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IEEE International Symposium on Intelligent control (ISIC)

作者： Ouboti Djaneye-Boundjou Raul Ordonez Electrical Engineering Control Systems at the University of Dayton Dayton OH USA Department of Electrical and Computer Engineering University of Dayton Dayton OH USA

ISBN: (纸本)9781509020522

We have previously showed that it is possible to achieve parameter identification of discrete-time structured uncertainties without requiring persistency of excitation when using Concurrent Learning. Instead, granted a less restrictive condition compared to that of persistency of excitation is verified, exponential convergence of parameter estimates to their true values ensues. The present study applies the previously developed discrete-time Concurrent Learning adaptation law within a control loop for discrete-time adaptive control of a discrete-time single-state plant containing structured uncertainties. Provided that the same condition as for the standalone estimation is met, we can prove exponential convergence of the tracking error and parameter error to zero without necessitating persistency of excitation.

关键词： Uncertainty Adaptive control Convergence Estimation Rail to rail inputs Lyapunov methods control systems

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Automated particle swarm optimization based PID tuning for control of robotic arm

Automated particle swarm optimization based PID tuning for c...

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IEEE National Conference on Aerospace and Electronics (NAECON)

作者： Ouboti Djaneye-Boundjou Xingsheng Xu Raúl Ordóñez Electrical Engineering (Control Systems) University of Dayton Dayton OH USA Department of Electrical and Computer Engineering University of Dayton Dayton OH USA

In this paper, we revisit the Proportional-Integral-Derivative (PID) controller design for torque control of robotic manipulators, for which, appropriate tuning of the said controller could prove very burdensome, especially with increasing degrees-of-freedom (DOF) and/or when designing a Multi-Input Multi-Output (MIMO) PID controller. That is, when generating and tuning matrix P-I-D gains as opposed to single values, in order to take in account possible coupling effects between involved joints. We tackle both joint space and workspace PID control tuning problems for reference tracking from an optimization standpoint. Using a previously developed stable Adaptive Particle Swarm Optimizer, we are able to automatically and systematically tune P-I-D gains, be it as single gain values or gain matrices, while optimizing a cost or fitness function. The aforesaid cost function can be arranged to feature various aggregated performance measures, `normalized' so as to overcome differences in scale if any. Taking in account some practical limitations, a 2-DOF arm is used here as a case study. Numerical simulations are provided to substantiate the adequacy of our method.

关键词： Tuning Manipulators Robot kinematics Algorithm design and analysis PD control Particle swarm optimization

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Linear Precoding Design for MIMO-PLC systems

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Tsinghua Science and Technology 2015年第2期20卷 155-163页

作者： Jisheng Peng the State Key Lab of Control and Simulation of Power Systems and Generation Equipment Department of Electrical Engineering Tsinghua Uinversity

In this paper, we consider the design of linear precoding in Multiple Input Multiple Output （MIMO） Power Line Communication （PLC） systems with finite-alphabet input. First, we derive mutual information of MIMO-PLC systems with impulsive noise. Considering the non-concavity of the objective function and the low-cost requirement of PLC systems, we choose the lower bound of the mutual information as the objective function. Subsequently, we propose a novel approach to design the precoding scheme to reduce computational complexity. Specifically, our work primarily includes the following two contributions：（1） We design the right unitary matrix that is a product of two fixed unitary matrices, which only depends on the modulation mode. Hence, the results can be saved and require less computations. （2） For the power allocation matrix, we first reduce the space of power allocation using constraints of the optimal power allocation policy. Consequently, we propose a non-linear search method to obtain the optimal power allocation in small space. In regards to the computational complexity of the analysis, we conclude that the proposed precoding matrix design scheme has low complexity and is easy to implement. Moreover, the numerical results are proven to demonstrate the performance of the proposed precoding design scheme.

关键词： precoding design MIMO-PLC impulsive noise finite-alphabet input

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Oscillating Water Column control and Monitoring

Oscillating Water Column Control and Monitoring

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OCEANS MTS/IEEE Monterey (Conference)

作者： Izaskun Garrido Aitor J. Garrido Jon Lekube Erlantz Otaola Edorta Carrascal Automatic Control Group Department of Automatic Control and Systems Engineering EUITI de Bilbao University of the Basque Country Automatic Control Group - ACG. Inst. of Research and Development of Processes Dept. Aut. Control and Systems Eng. University of the Basque Country (UPV/EHU)

ISBN: (纸本)9781509015276

This article covers research into cost reduction pathways for wave energy. The primary focus is the development and test of reliable and controllable power take-off (PTO) technology for oscillating water column converters (OWC). This is highly relevant to the ocean energy challenge. Extensive testing via data of the NEREIDA MOWC demonstration project, a breakwater wave plant located in the Basque location of Mutriku, using Wells turbines and Doubly Fed Induction (DFIG) generators is proposed to advance wave energy converter (WEC) devices. The control tests involve the integration of the PTO technology within a new variable controller for OWC wave power generation plants. Due to the nature of the control law, it allows monitoring faults caused by parametrical errors or system disturbances. The reliability tests by means of analysing the electrical signals have been conceived as conditioning monitoring, detection of mechanical faults and hardware damaging also fulfil a secondary aim for the reduction of maintenance cost and unscheduled downtime during operation of OWC plants.

关键词： Modelling and Simulation control Wave Energy OWC Condition Monitoring

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Nonlinear control of dc/dc power converters with inherent current and power limitation

Nonlinear control of dc/dc power converters with inherent cu...

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Mediterranean Conference on control and Automation

作者： George C. Konstantopoulos Qing-Chang Zhong Department of Automatic Control and Systems Engineering The Univesity of Sheffield Sheffield S1 3JD U.K Department of Electrical and Computer Engineering Illinois Institute of Technology Chicago IL 60616 USA

ISBN: (纸本)9781467383479

A nonlinear controller with an inherent current-limiting capability is presented in this paper for different types of dc/dc power converters (boost, buck-boost). The proposed controller is based on the idea of applying a dynamic virtual resistance in series with the inductor of the converter, which varies according to a nonlinear dynamical system. It is shown that the proposed approach acts independently from the converter parameters (inductance, capacitance) or the load and has a generic structure that can be used to achieve different regulation scenarios, e.g. voltage, current or power regulation. Based on the nonlinear model of the boost and the buck-boost converter, it is analytically proven that the inductor current remains always bounded below a given maximum value using input-to-state stability theory under a suitable choice of the controller parameters. Hence, the proposed control strategy offers an inherent protection property since the power of the converter is limited below a given value during transients or unrealistic power demands. Simulation results for both types of dc/dc converters are presented to verify the desired controller performance.

关键词： Inductors Voltage control Resistance Nonlinear dynamical systems Load modeling Stability analysis Transient analysis Nonlinear dynamical systems inductors Load modeling Voltage regulation Transient analysis Converters Stability analysis nonlinear control power conversion unit Energy sources Series Resistance controllers boost converters series inductor stability theory

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Steps toward Parallel Intelligence

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IEEE/CAA Journal of automatica Sinica 2016年第4期3卷 345-348页

作者： Fei-Yue Wang Xiao Wang Lingxi Li Li Li IEEE State Key Laboratory of Management and Control for Complex Systems (SKL-MCCS) Institute of AutomationChinese Academy of Sciences (CASIA) Research Center of Computational Experiments and Parallel Systems the National University of Defense Technology Qingdao Academy of Intelligent Industries (QAII) QingdaoShandongChinaand SKL-MCCSCASIA Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis Department of Automation Tsinghua University Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies

The origin of artificial intelligence is investigated, based on which the concepts of hybrid intelligence and parallel intelligence are presented. The paradigm shift in Intelligence indicates the ''new normal'' of cyber-social-physical systems (CPSS), in which the system behaviors are guided by Merton's Laws. Thus, the ACP-based parallel intelligence consisting of Artificial societies, Computational experiments and Parallel execution are introduced to bridge the big modeling gap in CPSS. © 2014 Chinese Association of Automation.

关键词： control systems electrical engineering

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Input concentration estimation for an anaerobic digestion process using EKF and SM observers. A comparative study

Input concentration estimation for an anaerobic digestion pr...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Marian Barbu George Ifrim Emil Ceanga Sergiu Caraman Emil Petre Dan Selisteanu Department of Automation and Electrical Engineering “Dunarea de Jos” University Galati Romania Department of Automatic Control University of Craiova Craiova Romania

ISBN: (纸本)9781509027217

It is well known that in the case of the wastewater treatment bioprocesses, including anaerobic digestion process, usually, the complete knowledge of inputs is not available and therefore the implementation of the control laws becomes a difficult problem. Therefore, in the sequel, for the above mentioned process two observer structures, able to estimate the unknown concentration of the input will be presented and analyzed. The paper deals with a comparative analysis of two types of observers: a stochastic one - Extended Kalman Filter and a deterministic one - Sliding Mode Observer. The estimation methods are analyzed in realistic frame taking into consideration the presence of the measurement noise but especially the usual variations in the case of an anaerobic digestion process, such as the variation of the maximum growth rate of the microorganisms. The effectiveness of the proposed observers has been validated by numerical simulations.

关键词： Observers Mathematical model Noise measurement Process control Microorganisms Kalman filters

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Parameter-Oriented Reduction Strategies for a Thermo-Mechanical Model of Extreme Ultraviolet Reticles

Parameter-Oriented Reduction Strategies for a Thermo-Mechani...

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IEEE Multi-Conference on systems and control

作者： Can Bikcora Siep Weiland Control Systems Group Department of Electrical Engineering Eindhoven University of Technology 5600 MB The Netherlands

ISBN: (纸本)9781509007561

With the demands for shrinkage in feature sizes becoming more than ever, the extreme ultraviolet (EUV) lithography is the route pursued by the industry's leading authorities. Leaving the strive for achieving a high source power aside, we hereby consider one of the most prominent disrupters of imaging quality: heating induced deformation of EUV reticles. To diminish its detrimental effect, a model-based prediction scheme is ideally used for steering certain actuators in an EUV tool. To enable such a solution in practice, computationally fast models are required. Along this direction, we use the POD and DEIM reduction methods on finite-element-based thermal and mechanical equations that relate to a recent geometry where cooling channels are placed nearby the reticle. Several sensor measurements approximating the initial thermal state of this model are treated as parameters, and two parameter-oriented reduction methods are designed which we refer to as local reduction (LR) and decomposed reduction (DR), respectively. The former builds local simplified models based on clustering of the parameters, whereas the latter expands the terms in the model so that the reduction is independent of the parameters. The results indicate that only two sensors are sufficient for an accurate characterization of the initial condition. Furthermore, among the evaluated methods, similar accuracies were observed for various tested scenarios, and therefore, it is concluded that the LR is more suitable for this application due to its less intricate structure.

关键词： Heating Ultraviolet sources Clamps Mathematical model Geometry Computational modeling Cooling

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Vortex flows in the solar atmosphere: Automated identification and statistical analysis

arXiv

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arXiv 2017年

作者： Giagkiozis, I. Fedun, V. Scullion, E. Verth, G. School of Mathematics and Statistics University of Sheffield Hounsfield Road SheffieldS3 7RH United Kingdom Automatic Control and Systems Engineering Department University of Sheffield Mappin Road S1 3JD United Kingdom Department of Mathematics and Information Sciences Northumbria University Newcastle upon TyneNE1 8ST United Kingdom

Aims. Due to the fundamental importance of vortices on the photosphere, in this work we aim to fully automate the process of intensity vortex identification to facilitate a more robust statistical analysis of their properties. Methods. Using on-disk observational data of the Fe i continuum, the process of vortex identification is fully automated, for the first time in solar physics, with the help of an established method from hydrodynamics initially employed for the study of eddies in turbulent flows (Graftieaux et al. 2001). Results. We find that the expected lifetime of intensity vortices is much shorter (≈ 17s) compared with previously observed magnetic bright point swirls. Our findings suggest that at any time there are 1.4 × 106 such small-scale intensity vortices covering about 2.8% of the total surface of the solar photosphere. Copyright © 2017, The Authors. All rights reserved.

关键词： Vortex flow

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Constraint removal in linear MPC: An improved criterion and complexity analysis

Constraint removal in linear MPC: An improved criterion and ...

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European control Conference (ECC)

作者： Michael Jost Gabriele Pannocchia Martin Mönnigmann Automatic Control and Systems Theory Ruhr-Universität Bochum Germany Department of Civil and Industrial Engineering University of Pisa Italy

Constraint removal accelerates model predictive control by detecting inactive constraints at the yet unknown optimal solution and removing them from the online optimization problem. We show in this paper that the number of removed constraints can be increased further by generalizing previously used inactivity criteria. The proposed generalization does not depend on information available at previous time steps, and consequently can also be applied at the initial state. In addition, we provide a detailed analysis of the computational complexity of the proposed variant and of existing constraint removal methods, applied to both active-set (AS) and interior-point (IP) solvers. Finally, we compare the different constraint removal variants in numerical experiments to corroborate the complexity analysis carried out, showing the greatest benefits of the proposed variant, especially with IP solvers.

关键词： Optimization Runtime Optimal control Complexity theory Closed loop systems Upper bound Manganese

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