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Gradient Descent-Based Adaptive control for Time-Varying Command Following

IEEE Transactions on Automatic control 2025年第6期70卷 4069-4076页

作者： Jaramillo, Jesse Yucelen, Tansel University of South Florida Laboratory for Autonomy Control Information and Systems Department of Mechanical Engineering TampaFL33620 United States

Output regulation theory is an effective method for achieving accurate time-varying command following and can utilize adaptive internal models to follow arbitrary reference signals generated by an exosystem. However, implementing these models can still lead to complexities, particularly regarding increased controller order and the dimensionality of gain matrices. This paper contributes a gradient descent-based adaptive control method for uncertain dynamical systems. This method offers an alternative approach for the time-varying command following problem by altering both reference model trajectories and the control signal. As the gain of the proposed method increases, it can enable following every potential time-varying command profile without specificity. In addition to the presented system-theoretical results, three illustrative numerical examples are included to show the efficacy of the proposed gradient descent-based term for the time-varying command following problem. © 1963-2012 IEEE.

关键词： Model reference adaptive control

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A Recursive System Identification With Non-Uniform Temporal Feedback Under Coprime Collaborative Sensing

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ASME Letters in Dynamic systems and control 2023年第2期3卷 021010页

作者： Ouyang, Jinhua Chen, Xu Mechatronics Automation and Control Systems Laboratory Department of Mechanical Engineering University of Washington SeattleWA98195 United States Mechatronics Automation and Control Systems Laboratory Department of Mechanical Engineering University of Washington SeattleWA98195 United States

We present a system identification method based on recursive least-squares (RLS) and coprime collaborative sensing, which can recover system dynamics from non-uniform temporal data. Focusing on systems with fast input sampling and slow output sampling, we use a polynomial transformation to reparameterize the system model and create an auxiliary model that can be identified from the non-uniform data. We show the identifiability of the auxiliary model using a Diophantine equation approach. Numerical examples demonstrate successful system reconstruction and the ability to capture fast system response with limited temporal feedback. Copyright © 2023 by ASME.

关键词： Feedback

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Chaotic Behavior of DC-DC Boost Converter by using Voltage Mode control 4

Chaotic Behavior of DC-DC Boost Converter by using Voltage M...

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4th International Conference for Emerging Technology, INCET 2023

作者： Ganesh, Sandhu Valluru, Sudarshan K. Control of Dynamical Systems and Computation Laboratory Department of Electrical Engineering Delhi110042 India

ISBN: (纸本)9798350335750

This paper examines the Boost converter's chaotic behavior. A voltage mode controlled technique is being utilized to analyze the discrete-time mapping to determine the properties of the bifurcation that operate in a closed loop. By varying some parameters while holding others constant, the reference voltage and input voltage are used to examine the bifurcation diagram. It has been noted that the system becomes unstable and splits into two time-periodic systems, four time - periodic systems and then chaos takes over the system. These occurrences have been shown in the bifurcation diagram, therefore the converter's safe operating range can be determined and verified by using the time-domain waveforms and phase plots. © 2023 IEEE.

关键词： Boost converter

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The Unscented Kalman Filter for Nonlinear Parameter Identification of Adaptive Cruise control systems

arXiv

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arXiv 2023年第8期8卷 4094页

作者： Ampountolas, Konstantinos The Automatic Control & Autonomous Systems Laboratory Department of Mechanical Engineering University of Thessaly Volos38334 Greece

This paper develops and investigates a dual unscented Kalman filter (DUKF) for the joint nonlinear state and parameter identification of commercial adaptive cruise control (ACC) systems. Although the core functionality of stock ACC systems, including their proprietary control logic and parameters, is not publicly available, this work considers a car-following scenario with a human-driven vehicle (leader) and an ACC engaged ego vehicle (follower) that employs a constant timeheadway policy (CTHP). The objective of the DUKF is to determine the CTHP parameters of the ACC by using real-time observations of space-gap and relative velocity from the vehicle's onboard sensors. Real-time parameter identification of stock ACC systems is essential for assessing their string stability, large-scale deployment on motorways, and impact on traffic flow and throughput. In this regard, L2and L∞string stability conditions are considered. The observability rank condition for nonlinear systems is adopted to evaluate the ability of the proposed estimation scheme to estimate stock ACC system parameters using empirical data. The proposed filter is evaluated using empirical data collected from the onboard sensors of two 2019 SUV vehicles, namely Hyundai Nexo and SsangYong Rexton, equipped with stock ACC systems;and is compared with batch and recursive least-squares optimization. The set of ACC model parameters obtained from the proposed filter revealed that the commercially implemented ACC system of the considered vehicle (Hyundai Nexo) is neither L2nor L∞string stable. Copyright © 2023, The Authors. All rights reserved.

关键词： Adaptive cruise control

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Data-driven finite-time adaptive attitude tracking control for spacecraft

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Advances in Space Research 2025年第12期75卷 8780-8791页

作者： Wang, Jianhui He, Guangping Bian, Guibin Geng, Shixiong College of Mechanical & Energy Engineering Beijing University Of Technology Beijing100124 China Department of Mechanical and Electrical Engineering North China University of Technology Beijing100144 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

This paper proposes a novel data-driven finite-time adaptive control method for the spacecraft attitude tracking control problem with inertial uncertainty. Based on the dynamic regression extension technique, the disturbance unit matrix is introduced, and the parameter estimation law in the form of algebraic equations is presented, which realizes the arbitrarily small convergence of parameter estimation error. The convergence of parameter estimation errors is verified through stability analysis. Globally non-singular fast terminal sliding mode control is designed to achieve finite-time arrival of the sliding surface and convergence of the system state error. The stability analysis of the closed-loop system demonstrates the effectiveness of the proposed method. Furthermore, the effectiveness and superiority of the proposed method are verified through numerical simulations of spacecraft attitude tracking control. © 2025 COSPAR

关键词： Attitude control

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Adaptive-Optimal control for Reconfigurable Robots

Adaptive-Optimal Control for Reconfigurable Robots

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2023 IEEE International Conference on Device Intelligence, Computing and Communication Technologies, DICCT 2023

作者： Maheshwari, Adya Rautela, Aaditya Rayguru, Madan Mohan Valluru, Sudarshan K. Delhi Technological University Department of Electrical Engineering New Delhi India Delhi Technological University Control of Dynamical Systems and Computation Laboratory Department of Electrical Engineering New Delhi India

ISBN: (纸本)9781665474924

Reconfigurable robots refer to the robotic systems which have the ability to transform their morphological structure to adapt to changes in their surroundings. A specialized control system based upon the dynamic characteristics is required to be modelled so that a vast range of operations can be performed by the reconfigurable robots. Reinforcement learning based technique is therefore considered as a suitable mechanism for carrying out adaptive optimal control for the robotic systems. In this paper, an attempt has been made to model the adaptive optimal control mechanism for a single-link manipulator: a reconfigurable robotic system. The system has been modelled for a dynamic environment. The loss and reward plots are obtained from the simulation of the robotic system by deploying reinforcement learning based techniques with the given controlled input © 2023 IEEE.

关键词： Reinforcement learning

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Low-frequency bandgap and vibration suppression mechanism of a novel square hierarchical honeycomb metamaterial

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Applied Mathematics and Mechanics(English Edition) 2024年第10期45卷 1841-1856页

作者： Xingjian DONG Shuo WANG Anshuai WANG Liang WANG Zhaozhan ZHANG Yuanhao TIE Qingyu LIN Yongtao SUN State Key Laboratory of Mechanical Systems and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Department of Mechanics Tianjin UniversityTianjin 300350China Tianjin Key Laboratory of Nonlinear Dynamics and Control Tianjin UniversityTianjin 300350China School of Mechanical and Automotive Engineering Guangxi University of Science and TechnologyLiuzhou 545006Guangxi Zhuang Autonomous RegionChina

The suppression of low-frequency vibration and noise has always been an important issue in a wide range of engineering *** address this concern,a novel square hierarchical honeycomb metamaterial capable of reducing low-frequency noise has been *** combining Bloch’s theorem with the finite element method,the band structure is *** results indicate that this metamaterial can produce multiple low-frequency bandgaps within 500 Hz,with a bandgap ratio exceeding 50%.The first bandgap spans from 169.57 Hz to 216.42 *** reveal the formation mechanism of the bandgap,a vibrational mode analysis is *** analysis demonstrates that the bandgap is attributed to the suppression of elastic wave propagation by the vibrations of the structure’s two protruding corners and overall expansion ***,detailed parametric analyses are conducted to investigate the effect ofθ,i.e.,the angle between the protruding corner of the structure and the horizontal direction,on the band structures and the total effective bandgap *** is found that reducingθis conducive to obtaining lower frequency *** propagation characteristics of elastic waves in the structure are explored by the group velocity,phase velocity,and wave propagation ***,the transmission characteristics of a finite periodic structure are investigated *** results indicate significant acceleration amplitude attenuation within the bandgap range,confirming the structure’s excellent low-frequency vibration suppression capability.

关键词： wave propagation vibration suppression metamaterial low-frequency bandgap

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Energy-Saving Distributed Flexible Job Shop Scheduling Optimization with Dual Resource Constraints Based on Integrated Q-Learning Multi-Objective Grey Wolf Optimizer

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Computer Modeling in engineering & Sciences 2024年第8期140卷 1459-1483页

作者： Hongliang Zhang Yi Chen Yuteng Zhang Gongjie Xu School of Management Science and Engineering Anhui University of TechnologyMa’anshan243032China Laboratory of Multidisciplinary Management and Control of Complex Systems of Anhui Higher Education Institutes Anhui University of TechnologyMa’anshan243032China Department of Industrial Engineering School of Mechanical EngineeringNorthwestern Polytechnical UniversityXi’an710072China

The distributed flexible job shop scheduling problem(DFJSP)has attracted great attention with the growth of the global manufacturing *** DFJSP research only considers machine constraints and ignores worker *** one critical factor of production,effective utilization of worker resources can increase ***,energy consumption is a growing concern due to the increasingly serious environmental ***,the distributed flexible job shop scheduling problem with dual resource constraints(DFJSP-DRC)for minimizing makespan and total energy consumption is studied in this *** solve the problem,we present a multi-objective mathematical model for DFJSP-DRC and propose a Q-learning-based multi-objective grey wolf optimizer(Q-MOGWO).In Q-MOGWO,high-quality initial solutions are generated by a hybrid initialization strategy,and an improved active decoding strategy is designed to obtain the scheduling *** further enhance the local search capability and expand the solution space,two wolf predation strategies and three critical factory neighborhood structures based on Q-learning are *** strategies and structures enable Q-MOGWO to explore the solution space more efficiently and thus find better Pareto *** effectiveness of Q-MOGWO in addressing DFJSP-DRC is verified through comparison with four algorithms using 45 *** results reveal that Q-MOGWO outperforms comparison algorithms in terms of solution quality.

关键词： Distributed flexible job shop scheduling problem dual resource constraints energy-saving scheduling multi-objective grey wolf optimizer Q-learning

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Reinforcement Learning in Simultaneous Localization and Mapping 5th

Reinforcement Learning in Simultaneous Localization and Mapp...

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5th International Conference on Recent Developments in control, Automation and Power engineering, RDCAPE 2023

作者： Kumar, Abhik Valluru, Sudarshan K. Rayguru, M.M. Control of Dynamical Systems Computation Laboratory Department of Electrical Engineering Delhi Technological University Delhi India

ISBN: (纸本)9789819600465

The primary objective of this research work is to investigate model-free path planning for reconfigurable robots using value and policy iterations. The focus is on developing and evaluating an autonomous algorithm for robot path planning. Initially, the A-Star algorithm was modified to incorporate model-based learning. Subsequently, model-free reinforced learning was incorporated through value iteration and policy iteration. The experimental validations of modified A-Star algorithm is conducted in python virtual environment. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Reinforcement learning

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Simultaneous multi-material embedded printing for 3D heterogeneous structures

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International Journal of Extreme Manufacturing 2023年第3期5卷 485-498页

作者： Ziqi Gao Jun Yin Peng Liu Qi Li Runan Zhang Huayong Yang Hongzhao Zhou State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058People’s Republic of China School of Mechanical Engineering Zhejiang UniversityHangzhou 310058People’s Republic of China Department of Mechanical Engineering Centre for Power Transmission and Motion ControlUniversity of BathBath BA27AYUnited Kingdom

In order to mimic the natural heterogeneity of native tissue and provide a better microenvironment for cell culturing,multi-material bioprinting has become a common solution to construct tissue models in *** the embedded printing method,complex 3D structure can be printed using soft biomaterials with reasonable shape ***,the current sequential multi-material embedded printing method faces a major challenge,which is the inevitable trade-off between the printed structural integrity and printing ***,we propose a simultaneous multi-material embedded printing *** this method,we can easily print firmly attached and high-precision multilayer *** multiple individually controlled nozzles,different biomaterials can be precisely deposited into a single crevasse,minimizing uncontrolled squeezing and guarantees no contamination of embedding medium within the *** analyse the dynamics of the extruded bioink in the embedding medium both analytically and experimentally,and quantitatively evaluate the effects of printing parameters including printing speed and rheology of embedding medium,on the 3D morphology of the printed *** demonstrate the printing of double-layer thin-walled structures,each layer less than 200μm,as well as intestine and liver models with 5%gelatin methacryloyl that are crosslinked and extracted from the embedding medium without significant impairment or *** peeling test further proves that the proposed method offers better structural integrity than conventional sequential printing *** proposed simultaneous multi-material embedded printing method can serve as a powerful tool to support the complex heterogeneous structure fabrication and open unique prospects for personalized medicine.

关键词： embedded printing multi-material printing printability soft materials heterogeneous structures

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