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arXiv 2024年

作者： Engelaar, Maico H.W. Swaanen, M.P.P. Lazar, M. Haesaert, S. Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Netherlands

This paper presents a stochastic model predictive control (SMPC) algorithm for linear systems subject to additive Gaussian mixture disturbances, with the goal of satisfying chance constraints. To synthesize a control strategy, the stochastic control problem is reformulated into an MPC problem. The reformulation begins by decoupling the mixture distribution and decomposing the system dynamics. Using stochastic simulation relations, we then redefine the stochastic control problem onto the resultant abstract system. Next, constraint tightening forms an MPC problem subject to finite disturbances. A branching control is introduced to solve the MPC problem. Finally, a controller refinement procedure determines a valid control strategy. Our contribution is an extension of the SMPC literature to accommodate Gaussian mixture disturbances while retaining recursive feasibility and closed-loop guarantees. We illustrate the retention of guarantees with a case study of vehicle control on an ill-maintained road. © 2024, CC BY-NC-ND.

关键词： Predictive control systems

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A frequency-domain approach for estimating continuous-time diffusively coupled linear networks

arXiv

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arXiv 2024年

作者： Liang, Desen Kivits, E.M.M. Schoukens, Maarten Van den Hof, Paul M.J. Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Netherlands

This paper addresses the problem of consistently estimating a continuous-time (CT) diffusively coupled network (DCN) to identify physical components in a physical network. We develop a three-step frequency-domain identification method for linear CT DCNs that allows to accurately recover all the physical component values of the network while exploiting the particular symmetric structure in a DCN model. This method uses the estimated noise covariance as a non-parametric noise model to minimize variance of the parameter estimates, obviating the need to select a parametric noise model. Moreover, this method is extended to subnetworks identification, which enables identifying the local dynamics in DCNs on the basis of partial measurements. The method is illustrated with an application from In-Circuit Testing of printed circuit boards. Experimental results highlight the method's ability to consistently estimate component values in a complex network with only a single excitation. © 2024, CC BY-NC-ND.

关键词： Continuous time systems

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Constrained Synchronization of Multi-Agent systems Using Distributed MPC and Invariant Families of Terminal Sets

Constrained Synchronization of Multi-Agent Systems Using Dis...

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European control Conference (ECC)

作者： Shiqi Duan Victor Daniel Reyes Dreke Mircea Lazar Department of Electrical Engineering Control Systems Group Eindhoven University of Technology The Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

In this paper, we present a synchronizing DMPC scheme that employs two ingredients: (i) a cost function that penalizes the deviation of the MPC control input from an unconstrained synchronization control law based on algebraic graph theory and (ii) an invariant family of constraints admissible terminal sets for MASs in closed-loop with an unconstrained synchronization control law. We prove that the developed DMPC scheme with a shrinking prediction horizon guarantees finite-time controllability to a family of invariant terminal sets and recursive feasibility. Compared to existing LMI methods for computing a family of constraints admissible invariant sets, we reduce conservatism by exploiting specific graph properties common to MASs. The developed DMPC algorithm for achieving constrained synchronization is tested in different benchmark examples, including balancing capacitor voltages for modular multilevel converters and harmonic oscillators, yielding faster synchronization.

关键词： Multilevel converters Laplace equations Prediction algorithms Harmonic analysis Graph theory Synchronization Communication networks

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Camera-based light source localization for precise luminous intensity measurement of airport lamps

Camera-based light source localization for precise luminous ...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Kacper Podbucki Tomasz Marciniak Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawła II 24 Poznan University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

Measuring luminous intensity using electronic sensors requires their precise positioning. In the case of mobile measurement platforms, it is important to detect the light source and thus determine the correct direction of movement of the measuring device. This article presents research on a solution for the initial detection of glowing airport lamps based on camera images. The impact of the selection of parameters and image processing methods on the prepared data set was assessed. The histogram filtration method was introduced to improve the effectiveness of airport lamp localization. The proposed solution was investigated in different weather and daytime conditions. The overall accuracy of the proposed solution is more than ${9 0 \%}$.

关键词： Location awareness Histograms Accuracy Filtration Signal processing algorithms Airports Sensors Meteorology Light sources Erosion

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Tabular Dyna-Q Algorithm for Online Calculation of LQR Gains: A Simulation Study 9

Tabular Dyna-Q Algorithm for Online Calculation of LQR Gains...

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9th International Conference on engineering and Emerging Technology, ICEET 2023

作者： Farooghi, Kian Samadi, Mahdieh Khaloozadeh, Hamid K. N. Toosi University of Technology Department of Systems and Control Tehran Iran University of Tabriz Faculty of Electrical and Computer Engineering Tabriz Iran

ISBN: (纸本)9798350316926

This paper presents a novel approach for the online calculation of Linear Quadratic Regulator (LQR) gains using the Tabular Dyna-Q algorithm. By leveraging Q-learning, this technique enables the determination of gains for unknown dynamic systems by using input-output data only. The proposed algorithm is particularly advantageous for situations where acquiring input-output data is expensive or time-consuming, as it effectively reduces computation time by reusing previous data. To validate the accuracy of the calculations and control scheme, a simulation example is provided. The results indicate the effectiveness of the Tabular Dyna-Q algorithm in accurately computing LQR gains and its potential application in real-world scenarios. This research contributes to advancing the field of control theory by offering an efficient and reliable method for online gain calculation in dynamic systems. © 2023 IEEE.

关键词： Reinforcement learning

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Virtual power circle based PQ decoupling technique for a virtual synchronous generator connected to a weak grid

Virtual power circle based PQ decoupling technique for a vir...

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Power Tech Conference

作者： Daniel Angelo Kisinga Paul Trodden Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

High penetration of renewable energy (RE) generations in power systems results into a low inertia-weak power grid. To increase inertia of the latter systems, the RE to grid interfacing inverters can be operated to mimic synchronous generators. This technology is known as virtual synchronous generator (VSG). However, as the grid weakens there is severe coupling between active power (P) and reactive power (Q). Hence, a VSG requires a PQ decoupling technique for its successful operation under this case (connection to the weak power grid). Therefore, this paper proposes a virtual power circle with variable center and radius for independent control of both P and Q. The method is implemented using virtual impedance. The efficacy of the proposed scheme to decouple PQ is validated using a synchronverter connected to the weak grid in MATLAB/Simulink environment.

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Adaptive Iterative Learning control for Robotic Manipulators

Adaptive Iterative Learning Control for Robotic Manipulators

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UKACC International Conference on control (control)

作者： Yu Dou Emmanuel Prempain Lanlan Su School of Engineering University of Leicester Leicester United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (数字)9798350374261

ISBN: (纸本)9798350374278

A refined control scheme is presented to optimise the trajectory-tracking performance of robotic manipulators. This strategy integrates a linear feedback controller and a feedforward learning controller. The former mitigates unknown disturbances and desensitises the system to unidentified parameters, while the latter enhances tracking efficiency by incorporating past tracking errors. Traditionally, a fixed learning gain is used in the learning law to update the control input. However, we modify the learning law in this study by applying an adaptive learning gain. Our simulations on a robotic manipulator demonstrate that the adaptive ILC algorithm surpasses the classical ILC algorithm concerning convergence speed. These findings highlight the advantages of our approach, showcasing its extensive applicability in trajectory tracking.

关键词： Adaptive learning Adaptation models Trajectory tracking Manipulators Feedforward systems Adaptive control Convergence

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A Simplified SVM-DTC Algorithm Based on Integral Derivative Sliding Mode control for electrical Machines

A Simplified SVM-DTC Algorithm Based on Integral Derivative ...

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International Conference on Advanced systems and Electric Technologies (IC_ASET)

作者： Saber KRIM Mohamed Faouzi MIMOUNI ISSAT of Kasserine University of Kairouan Kairouan Tunisia Laboratory of Automatic Electrical Systems and Environment (LASEE) University of Monastir Monastir Tunisia Department of Electrical Engineering Laboratory of Automatic Electrical Systems and Environment (LASEE) National Engineering School of Monastir Monastir Tunisia

ISBN: (数字)9798350384895

ISBN: (纸本)9798350384901

This paper presents a novel approach for achieving high-speed processing of Integral Derivative Sliding Mode Speed controller (IDSMSC) based Space Vector Modulation Direct Torque control (SVM-DTC) algorithm using a Field-Programmable Gate Arrays (FPGA) for controlling an Induction Motor (IM). As a first contribution in this work, the proposed IDSMSC aims to enhance the dynamic response and robustness of IM drive through the utilization of IDSMSC technique, known for its superior performance in tracking reference signals and rejecting disturbances. The second contribution consists in implementing the proposed SVM-DTC-IDSMSC algorithm on an FPGA platform. Indeed, significant improvements in processing speed and real-time responsiveness will be attained, enabling efficient execution of complex control strategies. In fact, the integration of FPGA technology ensures precise timing synchronization and parallel processing capabilities, facilitating rapid computation of control actions with minimal latency, which consequently reduce the ripples in the torque and the harmonics in the current. Through simulation studies using Xilinx System Generator toolbox under Matlab environment and performance analysis, the effectiveness and feasibility of the proposed approach are demonstrated, highlighting its potential for high-performance control applications in industrial settings.

关键词： Torque Uncertainty Heuristic algorithms Torque control Process control Generators Vectors

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LQR-PID control Design of a Buck Converter 8

LQR-PID Control Design of a Buck Converter

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8th Southern Power Electronics Conference and the 17th Brazilian Power Electronics Conference, SPEC / COBEP 2023

作者： Torres-Pinzón, Carlos A. Flores-Bahamonde, F. Ramírez-Murillo, H. López-Santos, Oswaldo Mojica-Casallas, C.J. Davari, S. Alireza Universidad Santo Tomás Faculty of Electronic Engineering Colombia Universidad Andres Bello Faculty of Enigineering Energy Transformation Center Chile Universidad de la Salle Faculty of Engineering Department of Electrical Engineering Bogotá Colombia Rovira i Virgili University Group of Automatic Control and Industrial Electronics Tarragona Spain Shahid Rajaee Teacher Training University Department of Electrical Engineering Tehran Iran

ISBN: (纸本)9798350321128

In this paper, an optimal proportional integral derivative (PID) controller based on a linear quadratic regulator (LQR) is proposed for the regulation of the output voltage of a buck converter. Specifically, the work proposes to determine the gains of the PID controller through an LQR state feedback technique, formulated as a Linear Matrix Inequality (LMI), which allows for ensuring stability and guarantee a predefined performance index. Simulation results using PSIM are presented validating the theoretical study. © 2023 IEEE.

关键词： Buck converter LMI LQR-PID control PID control

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Towards experimental insight into magnetic flux distribution within the air gap of permanent magnet synchronous drive

Towards experimental insight into magnetic flux distribution...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Hubert Milanowski Adam Krzysztof Piłat Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics AGH University of Krakow Krakow Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

This report explores the experimental identification of magnetic flux density within the motor air gap, focusing on the development of a robot-based approach to automate the scanning procedure. Emphasis is placed on analyzing the distribution of magnetic flux within the motor’s spatial air gap, as well as the amplification of harmonics resulting from changes in air gap orientation. Drawing upon experimental findings, a model is proposed to illustrate the three-dimensional distribution of magnetic flux within the gap.

关键词： Solid modeling Magnetic flux density Automation Atmospheric modeling Air gaps Rotors Drives

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