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A note on a ode model of micro rna-dependent regulation of messenger rna levels

UPB Scientific Bulletin, Series A: Applied Mathematics and Physics 2021年第4期83卷 171-176页

作者： Olteanu, Mircea Ştefan, Radu Department of Mathematical Methods and Models Faculty of Applied Sciences University "Politehnica" of Bucharest Romania Department of Automatic Control and Systems Engineering Faculty of Automatic Control and Computer Science University "Politehnica" of Bucharest Romania

We study the qualitative behavior (invariance, boundedness and equilibria) of the solutions of a mathematical model describing the dynamics of microRNA AGO complexes and mRNA targets interaction. © 2021, Politech... 详细信息

关键词： Ordinary differential equations

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Robust Sliding Mode control of a Quadrotor With Disturbance Rejection for Enhanced Stability and Performance

Robust Sliding Mode Control of a Quadrotor With Disturbance ...

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International Conference on Robotics and Artificial Intelligence (ICRAI)

作者： Hameed Ullah Owais Zarin Irfan Ahmad Sarfraz Ahmad Ansar Abbas Vincenzo Lippiello Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy Department of Electrical Engineering Riphah International University Islamabad Pakistan ACG Department of Automatic Control and Systems Engineering Automatic Control Group School of Bilbao - EIB/BIE University of the Basque Country - UPV/EHU Bilbao Spain Department of Electrical Engineering CEME National University of Sciences and Technology (NUST) Islamabad Pakistan

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

This research presents a comprehensive analysis of quadrotor stabilization and trajectory tracking control using Proportional-Integral-Derivative (PID) and Sliding Mode control (SMC) with integrated disturbance rejection. The nonlinear dynamics of the quadrotor are formulated using the Newton-Euler approach, accounting for six degrees of freedom. The PID controller is implemented as a baseline, while the SMC is designed for enhanced robustness to model uncertainties and external perturbations, with a disturbance observer for managing time-varying disturbances. A rigorous Lyapunov stability proof ensures global asymptotic stability of the SMC-controlled system. Extensive simulations evaluate both controllers in terms of tracking accuracy, control effort, and robustness to external disturbances. Results show that SMC outperforms PID in dis-turbance rejection, tracking accuracy, and robustness, making it ideal for UAV applications in complex environments.

关键词： Asymptotic stability Accuracy Uncertainty Trajectory tracking Robustness Stability analysis PD control Sliding mode control Quadrotors Lyapunov methods

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A Multi-stage Design Approach for Optimizing a PMSG-based Grid-connected Ocean Wave Energy Conversion System

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Protection and control of Modern Power systems 2024年第6期9卷 122-142页

作者： Muhammad Noman Guojie Li Muhammad Waseem Khan Keyou Wang Bei Han the Key Laboratory of Control of Power Transmission and Conversion Ministry of Education(MOE)the Department of Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200030China the Interdisciplinary Re-search Center for Sustainable Energy Systems(IRC-SES) King Fahd University of Petroleum&MineralsDhahran 31261Saudi Arabia

Fully harnessing the ocean wave’s renewable energy resources could benefit coastal ***,ocean wave energy harvesting systems encounter several challenges,i.e.,marine uncertainties,long-distance mainte-nance,power fluctuations,irregular wave currents,non-linear generator dynamics,turbine limitations,cost optimization,and power smoothing *** overcome these challenges,this paper proposes a new multi-stage con-trol design approach for performance evaluation of the os-cillating water column(OWC)-based ocean wave energy conversion(OWEC)*** first stage optimizes the Wells turbine by implementing an efficient airflow control *** achieves maximum power-harvesting ability by eliminating stalling *** the second stage,we investigate the robustness of the permanent magnet syn-chronous generator-based OWEC system by designing adaptive back-stepping controllers,taking into account the Lyapunov stability *** accomplishes precise speed regulation for optimal power extraction while delivering reduced delay response and percentage *** ensure the OWEC system’s availability,the third stage incorporates fault-ride-through *** executes a fault reconfig-urable control for a parallel converter configuration,elimi-nating only the faulty leg instead of the entire power *** the fourth stage,a supercapacitors-based energy management system achieves power smoothing,even when the OWC plant output power *** accomplish this by implementing a model predictive control ***,the Matlab/Simulink results verify that the presented mul-ti-stage control for the OWC OWEC system is an effective design approach,offering an optimal,robust,reliable,and power-smoothing solution.

关键词： Ocean wave energy oscillating water column Wells turbine adaptive control fault-tolerant control energy management system.

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Development of an "Artificial Lung" System for Use in Indoor Air Quality Testing 21st

Development of an "Artificial Lung" System for Use in Indoor...

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21st Polish control Conference, PCC 2023

作者： Kozyra, Andrzej Lipczynska, Aleksandra Koper, Piotr Babisz, Radoslaw Madej, Damian Nowakowski, Konrad Karwatka, Jakub Tomczok, Dominik Department of Measurements and Control Systems Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland Department of Heating Ventilation and Dust Removal Technology Faculty of Energy and Environmental Engineering Silesian University of Technology Gliwice Poland

ISBN: (纸本)9783031351693

"Artificial lung" is a device that simulates breathing process of occupants in a room. This allows you to safely test, e.g., the impact of HVAC systems on the spread of pathogens. The paper describes the concept of the device, its construction and performed tests. The project was implemented by students of two faculties: automatic control, Electronics and Computer Science, and Energy and Environmental engineering. Project supervisors from both faculties provided substantive supervision and support for students. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Air quality

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CAMETA: Conflict-Aware Multi-Agent Estimated Time of Arrival Prediction for Mobile Robots

arXiv

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arXiv 2025年

作者： Sejersen, Jonas le Fevre Kayacan, Erdal Department of Electrical and Computer Engineering Aarhus University Aarhus C8000 Denmark Automatic Control Group Department of Electrical Engineering and Information Technology Paderborn University Paderborn Germany

This study presents the conflict-aware multi-agent estimated time of arrival (CAMETA) framework, a novel approach for predicting the arrival times of multiple agents in unstructured environments without predefined road infrastructure. The CAMETA framework consists of three components: a path planning layer generating potential path suggestions, a multi-agent ETA prediction layer predicting the arrival times for all agents based on the paths, and lastly, a path selection layer that calculates the accumulated cost and selects the best path. The novelty of the CAMETA framework lies in the heterogeneous map representation and the heterogeneous graph neural network architecture. As a result of the proposed novel structure, CAMETA improves the generalization capability compared to the state-of-the-art methods that rely on structured road infrastructure and historical data. The simulation results demonstrate the efficiency and efficacy of the multi-agent ETA prediction layer, with a mean average percentage error improvement of 29.5% and 44% when compared to a traditional path planning method (A∗) which does not consider conflicts. The performance of the CAMETA framework shows significant improvements in terms of robustness to noise and conflicts as well as determining proficient routes compared to state-of-the-art multi-agent path planners. © 2025, CC BY.

关键词： Mobile robots

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An Integrated Observer Framework Based Mechanical Parameters Identification for Adaptive control of Permanent Magnet Synchronous Motor

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Complex System Modeling and Simulation 2022年第4期2卷 354-367页

作者： Zhong Liao Zhaohua Liu Lei Chen Mingyang Lyu Dian Wang Faming Wu Zhengheng Wang Hualiang Wei the School of Information and Electrical Engineering Hunan University of Science and TechnologyXiangtan 411201China the Wind Power Business Division CRRC Zhuzhou Institute Co.Ltd.Zhuzhou 412001China. the Department of Automatic Control and Systems Engineering University of SheffieldSheffieldS13JDUK.

An integrated observer framework based mechanical parameters identification approach for adaptive control of permanent magnet synchronous motors is proposed in this ***,an integrated observer framework is established for mechanical parameters’estimation,which consists of an extended sliding mode observer(ESMO)and a Luenberger *** at minimizing the influence of parameters coupling,the viscous friction and the moment of inertia are obtained by ESMO and the load torque is identified by Luenberger observer *** obtaining estimates of the mechanical parameters,the optimal proportional integral(PI)parameters of the speed-loop are determined according to third-order best design *** a result,the controller can adjust the PI parameters in real time according to the parameter changes to realize the adaptive control of the ***,the disturbance is compensated according to the ***,the experiments were carried out on simulation platform,and the experimental results validated the reliability of parameter identification and the efficiency of the adaptive control strategy presented in this paper.

关键词： parameter identification permanent magnet synchronous motor adaptive control extended sliding mode observer Luenberger observer

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Lyapunov-Inspired Deep Reinforcement Learning for Robot Navigation in Obstacle Environments

Lyapunov-Inspired Deep Reinforcement Learning for Robot Navi...

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Computational Intelligence on engineering/Cyber Physical systems (CIES), IEEE Symposium on

作者： Halil Ibrahim Ugurlu Adrian Redder Erdal Kayacan Department of Electrical and Computer Engineering Aarhus University Aarhus Denmark Department of Automatic Control Paderborn University Paderborn Germany

ISBN: (数字)9798331508272

ISBN: (纸本)9798331508289

The inherent black-box nature of deep reinforcement learning (DRL) poses challenges in ensuring safety constraints. This paper, therefore, introduces a DRL reward design inspired by Lyapunov stability theory for safe robot navigation in the presence of obstacles. The navigation problem is formulated as a state-space control problem with close obstacle locations integrated into the state representation. To ensure safe obstacle avoidance, we introduce a novel reward-shaping strategy utilizing a Lyapunov function that discourages fast movement toward obstacles. Our numerical experiments demonstrate the effectiveness of the reward design strategy compared to baselines in achieving consistent superior learning with higher mission completion rates while maintaining speeds closer to a desired target speed. In addition, we show that our reward design enables a generally smaller choice for the discount factor for value-function-based DRL algorithms, which can lead to faster convergence. This is possible since the reward design merely penalizes the one-step decay of the Lyapunov function. Furthermore, policy training simulations employ an early episode termination method to constrain exploration and add more valuable samples to the DRL training replay memory. Finally, real-world experiments with a quadrotor validate the ability of our method to safely navigate around varying densities of obstacles. The proposed method consistently takes cautious maneuvers near obstacles by slowing down, achieving greater obstacle clearance compared to baseline, although with an increase in mission completion time.

关键词： Training Navigation Deep reinforcement learning Safety Planning Collision avoidance Robots Lyapunov methods Quadrotors Convergence

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The Fundamental Limitations of Learning Linear-Quadratic Regulators

The Fundamental Limitations of Learning Linear-Quadratic Reg...

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IEEE Conference on Decision and control

作者： Bruce D. Lee Ingvar Ziemann Anastasios Tsiamis Henrik Sandberg Nikolai Matni Department of Electrical and Systems Engineering University of Pennsylvania Automatic Control Laboratory ETH Zurich Division of Decision and Control Systems KTH Royal Institute of Technology

We present a local minimax lower bound on the excess cost of designing a linear-quadratic controller from offline data. The bound is valid for any offline exploration policy that consists of a stabilizing controller and an energy bounded exploratory input. The derivation leverages a relaxation of the minimax estimation problem to Bayesian estimation, and an application of van Trees inequality. We show that the bound aligns with system-theoretic intuition. In particular, we demonstrate that the lower bound increases when the optimal control objective value increases. We also show that the lower bound increases when the system is poorly excitable, as characterized by the spectrum of the controllability gramian of the system mapping the noise to the state and the $\mathcal{H}_{\infty}$ norm of the system mapping the input to the state. We further show that for some classes of systems, the lower bound may be exponential in the state dimension, demonstrating exponential sample complexity for learning the linear-quadratic regulator.

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A Model of 6-10 kV Power Three-Core Cable for the Research of ITS Heating-Up in Normal and Emergency Operating Modes 4

A Model of 6-10 kV Power Three-Core Cable for the Research o...

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4th International Youth Scientific and Technical Conference Relay Protection and Automation, RPA 2021

作者： Kutumov, D.Yu. Mizonov, V.E. Yu, Shadrikova T. Shuin, V.A. Ivanovo State Power Engineering University Automatic Control of Electrical Power Systems Department Ivanovo Russia

ISBN: (纸本)9781728192703

One of the most significant consequences of short circuits and single phase to earth faults in 6-10 kV cable networks is cable insulation heating, which provides its further deflagration and damage of neighboring power supply systems' elements, which steps up consequential injury. Cable lines overheating during current overload leads to rapid insulation deterioration and cable lines damage rate increasing;similarly, cable heating during single phase to earth faults leads to its transformation to phase-to-phase short circuit, which requires faulted cable line emergency shutdown by relay protection devices operation and, moreover, can aid in cable deflagration when it is installed inside cable tunnels. Reference documents contain several calculation methods for cable line temperature definition both in steady-state and transient modes [1,2]. The main disadvantages of these methods are sufficiently restricted application sphere (only for symmetrical modes) and impossibility for accurate records of thermal conductivity and other thermophysical and geometric parameters of the researched cable line and external environment (soil, air, etc). For the solution of this problem an approach, which was described by F.H. Van Wormer in the 1950s [3] and also mentioned in [4-6], exists. According to this approach, the heated cable line and external environment are presented in the form of equivalent RC-branches, which simulates the process of transition and accumulation of heat. Nevertheless, during composition of such models an issue of computational space size and appropriate sampling rate of elementary RC-branches definition occurs. The model of cable line and external environment on the basis of so-called 'Markov's chains' [for example, 5] is also the case of interest, because it will allow to research qualitative characteristics of the system 'cable line-the external environment' in the context of its electromagnetic heating. The main goal of this research is to compile a digi

关键词： Thermal conductivity

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A LESO Based Backstepping controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

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Journal of systems Science & Complexity 2024年第5期37卷 1789-1808页

作者： CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6R2G7Canada The Tokyo Institute of Technology Yokohama 226-8502Japan

In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of *** this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary ***,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is *** an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam *** on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary ***,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.

关键词： Backstepping extended state observer hydraulic tunnel drilling machine rotary speed

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