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American control Conference (ACC)

作者： Julian Berberich Andrea Iannelli Alberto Padoan Jeremy Coulson Florian Dörfler Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Department of Information Technology and Electrical Engineering ETH Zurich Zurich Switzerland

Willems’ Fundamental Lemma provides a powerful data-driven parametrization of all trajectories of a controllable linear time-invariant system based on one trajectory with persistently exciting (PE) input. In this paper, we present a novel proof of this result which is inspired by the classical adaptive control literature and differs from existing proofs in multiple aspects. The proof involves a quantitative and directional PE notion, allowing to characterize robust PE properties via singular value bounds, as opposed to binary rank- based PE conditions. Further, the proof is constructive, i.e., we derive an explicit PE lower bound for the generated data. As a contribution of independent interest, we generalize existing PE results from the adaptive control literature and reveal a crucial role of the system’s zeros.

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Phase Limitations of Multipliers at Harmonics via Frequency Intervals

Phase Limitations of Multipliers at Harmonics via Frequency ...

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IEEE Conference on Decision and control

作者： William P. Heath Joaquin Carrasco Department of Electrical and Electronic Engineering Control Systems Centre Engineering Building A University of Manchester UK

The absolute stability of a Lurye system with a monotone nonlinearity is guaranteed by the existence of a suitable $\mathbf{O}$ 'Shea − Zames-Falb (OZF) multiplier. A numerically tractable phase condition has recently been proposed under which there can be no suitable OZF multiplier for the transfer function of a given continuous-time plant. The condition has been derived via the so-called duality approach. Here we show that the condition may also be derived from an established frequency interval approach providing an important link between the two hitherto distinct approaches. We show that it leads to significantly improved results compared with the frequency interval approach on a benchmark example.

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Multivariable control of modular multilevel converters with convergence and safety guarantees

arXiv

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arXiv 2024年

作者： Dreke, Victor Daniel Reyes Marca, Ygor Pereira Roes, Maurice Lazar, Mircea Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Netherlands Electromechanics and Power Electronics Group Department of Electrical Engineering Eindhoven University of Technology Netherlands

Well-designed current control is a key factor in ensuring the efficient and safe operation of modular multilevel converters (MMCs). Even though this control problem involves multiple control objectives, conventional current control schemes are comprised of independently designed decoupled controllers, e.g., proportional-integral (PI) or proportional-resonant (PR). Due to the bilinearity of the MMC dynamics, tuning PI and PR controllers so that good performance and constraint satisfaction are guaranteed is quite challenging. This challenge becomes more relevant in an AC/AC MMC configuration due to the complexity of tracking the single-phase sinusoidal components of the MMC output. In this paper, we propose a method to design a multivariable controller, i.e., a static feedback gain, to regulate the MMC currents. We use a physics-informed transformation to model the MMC dynamics linearly and synthesise the proposed controller. We use this linear model to formulate a linear matrix inequality that computes a feedback gain that guarantees safe and effective operation, including (i) limited tracking error, (ii) stability, and (iii) meeting all constraints. To test the efficacy of our method, we examine its performance in a direct AC/AC MMC simulated in Simulink/PLECS and in a scaled-down AC/AC MMC prototype to investigate the ultra-fast charging of electric vehicles. Copyright © 2024, The Authors. All rights reserved.

关键词： Linear matrix inequalities

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Robust control Design for a linearized model of a LIGO subsystem

Robust Control Design for a linearized model of a LIGO subsy...

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European control Conference (ECC)

作者： Ashmita Roy Nishant Mittal Ravi N. Banavar Systems and Control Engineering IIT Bombay India Department of Electrical Engineering IIT Bombay India

Laser Interferometer Gravitational wave Observatory (LIGO) is a gravitational wave antenna used to detect the infinitesimal contraction and expansion of space by a passing gravitational wave. LIGO comprises several subsystems which isolate the optics from seismic noise. Of these, we focus on the quadruple pendulum suspension system and attempt to design a stabilizing controller for a simpler version of the system, the two wire simple pendulum. A nonlinear model of the two wire simple pendulum based on the Euler-Lagrange theory is derived. This is linearised about an equilibrium and a stabilising controller using a robust control paradigm called $H_{\infty} $ synthesis, is explored as a candidate design paradigm for the two wire simple pendulum. In particular, in this broad framework of $H_{\infty} $ synthesis we adopt a technique called coprime factorisation. Different types of uncertainties like parametric and nonlinear uncertainties have also been considered and an upper bound on the nonlinear uncertainties in the system is determined

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Multivariable control of ac/ac modular multilevel converters under square wave operation using Fourier expansion

Multivariable control of ac/ac modular multilevel converters...

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International (EPE-PEMC) Power Electronics and Motion control Conference

作者： Victor Daniel Reyes Dreke Ygor Pereira Marca Kaveh Pouresmaeil Maurice Roes Mircea Lazar Department of Electrical Engineering Control Systems Group Eindhoven University of Technology The Netherlands Department of Electrical Engineering Electromechanics and Power Electronics Group Eindhoven University of Technology The Netherlands

ISBN: (数字)9798350385236

ISBN: (纸本)9798350385243

Nowadays, modular multilevel converters (MMCs) with AC voltage output, i.e., AC/AC MMCs, have emerged as a promising alternative for grid-connected applications. Among them, MMCs operating under square waves, i.e., AC/SQR MMCs, present a unique advantage, i.e., having lower pulsating power and fewer modules. However, tracking nonlinear periodic references, i.e., the square-shaped signals, imposes some challenges when designing the MMC controller. This paper proposes a multivariable controller, i.e., static feedback gain, designed to regulate the currents of the AC/SQR MMC. To address the nonlinear dynamics resulting from square-shaped signals, we use the Fourier expansion to create a linear model of the system. Employing the obtained model, a linear matrix inequality (LMI) is solved for synthesizing a controller that guarantees exponential convergence and constraint satisfaction inside a domain of attraction. Simulation validation is conducted on a high-fidelity model built on Simulink/PLECS of a downscaled MMC prototype dedicated to ultra-fast charging of electric vehicles. Finally, we show the efficacy of the controller in keeping low pulsating power, i.e., 44.4% lower than the AC/AC MMCs.

关键词： Multilevel converters Prototypes Power system stability Reliability engineering Stability analysis Power electronics Nonlinear dynamical systems Linear matrix inequalities Motion control Thermal stability

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Haptic object identification for advanced manipulation skills 9th

Haptic object identification for advanced manipulation skill...

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9th International Conference on Biomimetic and Biohybrid systems, Living Machines 2020

作者： Gabler, Volker Maier, Korbinian Endo, Satoshi Wollherr, Dirk Automatic Control Engineering Munich Germany Information Oriented Control Department of Electrical and Computer Engineering Technical University of Munich Munich Germany

ISBN: (纸本)9783030643126

In order to identify the characteristics of unknown objects, humans-in contrast to robotic systems-are experts in exploiting their sensory and motoric abilities to refine visual information via haptic perception. While recent research has focused on either estimating the geometry or material properties, this work strives to combine these aspects by outlining a probabilistic framework that efficiently refines initial knowledge from visual sensors by generating a belief state over the object shape while simultaneously learn material parameters. Specifically, we present a grid-based and a shape-based exploration strategy, that both apply the concepts of Bayesian-Filter theory in order to decrease the uncertainty. Furthermore, the presented framework is able to learn about the geometry as well as to distinguish areas of different material types by applying unsupervised machine learning methods. The experimental results from a virtual exploration task highlight the potential of the presented methods towards enabling robots to autonomously explore unknown objects, yielding information about shape and structure of the underlying object and thus, opening doors to robotic applications where environmental knowledge is limited. © Springer Nature Switzerland AG 2020.

关键词： Autonomous agents

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A Novel Cutting Fluids Performance Assurance System for CNC Machine Tools

A Novel Cutting Fluids Performance Assurance System for CNC ...

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International automatic control Conference

作者： You-Syuan Chou Yi-Shiang Chen Fu-Yu Chiang Chen-Yen Yang Zhe-Xun Shi Yu-Sheng Lin Shang-Chih Lin Shun-Feng Su Yennun Huang Institute of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Electrical Engineering National Taiwan University of Science and Technology Taipei Taiwan Research Center for Information Technology Innovation Academia Sinica Taipei Taiwan

ISBN: (数字)9798350354904

ISBN: (纸本)9798350354911

In the CNC machine tool industry, cutting fluid is a crucial component of the machining process. Nevertheless, as the duration of cutting fluid use increases, its performance progressively deteriorates, presenting a significant challenge that necessitates resolution. This study introduces an innovative intelligent monitoring system designed to optimize the preparation of cutting fluid in CNC machine tools. The aim is to extend the fluid’s service life, mitigate tool wear, and address issues arising from fluid degradation. The system integrates a heating plate, sensors, pumping motors, and embedded systems to monitor and manage the cutting fluid effectively. Testing was conducted using a customdesigned container, and data analysis identified the optimal supply strategy, thereby extending the usable lifespan of the cutting fluid. This system enhances production longevity and allows for the configuration of containers with appropriate capacities based on specific requirements, ensuring consistent and high-quality production.

关键词： Temperature measurement Temperature sensors Temperature distribution Lubricants Production Containers Sensor systems Machine tools Monitoring Testing

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Contrast enhancement of optical videoscope images

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Iran Journal of Computer Science 2023年第3期6卷 261-275页

作者： Ammar, Reda Aboshosha, Sahar El-Hag, Noha A. Saifeldeen, Reda El-Shafai, Walid El-Banby, Ghada M. Ashiba, Huda I. Khalaf, Ashraf A. M. Elazm, Atef Abou El-Rabaie, El-Sayed M. Abd El-Samie, Fathi E. El-Safrawey, Amir Department of Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf 32952 Egypt Department of Electronics and Electrical Comm. Faculty of Engineering Minia University Minya Egypt Department of Management of Information Systems Higher Institute of Commercial Science El-Mahala El-Kobra Egypt Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Menouf 32952 Egypt Department of Electronics and Electrical Communications Engineering Bilbis Higher Institute of Engineering Sharqia Bilbis Egypt Security Engineering Laboratory Computer Science Department Prince Sultan University Riyadh 11586 Saudi Arabia Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh 11671 Saudi Arabia

The videoscope (VS) images have poor quality and low contrast. Hence, in this paper, three proposed frameworks to improve the quality of VS images are presented. The first framework depends on contrast-limited adaptive histogram equalization (CLAHE) with adaptive gamma correction. The second framework depends on homomorphic processing. The third framework is based on the homomorphic enhancement with histogram equalization. The first one is superior from the entropy perspective, while the third one is superior from the contrast perspective. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2023.

关键词： Fuzzy enhancement Histogram equalization Homomorphic enhancement Spectral entropy

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Path planning with moving obstacles using stochastic optimal control

arXiv

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arXiv 2025年

作者： Jafari, Seyyed Reza Hansson, Anders Wahlberg, Bo Division of Automatic Control Department of Electrical Engineering Linköping University LinköpingSE-581 83 Sweden Division of Decision and Control Systems KTH Royal Institute of Technology StockholmSE-100 44 Sweden

Navigating a collision-free, optimal path for a robot poses a perpetual challenge, particularly in the presence of moving objects such as humans. In this study, we formulate the problem of finding an optimal path as a stochastic optimal control problem. However, obtaining a solution to this problem is nontrivial. Therefore, we consider a simplified problem, which is more tractable. For this simplified formulation, we are able to solve the corresponding Bellman equation. However, the solution obtained from the simplified problem does not sufficiently address the original problem of interest. To address the full problem, we propose a numerical procedure where we solve an optimization problem at each sampling instant. The solution to the simplified problem is integrated into the online formulation as a final-state penalty. We illustrate the efficiency of the proposed method using a numerical example. Copyright © 2025, The Authors. All rights reserved.

关键词： Stochastic systems

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When Does Sora Show:The Beginning of TAO to Imaginative Intelligence and Scenarios engineering

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IEEE/CAA Journal of automatica Sinica 2024年第4期11卷 809-815页

作者： Fei-Yue Wang Qinghai Miao Lingxi Li Qinghua Ni Xuan Li Juanjuan Li Lili Fan Yonglin Tian Qing-Long Han School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China Department of Electrical and Computer Engineering Indiana University-Purdue University IndianapolisIndianapolisIN 46202USA Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China Virtual Reality Fundamental Research Laboratory Department of Mathematics and TheoriesPeng Cheng LaboratoryShenzhen 518000China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia

DURING our discussion at workshops for writing“What Does ChatGPT Say:The DAO from Algorithmic Intelligence to Linguistic Intelligence”[1],we had expected the next milestone for Artificial Intelligence(AI)would be in the direction of Imaginative Intelligence(II),i.e.,something similar to automatic wordsto-videos generation or intelligent digital movies/theater technology that could be used for conducting new“Artificiofactual Experiments”[2]to replace conventional“Counterfactual Experiments”in scientific research and technical development for both natural and social studies[2]-[6].Now we have OpenAI’s Sora,so soon,but this is not the final,actually far away,and it is just the beginning.

关键词： something Intelligence replace

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