Windracers Distributed Avionics Healthaid House Malborough Hill LondonHA1 1UD United Kingdom Purdue University Research Center for Digital Innovation United States

ISBN: (纸本)9798350320831

Introducing autonomy is a task of paramount importance and is currently investigated in many areas, especially for autonomous cars and Unmanned Aerial Vehicles (UAVs). Most UAVs are still remotely human-controlled. A necessity is to implement on-board solutions, able to work in all weather conditions and at any time. Hence, on this topic, we give an overview of recent advances for vision-based landing of UAVs. A thorough classification of the main recently developed methods is introduced with a discussion of their advantages and disadvantages. The paper presents a new solution for autonomous UAV vision-based landing, focusing on runway detection using a hybrid approach combining multi-image matching, SIFT and object tracking. The results are evaluated and validated using simulated images sampled with the X-Plane 11 flight simulator and real-world videos collected during automated flights performed by the ULTRA vehicle, one of the biggest UAVs in the UK [1]. The statistical analysis from the validation of the proposed approach shows a high level of accuracy around 94.89% in clear weather conditions and real-time computational performance. © 2023 IEEE.

关键词： Computer vision

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Blockchain-based peer to peer energy trading using distributed model predictive control

Blockchain-based peer to peer energy trading using distribut...

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European control Conference (ECC)

作者： Manuel Sivianes Ascensió n Zafra-Cabeza Carlos Bordons Systems Engineering and Automatic Control Department School of Engineering Universidad de Sevilla Seville Spain System Engineering and Automation Department School of Engineering Universidad de Sevilla Seville Spain Systems Engineering and Automatic Control Department ENGREEN Laboratory of Engineering for Energy and Environmental Sustainability Universidad de Sevilla Seville Spain

ISBN: (数字)9783907144077

ISBN: (纸本)9781665497336

The energy network is experiencing a decentralizing process due to the recent inclusion of distributed energy resources (DERs), such as photovoltaics (PV), electric vehicles (EV), or batteries. This paradigmatic shift involves new challenges that require enhancing the electricity system's flexibility while preserving its integrity and stability. One way of dealing with them is by unbundling the electrical network into smaller, more manageable units, known as microgrids (MG). Nonetheless, the usage of distributed architectures leads to more exchanged data and control information between end agents, involving security or privacy issues. In this context, blockchain technology emerges as a feasible solution that promises transparent, tamper-proof, and safe systems in a decentralized ecosystem. This paper proposes a distributed energy management platform that takes full advantage of the blockchain technology to enable safe peer to peer (P2P) transactions. A Distributed model predictive control (DMPC) scheme is adopted, and its performance is compared with the centralized approach.

关键词： Photovoltaic systems Smart contracts Microgrids Prediction algorithms Stability analysis Blockchains Peer-to-peer computing

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Energy-based Assessment and Driving Behavior of ACC systems and Humans Inside Platoons

arXiv

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arXiv 2023年

作者： Apostolakis, Theocharis Makridis, Michail A. Kouvelas, Anastasios Ampountolas, Konstantinos The Automatic Control and Autonomous Systems Laboratory Department of Mechanical Engineering University of Thessaly Volos38334 Greece ETH Zürich Zürich8093 Switzerland

Evidence in the literature shows that automated and human driving modes demonstrate different driving characteristics, i.e., headway policy, spacing policy, reaction time, comfortable acceleration, and others. These differences alter observed traffic dynamics and have an impact on energy consumption. This paper assesses the energy footprint of commercially implemented adaptive cruise control (ACC) systems and human drivers in car-following formation via different models using empirical observations on very similar driving cycles and/or routes. Most importantly, it initiates a critical discussion of the findings under the behavioral properties of each mode. Findings show that: ACC systems propagate an increasing energy consumption upstream, while human drivers do not;they succeed in maintaining a constant time-headway policy, operating very reliably;they develop a strong bond with their leader compared to their human counterparts;the two modes (humans and ACCs) are operating in different phase-space areas with room for improvement. Overall, findings show that ACC systems must be optimized to achieve a trade-off between functional requirements and eco-driving instructions. Copyright © 2023, The Authors. All rights reserved.

关键词： Energy utilization

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Comparison of Photovoltaic System Performance under Different Conditions

Comparison of Photovoltaic System Performance under Differen...

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International Conference on Modern Electrical and Energy systems (MEES)

作者： Marek Pavlík Andrii Kalinov Department of Electric Power Engineering Technical University of Koice Koice Slovakia Department of Systems of Automatic Control and Electric Drive Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine

With increasing energy prices, greater attention is being directed towards alternative energy sources. Common households are increasingly adopting photovoltaic systems to reduce their electricity costs. However, many households are unaware that various situations can impact the production of solar energy. In this contribution, a research study was conducted where a small portion of the photovoltaic panel was shaded. The results demonstrate how even minor shading can affect the production of electrical energy from the photovoltaic panel. Additionally, it is important to realize that many photovoltaic systems consist of photovoltaic panels connected in series. This contribution highlights how a single damaged or shaded photovoltaic panel can influence the production of other photovoltaic panels in the series.

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A Review of Manufacturing Technologies of Soft Magnetic Composites for Electric Machines

A Review of Manufacturing Technologies of Soft Magnetic Comp...

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International Conference on Modern Electrical and Energy systems (MEES)

作者： Roman Manko Rieznik Dmytro Mario Vukotić Urban Rupnik Damijan Miljavec Selma Čorović Faculty of Electrical Engineering University of Ljubljana Ljubljana Slovenia Department of Systems of Automatic Control and Electric Drive Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine

In this article the review of the existing manufacturing technologies of the soft magnetic materials have been performed. The existing technological protocols for production of the electrically insulated powders and their further treatment towards manufacturing of the soft magnetic materials are provided. The influences of different technological processes on the mechanical, electrical and magnetic properties of the resulting soft magnetic materials have been reviewed and described. Finally, the usage and implementation of the soft magnetic composites in the field of electric motor design have been discussed.

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Robust Distributed control for DC Microgrids with System Constraints

Robust Distributed Control for DC Microgrids with System Con...

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Mediterranean Conference on control and Automation (MED)

作者： Grigoris Michos Pablo R. Baldivieso-Monasterios George C. Konstantopoulos Department of Automatic Control &amp Systems Engineering University of Sheffield Sheffield UK Department of Electrical and Computer Engineering University of Patras Rion Greece

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

This work proposes a distributed robust control architecture for meshed DC Microgrid networks. Each interlinking converter is modelled as a network node and is connected in parallel to a constant power load representing the network’s power consumption. Each node employs a local controller consisting of two parts; current regulation based on a modified version of the state-limiting PI and a distributed MPC driving the system to desired setpoints. We analytically prove each controller’s robustness to model variations caused by changes in both the power demand and the transmitted information among the subsystems. The concept of positive invariance sets and the inherent robustness properties of the nominal MPC are used to prove recursive feasibility of the optimal control problem and guarantee constraint satisfaction at all times. The stability proof of the cascaded node dynamics is based upon the emerging properties of both the state limiting PI and the distributed MPC design. Demonstration of the results is given in a simulated scenario.

关键词： Current control Uncertain systems Power demand Decentralized control Microgrids Robustness Stability analysis

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A Complex-Valued Feedback Linearization-Based controller for a Voltage Source Inverter Tied to the Grid via a Second-Order Filter

arXiv

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arXiv 2025年

作者： Tapia-Otaegui, Gerardo Solsona, Jorge A. Jorge, Sebastian Gomez Susperregui, Ana Busada, Claudio A. Itsaso Martínez, M. The Department of Automatic Control and Systems Engineering University of the Basque Country UPV/EHU Faculty of Engineering–Gipuzkoa Donostia20018 Spain UNS-CONICET Departamento de Ingeniería Eléctrica y de Computadoras UNS Bahía Blanca Argentina

In this document, a nonlinear control law for a grid-tied converter is introduced. The converter topology consists of a voltage source inverter (VSI) linked to the grid through an inductive-capacitive second-order filter, its input being connected to a capacitive DC-link supplied by a renewable energy-based input power source. In order to achieve good performance in presence of large state excursions caused mainly by substantial set-point modifications and/or considerable disturbances, a nonlinear control law based on a complex-valued feedback linearization strategy is designed. Specifically, a flat output is adopted, which is given by the summation of the energy stored in the DC-link capacitor and in the output filter’s inductor and capacitor, as well as by the reactive energy at the output. After linearizing the system through a pertinent coordinate transformation and a nonlinear feedback, a linear trajectory tracking control law is implemented. The performance of the system controlled by applying the proposed strategy is tested via simulation for a very weak grid of unity X/R ratio, yielding satisfactory results. © 2025, CC BY-SA.

关键词： Feedback linearization

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A Compartmental Modelling Framework for Drug Distribution in Lean and Obese Patients in Long-Term General Anesthesia*

A Compartmental Modelling Framework for Drug Distribution in...

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European control Conference (ECC)

作者： Amani R. Ynineb Erhan Yumuk Hamed Farbakhsh Ghada Ben Othman Dana Copot Isabela R. Birs Cristina I. Muresan Robin De Keyser Samir Ladaci Clara M. Ionescu Martine Neckebroek Department of Electromechanics Ghent University Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 Zwijnaarde Belgium Department of Control and Automation Engineering Technical University of Istanbul Maslak Istanbul Turkey Department of Automation Technical University of Cluj Napoca Romania Cluj Romania Department of Automatics and Control Engineering National Polytechnic School Algiers Algeria Department of Anesthesia Ghent University Hospital Ghent Belgium

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

In personalized medicine applications such as general anesthesia, an individualised pharmacokinetic (PK) model requires to move away from the classical assumption of homogeneous drug mixing in various tissue compartments in the body. By default, these model coefficients are pre-surgery initialized from population based models as a function of age, gender, weight, height, lean body mass and do not include at this moment specific drug diffusion patterns in the fat compartment, whereas various types of fat will induce various time constants in non-lean patients. In this work, the pharmacokinetic compartmental model structure is revisited to account for non-uniform distribution of uptake/clearance time constants in patients as a nonlinear function of body mass index. Simulations are confirming expected patterns of drug distribution in the body and can account for post-anesthesia side effects up to 72 hours. The model is a novel advance in providing the control community with yet increasingly realistic patient models for closed loop control of anesthesia.

关键词： Drugs Precision medicine Sociology Surgery Europe Tail Anesthesia

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