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Reconfigurable control of Input Affine Nonlinear Systems under Actuator Fault

IFAC-PapersOnLine 2015年第21期48卷 345-352页

作者： Tabatabaeipour, S. Mojtaba Galeazzi, Roberto System Operation Analysis Energinet.dk Tonne Kjærsvej 65 Fredericia Denmark Automation and Control Department of Electrical Engineering Technical University of Denmark Kgs. Lyngby Denmark

This paper proposes a fault tolerant control method for input-affine nonlinear systems using a nonlinear reconfiguration block (RB). The basic idea of the method is to insert the RB between the plant and the nominal controller such that fault tolerance is achieved without re-designing the nominal controller. The role of the RB is twofold: on one hand it transforms the output of the faulty system such that its behaviour is similar to that of the nominal one from the controller's viewpoint;on the other hand it modifies the control input to the faulty system such that the stability of the reconfigured loop is preserved. The RB is realized by a virtual actuator and a REFERENCE model. Using notions of incremental and input-to-state stability (ISS), it is shown that ISS of the closed-loop reconfigured system can be achieved by the separate design of the virtual actuator. The proposed method does not need any knowledge of the nominal controller and only assumes that the nominal closed-loop system is ISS. The method is demonstrated on a dynamic positioning system for an offshore supply vessel, where the virtual actuator is designed using backstepping. © 2015

关键词： Backstepping

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Centralised versus Decentralised control Reconfiguration for Collaborating Underwater Robots

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IFAC-PapersOnLine 2015年第21期48卷 732-739页

作者： Furno, Lidia Nielsen, Mikkel Cornelius Blanke, Mogens Automation and Control Group Department of Electrical Engineering Technical University of Denmark Kgs.Lyngby Denmark AMOS CoE Institute of Technical Cybernetics Norwegian University of Science and Technology Trondheim Norway

The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steffen (2005). The paper investigates properties of a centralised versus a decentralised implementation and assesses the capabilities under communication constraints between the individual robots. In the centralised case, each robot sends information related to its own status to a unique virtual actuator that computes the necessary reconfiguration. In the decentralised case, each robot is equipped with its own virtual actuator that is able to accommodate both local faults and faults within a collaborating unit. The paper discusses how this is done through exploiting structural information (e.g. thruster configuration) for each participant in the cooperation. A test scenario is presented as a case in which an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation. © 2015

关键词： Robots

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Radar Data Processing of Blast Furnace Stock-Line Based on Spatio-Temporal Data Association

Radar Data Processing of Blast Furnace Stock-Line Based on S...

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第三十四届中国控制会议

作者： Hou Qingwen Chen Xianzhong Chen Ping School of Automation & Electrical Engineering University of Science and TechnologyBeijing Key Laboratory of Advanced Control for Iron and Steel Process

ISBN: (纸本)9781467374439

A method of spatio-temporal data association processing based on FMCW radar in blast furnace was proposed in this paper. First, model-categories of basic stock-line profile through mining information of process of production are established. Next, predicting measured value on the basis of historical observations and associating with model category of basic stock-line shape-changing using grey relation algorithm, which acquires the expected distribution values. Finally, Welch FFT and peak-searching method of FT continuous spectrum are researched in the calculation of center distance. Simulation results indicate that the proposed method reduces the average rate of outliers from 13% to 4%, and the matching rate of fitting stock-line associating with prior model class library increases from 68% to 87%, compared with traditional interpolation fitting of direct measurement, which guides the operation of blast furnace charging reasonably.

关键词： FMCW radar,stock-line measurement,data association,prior information

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On the ellipsoidal invariant set of fractional order systems subject to actuator saturation 34

On the ellipsoidal invariant set of fractional order systems...

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第三十四届中国控制会议

作者： LI Chuang LU Junguo School of Mechanical and Electrical Engineering Hainan University Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China

ISBN: (纸本)9781467374439

This paper investigates the method for estimating the domain of attraction of the origin for a class of fractional order system subject to actuator saturation with the fractional order 0 < α < 1. The sufficient condition on the asymptotic stability are obtained using Lyapunov direct approach and fractional order inequality. The method for the estimation on the contractively invariant ellipsoid is derived in terms of linear matrix inequalities(LMIs), and hence can be easily adopted for controller synthesis. Two numerical examples are provided to illustrate the effectiveness of the developed method.

关键词： Fractional order,Saturation,Domain of attraction,Invariant ellipsoid

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Radar data processing of blast furnace stock-line based on spatio-temporal data association 34

Radar data processing of blast furnace stock-line based on s...

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34th Chinese control Conference, CCC 2015

作者： Qingwen, Hou Xianzhong, Chen Ping, Chen School of Automation and Electrical Engineering University of Science and Technology Beijing China Key Laboratory of Advanced Control for Iron and Steel Process Beijing China

ISBN: (纸本)9789881563897

关键词： data association FMCW radar prior information stock-line measurement

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Photovoltaic power plant submitted to voltage sags: Model and performance evaluation 13

Photovoltaic power plant submitted to voltage sags: Model an...

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13th IEEE Brazilian Power Electronics Conference and 1st Southern Power Electronics Conference, COBEP/SPEC 2016

作者： Pires, Igor A. Machado, Alysson Foureaux, Nicole Silva, Sidelmo M. Filho, Braz J. Cardoso Brito, Jose Department of Electronic Engineering - UFMG Belo Horizonte - MG Brazil Control and Automation Engineering Undergraduate Course - UFMG City - Belo Horizonte - MG Brazil Electrical Engineering Graduate Program- UFMG Belo Horizonte - MG Brazil Department of Electrical Engineering - UFMG Belo Horizonte - MG Brazil Companhia de Eletricidade Do Estado da Bahia Salvador-BA Brazil

ISBN: (纸本)9781479987795

This paper brings the PV model of a real PV farm installation with a total power of 917 kW. All the elements of the PV farm (panels and inverter) are described. Simulation on PSCAD and experimental results at the installation are reported. The PV model is submitted to voltage sags originated in the grid as well as their impact on the photovoltaic power plant. © 2015 IEEE.

关键词： Solar panels

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A new rechargeable WSNs based Multi-UAVs Network and topology control algorithm 10

A new rechargeable WSNs based Multi-UAVs Network and topolog...

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10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015

作者： Li, Li Xu, Yixiang Hu, Xiaoguang Duan, Haibin Zhang, Hanyu Jun, Che Jin, Liang School of Automation Science and Electrical Engineering BeiHang University Beijing China Science and Technology on Aircraft Control Laboratory FACRI Xi'an710065 China

ISBN: (纸本)9781467373173

Multi-UAVs network technology is now one of the key directions of the UAV development. The primary needed research of network technology is the topology control technology. Firstly, we analyses the research status of the heterogeneous Multi-UAVs network which consisted of manned aircraft and UAVs. Secondly, we proposed the Multi-UAVs Network based Heterogeneous Rechargeable WSNs. In this paper, a real-time wireless recharging technology architecture and a Multi-UAVs Network based Heterogeneous Rechargeable WSNs are proposed, which are used in UAV in the air, and proposed. © 2015 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Combined geometric and neural network approach to generic fault diagnosis in satellite reaction wheels 9

Combined geometric and neural network approach to generic fa...

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9th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Baldi, P. Blanke, M. Castaldi, P. Mimmo, N. Simani, S. 47100 Italy Automation and Control Group Department of Electrical Engineering Technical University of Denmark Lyngby2800 Kgs. Denmark 44123 Italy

This paper suggests a novel diagnosis scheme for detection, isolation and estimation of faults affecting satellite reaction wheels. Both spin rate measurements and actuation torque defects are dealt with. The proposed system consists of a fault detection and isolation module composed by a bank of residual filters organized in a generalised scheme, followed by a fault estimation module consisting of a bank of adaptive estimation filters. The residuals are decoupled from aerodynamic disturbances thanks to the Nonlinear Geometric Approach. The use of Radial Basis Function Neural Networks is shown to allow design of generalised fault estimation filters, which do not need a priori information about the faults internal model. Simulation results with a detailed nonlinear spacecraft model, which includes disturbances, show that the proposed diagnosis scheme can deal with faults affecting both reaction wheel torques and flywheel spin rate measurements, and obtain precise fault isolation as well as accurate fault estimates. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Failure analysis

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Optimisation of recommended speed profile for train operation based on ant colony algorithm

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International Journal of Simulation and Process Modelling 2016年第3-4期11卷 229-240页

作者： Cao, Fang Fan, Li-Qian Ke, Bwo-Ren Tang, Tao State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing China Beijing Laboratory of Urban Mass Transit Beijing Jiaotong University Beijing China Beijing Key Laboratory of Urban Mass Transit Automation and Control Beijing Jiaotong University Beijing China Department of Electrical Engineering National Penghu University of Science and Technology Taiwan

An automatic train operation (ATO) system generally consists of the generation of recommended speed profile and the speed tracking strategy. It determines the tracked trajectory and the energy consumption of trains during the trip. Therefore, the optimisation of recommended speed profile and the ATO tracking strategy are regarded as two important means to achieve energy-efficient train operation between the successive stations. By considering the ATO tracking strategy, an optimisation method of the recommended speed profile is proposed in this paper. Based on the approximate calculation, a discrete combination optimisation model is formulated and a modified max-min ant system (MMAS) is taken as the core algorithm. With the integration speed tracking strategy, this method achieves the recommended speed profile with optimised energy consumption and a perfect running punctuality along the actual tracked trajectory. The computation time of the algorithm is shorter and the switching time of operation during the cruising phase is reduced by integrating the drivers' experience, which also reduces the energy consumption of train running between stations. The simulation results of a case study based on Beijing Subway verify the effectiveness of the proposed method, which has a good performance on energy-efficient train operation.

关键词： Energy utilization

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Identifying the best machine learning algorithms for brain tumor segmentation, progression assessment, and overall survival prediction in the BRATS challenge

arXiv

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arXiv 2018年

作者： Bakas, Spyridon Reyes, Mauricio Jakab, Andras Bauer, Stefan Rempfler, Markus Crimi, Alessandro Shinohara, Russell Takeshi Berger, Christoph Ha, Sung Min Rozycki, Martin Prastawa, Marcel Alberts, Esther Lipkova, Jana Freymann, John Kirby, Justin Bilello, Michel Fathallah-Shaykh, Hassan M. Wiest, Roland Kirschke, Jan Wiestler, Benedikt Colen, Rivka Kotrotsou, Aikaterini Lamontagne, Pamela Marcus, Daniel Milchenko, Mikhail Nazeri, Arash Weber, Marc-Andr Mahajan, Abhishek Baid, Ujjwal Gerstner, Elizabeth Kwon, Dongjin Acharya, Gagan Agarwal, Manu Alam, Mahbubul Albiol, Alberto Albiol, Antonio Albiol, Francisco J. Alex, Varghese Allinson, Nigel Amorim, Pedro H.A. Amrutkar, Abhijit Anand, Ganesh Andermatt, Simon Arbel, Tal Arbelaez, Pablo Avery, Aaron Azmat, Muneeza Pranjal, B. Bai, Wenjia Banerjee, Subhashis Barth, Bill Batchelder, Thomas Batmanghelich, Kayhan Battistella, Enzo Beers, Andrew Belyaev, Mikhail Bendszus, Martin Benson, Eze Bernal, Jose Bharath, Halandur Nagaraja Biros, George Bisdas, Sotirios Brown, James Cabezas, Mariano Cao, Shilei Cardoso, Jorge M. Carver, Eric N. Casamitjana, Adri Castillo, Laura Silvana Cat, Marcel Cattin, Philippe Cérigues, Albert Chagas, Vinicius S. Chandra, Siddhartha Chang, Yi-Ju Chang, Shiyu Chang, Ken Chazalon, Joseph Chen, Shengcong Chen, Wei Chen, Jefferson W. Chen, Zhaolin Cheng, Kun Choudhury, Ahana Roy Chylla, Roger Clrigues, Albert Colleman, Steven Colmeiro, Ramiro German Rodriguez Combalia, Marc Costa, Anthony Cui, Xiaomeng Dai, Zhenzhen Dai, Lutao Daza, Laura Alexandra Deutsch, Eric Ding, Changxing Dong, Chao Dong, Shidu Dudzik, Wojciech Eaton-Rosen, Zach Egan, Gary Escudero, Guilherme Estienne, Tho Everson, Richard Fabrizio, Jonathan Fan, Yong Fang, Longwei Feng, Xue Ferrante, Enzo Fidon, Lucas Fischer, Martin French, Andrew P. Fridman, Naomi Fu, Huan Fuentes, David Gao, Yaozong Gates, Evan Gering, David Gholami, Amir Gierke, Willi Glocker, Ben Gong, Mingming Gonzlez-Vill, Sandra Grosges, T. Guan, Yuanfang Guo, Sheng Gupta, Sudeep Han, Woo-Sup Han, Il Song Harmuth, Ko Center for Biomedical Image Computing and Analytics University of Pennsylvania PhiladelphiaPA United States Department of Radiology Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Institute for Surgical Technology and Biomechanics University of Bern Bern Switzerland Center for MR-Research University Children's Hospital Zurich Zurich Switzerland Support Centre for Advanced Neuroimaging Inselspital Institute for Diagnostic and Interventional Neuroradiology Bern University Hospital Bern Switzerland University Hospital of Zurich Zurich Switzerland Center for Clinical Epidemiology and Biostatistics University of Pennsylvania Philadelphia United States Image-Based Biomedical Modeling Group Technical University of Munich Munich Germany Icahn School of Medicine Mount Sinai Health System New YorkNY United States Leidos Biomedical Research Inc. Frederick National Laboratory for Cancer Research FrederickMD21701 United States Cancer Imaging Program National Cancer Institute National Institutes of Health BethesdaMD20814 United States Department of Neurology University of Alabama at Birmingham BirminghamAL United States Department of Diagnostic Radiology University of Texas MD Anderson Cancer Center HoustonTX United States Department of Psychology Washington University St. LouisMO United States Neuroimaging Informatics and Analysis Center Washington University St. LouisMO United States Department of Radiology Washington University St. LouisMO United States Institute of Diagnostic and Interventional Radiology Pediatric Radiology and Neuroradiology University Medical Center Rostock Ernst-Heydemann-Str. 6 Rostock18057 Germany Tata Memorial Centre Homi Bhabha National Institute Mumbai India Shri Guru Gobind Singhji Institute of Engineering and Technology Nanded India NVIDIA Santa Clara

Gliomas are the most common primary brain malignancies, with different degrees of aggressiveness, variable prognosis and various heterogeneous histologic sub-regions, i.e., peritumoral edematous/invaded tissue, necrotic core, active and non-enhancing core. This intrinsic heterogeneity is also portrayed in their radio-phenotype, as their sub-regions are depicted by varying intensity profiles disseminated across multi-parametric magnetic resonance imaging (mpMRI) scans, reflecting varying biological properties. Their heterogeneous shape, extent, and location are some of the factors that make these tumors difficult to resect, and in some cases inoperable. The amount of resected tumor is a factor also considered in longitudinal scans, when evaluating the apparent tumor for potential diagnosis of progression. Furthermore, there is mounting evidence that accurate segmentation of the various tumor sub-regions can offer the basis for quantitative image analysis towards prediction of patient overall survival. This study assesses the state-of-the-art machine learning (ML) methods used for brain tumor image analysis in mpMRI scans, during the last seven instances of the International Brain Tumor Segmentation (BraTS) challenge, i.e., 2012-2018. Specifically, we focus on i) evaluating segmentations of the various glioma sub-regions in pre-operative mpMRI scans, ii) assessing potential tumor progression by virtue of longitudinal growth of tumor sub-regions, beyond use of the RECIST/RANO criteria, and iii) predicting the overall survival from pre-operative mpMRI scans of patients that underwent gross total resection. Finally, we investigate the challenge of identifying the best ML algorithms for each of these tasks, considering that apart from being diverse on each instance of the challenge, the multi-institutional mpMRI BraTS dataset has also been a continuously evolving/growing dataset. Copyright © 2018, The Authors. All rights reserved.

关键词： Tumors

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