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Tracking-in-range Formulations for Numerical Optimal control

IFAC-PapersOnLine 2024年第18期58卷 53-58页

作者： Nikilesh Ramesh Eric C. Kerrigan Yuanbo Nie Interdisciplinary Programmes in Engineering University of Sheffield S10 2TN Sheffield UK Department of Electrical & Electronic Engineering and Department of Aeronautics Imperial College London SW7 2AZ London UK Department of Automatic Control and Systems Engineering University of Sheffield S10 2TN Sheffield UK

In contrast to set-point tracking which aims to reduce the tracking error between the tracker and the reference, tracking-in-range problems only focus on whether the tracker is within a given range around the reference, making it more suitable for the mission specifications of many practical applications. In this work, we present novel optimal control formulations to solve tracking-in-range problems, for problems requiring the tracker to be always in range, as well as problems allowing the tracker to go out of range, which yield overall better outcomes. Since the problem naturally involves discontinuous functions, we present alternative formulations and regularisation strategies to improve the performance of numerical solvers. The extension to in-range tracking with multiple trackers and in-range tracking in high-dimensional space are also discussed and illustrated with numerical examples, demonstrating substantial increases in mission performance in comparison to traditional set-point tracking.

关键词： Optimal control Nonlinear Model Predictive control Intelligent Vehicles

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Application of Fuzzy Logic for Collision Avoidance of Mobile Robots in Dynamic-Indoor Environments 2

Application of Fuzzy Logic for Collision Avoidance of Mobile...

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2nd International Conference on Robotics, electrical and Signal Processing Techniques, ICREST 2021

作者： Oleiwi, Bashra Kadhim Mahfuz, Asif Roth, Hubert University of Technology Control and Systems Engineering Baghdad Iraq American International University-Bangladesh Electrical and Electronic Engineering Dhaka Bangladesh Universitaet Siegen Automatic Control Engineering Siegen Germany

ISBN: (纸本)9781665415767

Application of Mobile Robots have increased many folds in recent years. A heuristic effort is dedicated in making Mobile Robots adept to indoor environments to perform different type of activities. Autonomous Mobile Robots, for a long time, have remained in the focal point of many researches due to its potentials in multifunctional application and its suitability in well-defined, structured environments. As indoor environments can easily be represented as a structured environment, mobile robots become a potential candidate to make indoor activities human free. Nevertheless, the prime features like path planning and motion control need to have further development s before these autonomous mobile robots can be used successfully in highly dynamic environments. One of the important behaviors to achieve successful motion planning is the collision avoidance behavior of mobile robots. In this paper, we address the design of a collision avoidance controller with fuzzy logic. The first part of the paper addresses the improvement of the existing fuzzy logic controller for a more complex environment involving more than two known-dynamic obstacles. And in the second part, we have improved the design of the controller for unknown-dynamic obstacles in indoor environment based on information of onboard sensor. The results of the MATLAB simulations, in structured 2D environments, illustrates the successful navigation of mobile robots in both scenarios and thus validating the design of the controllers. © 2021 IEEE.

关键词： Fuzzy logic

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Predictive functional control for challenging dynamic processes using a simple prestabilization strategy

Advanced Control for Applications: Engineering and Industria...

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Advanced control for Applications: engineering and Industrial systems 2022年第2期4卷

作者： Aftab, Muhammad Saleheen Rossiter, John Anthony Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

Predictive functional control (PFC) is a straightforward and cheap model-based technique for systematic control of well-damped open-loop processes. Nevertheless, its oversimplified design characteristics are often the cause of diminished efficacy in more challenging applications;processes involving lightly damped and/or unstable dynamics have been particularly difficult to control with PFC. This paper presents a more sustainable solution for such applications by integrating the concept of prestabilization within the predictive functional control formulation. This is essentially a two-stage synthesis wherein the undesirable open-loop dynamics are first compensated, using a well-understood classical approach such as proportional integral derivative (PID), before implementing predictive control in a cascade structure. The proposal, although comes with significant implications for tuning and constraint handling, is, nonetheless, straightforward and provides improved closed-loop control in the presence of external perturbations compared to the standard PFC and the PID algorithms, as demonstrated with two industrial case studies. © 2022 The Authors. Advanced control for Applications: engineering and Industrial systems published by John Wiley & Sons Ltd.

关键词： Two term control systems

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DAFNI: A computational platform to support infrastructure systems research

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Proceedings of the Institution of Civil Engineers: Smart Infrastructure and Construction 2023年第3期176卷 108-116页

作者： Matthews, Brian Hall, Jim Batty, Michael Blainey, Simon Cassidy, Nigel Choudhary, Ruchi Coca, Daniel Hallett, Stephen Harou, Julien J James, Phil Lomax, Nik Oliver, Peter Sivakumar, Aruna Tryfonas, Theodoros Varga, Liz Scientific Computing Department Science and Technology Facilities Council Didcot United Kingdom School of Geography and the Environment University of Oxford Oxford United Kingdom Centre for Advanced Spatial Analysis University College London London United Kingdom Transportation Research Group Faculty of Engineering and Physical Sciences University of Southampton Southampton United Kingdom Department of Civil Engineering University of Birmingham Birmingham United Kingdom Department of Engineering University of Cambridge Cambridge United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom Centre for Environmental and Agricultural Informatics Cranfield University Cranfield United Kingdom Department of Mechanical Aerospace and Civil Engineering University of Manchester Manchester United Kingdom School of Engineering Newcastle University Newcastle United Kingdom School of Geography University of Leeds Leeds United Kingdom Department of Civil and Environmental Engineering Imperial College London London United Kingdom Department of Civil Engineering University of Bristol Bristol United Kingdom Department of Civil Environmental and Geomatic Engineering University College London London United Kingdom

Research into the engineering of infrastructure systems is increasingly data intensive. Researchers build computational models to explore scenarios such as investigating the merits of infrastructure plans, analysing historical data to inform system operations or assessing the impacts of infrastructure on the environment. Models are more complex, at higher resolution and with larger coverage. Researchers also require a 'multi-systems' approach to explore interactions between systems, such as energy and water with urban development, and across scales, from buildings and streets to regions or nations. Consequently, researchers need enhanced computational resources to support cross-institutional collaboration and sharing at scale. The Data and Analytics Facility for National Infrastructure (DAFNI) is an emerging computational platform for infrastructure systems research. It provides high-throughput compute resources so larger data sets can be used, with a data repository to upload data and share these with collaborators. Users' models can also be uploaded and executed using modern containerisation techniques, giving platform independence, scaling and sharing. Further, models can be combined into workflows, supporting multi-systems modelling and generating visualisations to present results. DAFNI forms a central resource accessible to all infrastructure systems researchers in the UK, supporting collaboration and providing a legacy, keeping data and models available beyond the lifetime of a project. © 2023 Emerald Publishing Limited: All rights reserved.

关键词： Urban growth

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Advances in inter-edge transfer learning with self-curriculum-labeling adaptive learning and lightweight attention

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Computers and electrical engineering 2024年 116卷

作者： Petchhan, Jirayu Su, Shun-Feng Intelligent Systems and Control Laboratory Department of Electrical Engineering National Taiwan University of Science and Technology Taiwan Taipei City Taiwan

The ongoing realization of a transition towards increased reliance on edge computing is evident. This shift not only underscores the importance of interdependence in knowledge sharing but also contributes to a reduction in adaptation and transmission time through cloud computing directly, along with decreased computational demands compared to edge-to-edge computing. A persistent challenge in knowledge transfer stems from the shift in dependence from high-performance computing systems to compact models, making the adjustment cumbersome. Even with cross-edge knowledge transfer, pre-processing remains essential to facilitate seamless adaptation—a necessity that endures despite the escalating volume of data. Consequently, the system tends to become overburdened with instance filtering instead. To address this issue, we present an optimization for small-to-small inter-edge transfer learning of a comparable size. This is achieved through a self-supervised domain-adaptive protocol, utilizing self-target curriculum-based pseudo-labeling creation, new statistical alignment, and lightweight attention. In the multi-view verification using public visual DA datasets, we demonstrate a remarkable improvement of 73.6 (+4.2 %) in Top-1 performance. Our results consistently outperform other methods, particularly when using the latent feature input technique. This advantage is most noticeable at the 10-th layer for latent feature input. Crucially, our approach incurs the modest increase in computational demands, adding just 100 K-units of parameters and MFLOPS of computational power. Furthermore, through model enhancement via acceleration and compression, we achieve significant compression—up to 6.28 times faster at FP32 and 7.18 times faster at FP16 runtimes—resulting in an increased FPS to 124.9 and 142.9, respectively. This demonstration effectively illustrates the feasibility of advancing inter-edge transfer learning with our approach. © 2024 Elsevier Ltd

关键词： Curricula

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Modelling and control of a nonlinear distillation column: A, using fractional-order controllers 18

Modelling and Control of a nonlinear distillation column: A,...

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18th IEEE India Council International Conference, INDICON 2021

作者： Hanif, Omar Tiwari, Shipra Kumar, Vivek The University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom Motilal Nehru National Institute of Technology Department of Electrical Engineering Prayagraj India Indian Institue of Technology Roorkee Department of Electrical Engineering Roorkee India

ISBN: (纸本)9781665441759

This paper takes up the challenge of modelling a complex nonlinear distillation column type-A and designs four optimal controllers for the same. The nonlinear plant is first linearized into a linear higher-order model. Thereafter, it is reduced into a lower-order model. Subsequently, the controllers are designed for the lower-order linear model. The controllers are designed by reducing the error cost functions, namely Integral Square Error (ISE), Integral Absolute Error (IAE) and Integral Time Absolute Error (ITAE). The process of optimization is done heuristically using the Genetic Algorithm method of tuning. The four controllers designed are Proportional Integral Derivative, Fractional-order Proportional Integral Derivative, Tilt Integral Derivative and Fractional-order Internal Model control. A thorough comparison is made between the three designed controllers, first on the Single Input Single Output (SISO), then to the reduced-order linear model and finally to the main plant. The FO-IMC controller is shown as an exhibition controller designed using GA to demonstrate the novelty of its kind. It has also been compared, but the results show poor performances as it has not been tuned with the same parameters as the rest. © 2021 IEEE.

关键词： controllers

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CONVERGENCE ANALYSIS OF LINEARIZED q PENALTY METHODS FOR NONCONVEX OPTIMIZATION WITH NONLINEAR EQUALITY CONSTRAINTS

arXiv

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arXiv 2025年

作者： El Bourkhissi, Lahcen Necoara, Ion Department of Automatic Control and Systems Engineering National University of Science and Technology Politehnica Bucharest Romania Department of Automatic Control and Systems Engineering National University of Science and Technology Politehnica Bucharest Bucharest060042 Romania Gheorghe Mihoc-Caius Iacob Institute of Mathematical Statistics and Applied Mathematics of the Romanian Academy Bucharest050711 Romania

In this paper, we consider nonconvex optimization problems with nonlinear equality constraints. We assume that the objective function and the functional constraints are locally smooth. To solve this problem, we introduce a linearized q penalty based method, where q ∈ (1, 2] is the parameter defining the norm used in the construction of the penalty function. Our method involves linearizing the objective function and functional constraints in a Gauss-Newton fashion at the current iteration in the penalty formulation and introduces a quadratic regularization. This approach yields an easily solvable subproblem, whose solution becomes the next iterate. By using a novel dynamic rule for the choice of the regularization parameter, we establish that the iterates of our method converge to an ǫ-first-order solution in O(1/ǫ2+(q−1)/q) outer iterations. Finally, we put theory into practice and evaluate the performance of the proposed algorithm by making numerical comparisons with existing methods from literature. © 2025, CC BY.

关键词： Numerical methods

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An Optimized Ensemble Model for Prediction the Bandwidth of Metamaterial Antenna

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Computers, Materials & Continua 2022年第4期71卷 199-213页

作者： Abdelhameed Ibrahim Hattan F.Abutarboush Ali Wagdy Mohamed Mohamad Fouad El-Sayed M.El-kenawy Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt Electrical Engineering Department College of EngineeringTaibah UniversityMedina42353Saudi Arabia Operations Research Department Faculty of Graduate Studies for Statistical ResearchCairo UniversityGiza12613Egypt Wireless Intelligent Networks Center(WINC) School of Engineering and Applied SciencesNile UniversityGizaEgypt Department of Communications and Electronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt Faculty of Artificial Intelligence Delta University for Science and TechnologyEgypt

Metamaterial Antenna is a special class of antennas that uses metamaterial to enhance their *** size affects the quality factor and the radiation loss of the *** antennas can overcome the limitation of bandwidth for small *** learning(ML)model is recently applied to predict antenna *** can be used as an alternative approach to the trial-and-error process of finding proper parameters of the simulated *** accuracy of the prediction depends mainly on the selected *** models combine two or more base models to produce a better-enhanced *** this paper,a weighted average ensemble model is proposed to predict the bandwidth of the Metamaterial *** base models are used namely:Multilayer Perceptron(MLP)and Support Vector Machines(SVM).To calculate the weights for each model,an optimization algorithm is used to find the optimal weights of the *** Group-Based Cooperative Optimizer(DGCO)is employed to search for optimal weight for the base *** proposed model is compared with three based models and the average ensemble *** results show that the proposed model is better than other models and can predict antenna bandwidth efficiently.

关键词： Metamaterial antenna machine learning ensemble model multilayer perceptron support vector machines

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Basis change, projection, and relative linear algebra tricks in signal and image processing

Basis change, projection, and relative linear algebra tricks...

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

作者： Adam Dąbrowski Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Signal Processing and Electronic Systems Jana Pawła II 24 Poznań University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

In this tutorial some basic linear algebra problems: basis change and projection, are discussed together with examples of their applications in signal and image processing. In typical linear algebra university courses perpendicular projections are only discussed. However, in image processing, for defining various color spaces, we need non-perpendicular projections. That is why this is the key problem in this tutorial.

关键词： Vectors Null space Gray-scale Image color analysis Symmetric matrices Color Tutorials Transforms Robot kinematics Transducers

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Game theory system optimization in a supplier-customer transport network

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Procedia Computer Science 2023年 221卷 1036-1043页

作者： Radu Bilbiie Dumitru Popescu Catalin Dimon Marius Teme Pierre Borne Department of Automatic Control and Systems Engineering University Politehnica of Bucharest Bucharest Romania Ecole Centrale de Lille Villeneuve d'Ascq France

The development of modern IT technologies and resources, offer in many economic-industrial applications, efficient solutions for planning and managing of specific activities. New research directions in the field of management and optimization of supply-customer (SC) systems are defined and evaluated. The paper proposes a management model based on a causal graph structure, which expresses the connection and interdependence between the two entities involved in the specific activities of the field, the suppliers of goods and services and the consumers of these goods and products. Information related to production and storage capacity, up-to-date requirements for customer needs, delivery planning, production and consumption dynamics are considered. The transport between the actors involved in the system is an important component with weight in the costs of supply-sale activities. The optimal solution for the supply-customer transport system is proposed based on different strategies of game theory.

关键词： supplier customer services causal graph control network transport system management game theory

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