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automatic Scenario Generation for Robust Optimal control Problems*

IFAC-PapersOnLine 2023年第2期56卷 1229-1234页

作者： M. Zagorowska P. Falugi E. O'Dwyer E.C. Kerrigan Automatic Control Laboratory ETH Zurich Switzerland Department of Electrical and Electronic Engineering Imperial College London UK Department of Chemical Engineering Imperial College London UK Department of Aeronautics Imperial College London UK

Existing methods for nonlinear robust control often use scenario-based approaches to formulate the control problem as nonlinear optimization problems. Increasing the number of scenarios improves robustness, while increasing the size of the optimization problems. Mitigating the size of the problem by reducing the number of scenarios requires knowledge about how the uncertainty affects the system. This paper draws from local reduction methods used in semi-infinite optimization to solve robust optimal control problems with parametric uncertainty. We show that nonlinear robust optimal control problems are equivalent to semi-infinite optimization problems and can be solved by local reduction. By iteratively adding interim globally worst-case scenarios to the problem, methods based on local reduction provide a way to manage the total number of scenarios. In particular, we show that local reduction methods find worst case scenarios that are not on the boundary of the uncertainty set. The proposed approach is illustrated with a case study with both parametric and additive time-varying uncertainty. The number of scenarios obtained from local reduction is 101, smaller than in the case when all 2 14+3x192 boundary scenarios are considered. A validation with randomly drawn scenarios shows that our proposed approach reduces the number of scenarios and ensures robustness even if local solvers are used.

关键词： Optimization Mathematical programming Trajectory optimization Uncertainty Iterative methods Numerical simulation Robust control

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Application of Evolutionary Technique for Mapping onto Network on Chip 3rd

Application of Evolutionary Technique for Mapping onto Netwo...

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3rd International Conference on Recent Advances in Mechanical engineering Research and Development, ICRAMERD 2022

作者： Choudhury, Subhashree Das, A.S. Misra, Sarita Hossain, Ismail Dash, Taraprasanna Swain, Kaliprasanna Bhubaneswar India J Systems and Control Cuttack India Department of Electrical Engineering GITA Autonomous College Bhubaneswar India Department of Nuclear Power Plants and Renewable Energy Ural Federal University Yekaterinburg Russia Bhubaneswar India Department of Electronics and Communication Engineering GITA Autonomous College Bhubaneswar India

ISBN: (纸本)9789811994920

Network on Chip (NoC) is a communication subsystem between various IPs interconnected through an on-chip router inside a single chip. The on-chip interconnection infrastructure connects the different intellectual property (IP) with the help of various industry-standard high-performance (HPC) interconnection topologies. Also, the on-chip interconnection network facilitates the connection of more Processing Elements (PE) to enable deadlock-free scheduling and parallel processing. The present work addresses one important aspect of NoC which is "Optimal Mapping" which allows the participation of cores in an optimal way for achieving low bandwidth requirement, low latency hence greater throughput. To achieve the optical mapping, a Genetic Algorithm is proposed here for the optimization of NoC performance by employing 2D Mesh topology. The genetic algorithm produces consistent and comparable results at par with standard algorithms. A deterministic seeding and successive seeding would yield better results and consume less CPU time. The proposed result is marginally better than NMAP and PSMAP. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Network-on-chip

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Designing Optimal Personalized Incentive for Traffic Routing using BIG Hype

Designing Optimal Personalized Incentive for Traffic Routing...

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IEEE Conference on Decision and control

作者： Panagiotis D. Grontas Carlo Cenedese Marta Fochesato Giuseppe Belgioioso John Lygeros Florian Dörfler Department of Electrical Engineering and Information Technology Automatic Control Laboratory ETH Zürich Zürich Switzerland

We study the problem of routing plug-in electric and conventional fuel vehicles on a city scale using incentives. In our model, commuters selfishly aim to minimize a local cost that combines travel time and the financial expenses of using city facilities, i.e., parking and service stations. The traffic authority can influence the commuters' routing choice via personalized discounts on parking tickets and on the energy price at service stations. We formalize the problem of optimally designing these monetary incentives to induce traffic decongestion as a large-scale bilevel game, where constraints arise at both levels due to the finite capacities of city facilities and incentives budget. Then, we develop an efficient scalable solution scheme with convergence guarantees based on BIG Hype, a recently-proposed hypergradient-based algorithm for bilevel games. Finally, we validate our approach via numerical simulations over the Anaheim's traffic network, showcasing its advantages in terms of traffic decongestion and scalability.

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Real Time Environmental Fault Detection and Diagnosis in Photovoltaic systems

Real Time Environmental Fault Detection and Diagnosis in Pho...

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Emerging Frontiers in electrical and Electronic Technologies (ICEFEET), International Conference on

作者： Swetha R Kumar Sri Ramalakshmi P Esakkirajan S Nithiyashri S Priyanka G S School of Electrical Engineering Vellore Institute of Technology Chennai India Department of Instrumentation and Control Systems Engineering PSG College of Technology Coimbatore India

ISBN: (数字)9798331528614

ISBN: (纸本)9798331528621

Renewable resources are adopted nowadays to promote sustainable development, enhance energy security, and build resilient communities. The increase in demand for renewable resources has led to the use of photovoltaic systems. These systems must be efficiently monitored for fault and maintained properly for maximum productivity. Faults like cracks, dust, bird droppings and shadows may arise in the solar panel over a period, reducing the overall performance of photovoltaic systems. These faults can significantly reduce the lifespan of the solar panel. In this paper, voltage, current and surface temperature are measured using sensors from the photovoltaic panel. Real-time data from the solar cell via sensors are collected under no-fault, dust-induced, and partial shading-induced fault conditions. A fault detection methodology for photovoltaic (PV) systems is proposed using a combination of real-time power prediction and classification algorithms. Linear regression is employed to predict the fault. The fault is then classified using a random forest algorithm.

关键词： Temperature sensors Temperature measurement Renewable energy sources Voltage measurement Fault detection Prediction algorithms Real-time systems Sensors Classification algorithms Solar panels

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Design and Development of Task-oriented Robots with Hybrid Energy

Design and Development of Task-oriented Robots with Hybrid E...

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International automatic control Conference

作者： Ting-Yu Chien Pin-Kuan Yeh Chen-Ting-Xu Wen-Kai Le Shang-Chih Lin Shun-Feng Su Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Electrical Engineering National Taiwan University of Science and Technology Taipei Taiwan

This research focuses on the 2023 SPDC competition project, which provides the necessary power for robots based on energy types such as wind and light. Under the guidance of many special restrictions, a competitive task-oriented robot was designed, and it must complete the task of carrying items in the planned field. In order to make it more intelligent, this study conducts experiments and analyzes the charging schedule, so as to formulate a feasible and better solution. From the experimental results, it can be seen that the proposed method can improve the scheme used in past competitions. Saves 32 % in charging time costs and provides 43 % additional scoring time. This also adds 1 kg to the total cumulative weight. In future research work, we will still consider more elements to improve the performance of the robot, making it more competitive and practical.

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Testing Strength Based on the Principle of Robotic Arm Wrestling

Testing Strength Based on the Principle of Robotic Arm Wrest...

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International Conference on Applied Electronics, AE

作者： Emília Bubeníková Jozef Hrbček Juraj Ždánsky Dušan Nemec Department of Control and Information Systems Faculty of Electrical Engineering and Information Technology University of Žilina Žilina Slovak Republic

ISBN: (数字)9798350350739

ISBN: (纸本)9798350362299

This article describes the design and development of an arm that measures human physical condition controlled by a Programmable Logic controller (PLC), ensuring system control, adjustment, and display of necessary results. A user-friendly interface, both local and remote, will be designed and implemented. The system incorporates safety features to ensure the safety of individuals. The design and implementation are based on a digital twin linked to the control system, including simulation. This approach accelerates the development of application implementation with the possibility of creating control programs for the PLC and fine-tuning the system during the design phase. Safety functions ensuring the safety of tested individuals are applied. The developed system will be portable and will serve for scientific experiments, presentation activities, and as an educational tool.

关键词： Force measurement Programmable logic devices Force Manipulators control systems Safety Digital twins Testing

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Unifying controller Design for Stabilizing Nonlinear systems with Norm-Bounded control Inputs

arXiv

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arXiv 2024年

作者： Li, Ming Sun, Zhiyong Weiland, Siep Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven5600MB Netherlands

This paper revisits a classical challenge in the design of stabilizing controllers for nonlinear systems with a norm-bounded input constraint. By extending Lin-Sontag’s universal formula and introducing a generic (state-dependent) scaling term, a unifying controller design method is proposed. The incorporation of this generic scaling term gives a unified controller and enables the derivation of alternative universal formulas with various favorable properties, which makes it suitable for tailored control designs to meet specific requirements and provides versatility across different control scenarios. Additionally, we present a constructive approach to determine the optimal scaling term, leading to an explicit solution to an optimization problem, named optimization-based universal formula. The resulting controller ensures asymptotic stability, satisfies a norm-bounded input constraint, and optimizes a predefined cost function. Finally, the essential properties of the unified controllers are analyzed, including smoothness, continuity at the origin, stability margin, and inverse optimality. Simulations validate the approach, showcasing its effectiveness in addressing a challenging stabilizing control problem of a nonlinear system. Copyright © 2024, The Authors. All rights reserved.

关键词： Nonlinear systems

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A Framework for the Consistency Analysis of Relative Pose Sensors for Unmanned Aerial Vehicles (Uavs)

A Framework for the Consistency Analysis of Relative Pose Se...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Roland Jung Jiri Horyna Thomas Jantos Saska Martin Stephan Weiss Department of Smart Systems Technologies in the Control of Networked Systems Group University of Klagenfurt Austria Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

In autonomous multi-robot systems robot-to {robot/object} localization methods can be utilized to increase the robustness and to achieve a precise and robust localization of the individuals. This paper investigates on the performance of two promising systems: UVDAR, a vision-based mutual localization in the UV spectrum, which has shown to be effective in swarm formation and leader-following tasks, and PoET, which is a deep learning-based visual relative object pose estimator. To evaluate these methods, we collected datasets in a controlled indoor environment equipped with a motion capture system for precise ground truth measurements. Our evaluation considers two key aspects: the absolute error between measured and true relative poses, and the consistency of the provided measurement uncertainty estimates with the actual errors. We introduce a novel framework for evaluating the consistency of relative pose measurements. This framework supports various error definitions and leverages spline-based trajectory representations to generate smooth, $C^{2}$ -continuous reference measurements. Both the UVDAR dataset and the evaluation framework are made publicly accessible to foster further research and development in this field.

关键词： Location awareness Visualization Measurement uncertainty Sensors Trajectory Indoor environment Motion measurement Vehicle dynamics Robots Tuning

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Application of Discrete-Time Analytic Signals in Power System Analysis

Application of Discrete-Time Analytic Signals in Power Syste...

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XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Dženita Džafić Izudin Džafic Department for Automatic Control and Electronics University of Sarajevo Faculty of Electrical Engineering Sarajevo Sarajevo B&H

Power system analysis often involves studying the dynamics of oscillatory signals and transient events. Analytic signals provide a useful representation of real-meaured signals that contain both oscillatory and non-oscillatory components. This work examines the application of discrete-time analytic signals to analyze power system signals using Kung's and Prony's method. These methods are used to estimate the oscillatory modes present in power system signals and their associated parameters. The performance of the methods is evaluated on simulated and real power system data. The analytic signal-based techniques are shown to produce accurate results and offer benefits for automated power system monitoring and disturbance analysis.

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Edge Device Model for LoRaWAN Sensors duplexing

Edge Device Model for LoRaWAN Sensors duplexing

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International Conference on Applied Electronics, AE

作者： Emília Bubeníková Peter Holečko Alžbeta Kanáliková Peter Peniak Juraj Kekelák Department of Control and Information Systems Faculty of Electrical Engineering and Information Technology University of Žilina Žilina Slovak Republic

ISBN: (数字)9798350350739

ISBN: (纸本)9798350362299

Our article deals with the Edge device model focusing on high-availability of Long-Range Wide Area (LoRaWAN) sensors for business-critical applications. We focus on creating a suitable Edge device model that ensures the high availability of sensor data for specific critical applications. The model was implemented in Node-RED software, based on the MQTT protocol, and subsequently validated to confirm the required duplication of LoRaWAN sensors values for application. In case of single failure, Edge model enables uninterrupted flow of sensors data for their processing by critical applications.

关键词： LoRaWAN Focusing Data models Software Sensors

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