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arXiv 2025年

作者： Doodeman, Sander Tang, Zhiqi Jacinto, Marcelo Cunha, Rita Silvestre, Carlos Department of Mechanical Engineering TU/e Eindhoven University of Technology Eindhoven Netherlands Division of Decision and Control Systems KTH Royal Institute of Technology Sweden Instituto Superior Técnico University of Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global position. Other vehicles in the formation are assumed to only have access to inter-agent bearing (direction) measurements and relative velocities with respect to their neighbor agents. A hierarchical control architecture is adopted for each quadrotor, combining a high-gain attitude inner-loop and an outer-loop bearing-based formation controller with collision avoidance augmentation. The proposed method enables a group of quadrotors to track arbitrary bearing persistently exciting desired formations, including time-varying shapes and rotational maneuvers, such that each quadrotor only requires relative measurements to at least one neighboring quadrotor. The effective performance of the control strategy is validated by numerical simulations in MATLAB and real-world experiments with three quadrotors. © 2025, CC BY-NC-ND.

关键词： Unmanned aerial vehicles (UAV)

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On the link between explicit MPC and the face lattice of the lifted feasible domain

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IFAC-PapersOnLine 2022年第16期55卷 308-313页

作者： Ştefan S. Mihai Florin Stoican Bogdan D. Ciubotaru Department of Automatic Control and Systems Engineering University "Politehnica" of Bucharest 313 Splaiul Independenţei Sector 6 060042 Bucharest Romania Research Center for Logic Optimization and Security (LOS) Department of Computer Science Faculty of Mathematics and Computer Science University of Bucharest.

The paper provides a geometric interpretation for the explicit solution of the quadratic cost, linear-constrained MPC (model predictive control) problem. We link the face lattice of the lifted feasible domain (defined in the input and parameter space) with the critical regions which partition the parameter space and serve as polyhedral support for the piecewise affine explicit MPC solution. We provide geometric (face visibility) and algebraic (polyhedron emptiness) tests for the pruning of the candidate sets of active constraints.

关键词： Model Predictive control (MPC) Explicit MPC Face Lattice Constrained-Optimization Problem

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Multi-Agent Economic Modeling Automation Technologies 9

Multi-Agent Economic Modeling Automation Technologies

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9th International Conference on control, Decision and Information Technologies, CoDIT 2023

作者： Zhukova, Aleksandra A. Pilnik, Nikolai P. Kamenev, Ivan G. Iusup-Akhunov, Batyrzhan B. Federal Research Center 'Computer Science and Control' of the Russian Academy of Sciences Department of Mathematical Modelling in Economic Social and Ecological Systems Vavilov st. 44 building 2 Moscow119333 Russia Federal Research Center 'Computer Science and Control' of the Russian Academy of Sciences Department of Mathematical Modelling of Economic Systems Vavilov st. 44 building 2 Moscow119333 Russia Hse University Faculty of Economic Sciences Department of Applied Economics Pokrovsky Bulvar 11 Moscow109028 Russia Fsbeihe Bauman Moscow State Technical University Department of Fundamental Sciences-11 2nd Baumanskaya street 5-1 Moscow05005 Russia The Phystech School of Applied Mathematics and Informatics Moscow Institute of Physics and Technology 9 Institutskiy per. Moscow Region Dolgoprudny141701 Russia

ISBN: (纸本)9798350311402

Complex economic models often describe the agent's decisions, i.e. choice of some controlled variables in accordance with criteria set by agents. Unlike purely statistical ones, agent-based models allow to describe processes with different modes, in which the agent's behavior changes quali-tatively when the environment (including the actions of other agents) change. The practical use of mathematical models of complex systems with a number of interacting agents is limited by complexity of their construction and possible errors when dealing with multitude of expressions. computer tools, such as the 'Ecomod' system discussed in the article, can substantially reduce the time spent on model creation and processing, and help to coordinate the work of several researchers on the model. © 2023 IEEE.

关键词： Autonomous agents

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Fault-tolerant control of semi-active suspension in case of oil leakage of magnetorheological damper

Fault-tolerant control of semi-active suspension in case of ...

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European control Conference (ECC)

作者： Hakan Basargan Filip Jeniš András Mihály Péter Gáspár Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Stoczek u. 2 Budapest Hungary Faculty of Mechanical Engineering Institute of Machine and Industrial Designs Brno University of Technology Technicka 2 Brnos Czech Republic Systems and Control Laboratory Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH) Kende u. 13-17 Budapest Hungary

The paper presents a reconfigurable fault-tolerant control strategy for a semi-active suspension using magnetorheological (MR) damper. The aim of the control reconfiguration is to handle the adverse behaviour of the MR damper due to oil leakage induced by the wear of the suspension component. The proposed method relies on the data driven model of the MR damper, using an estimation procedure to quantify the healthiness of the damper and to estimate the performance degradation due to the oil leakage. The reconfiguration control strategy is founded on the Linear Parameter Varying (LPV) framework, where a scheduling variable is defined to represent the healthiness level of the MR damper. By the scaling of the control action through the scheduling variable, the performance degradation of the MR damper can be compensated to match the behaviour of the healthy dampers. The proposed method is demonstrated through simulations, comparing the performance of the fault-tolerant LPV control to conventional semi-active control methods

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Robust trajectory tracking for underactuated mechanical systems without velocity measurements

arXiv

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arXiv 2023年

作者： Javanmardi, N. Borja, P. Yazdanpanah, M.J. Scherpen, J.M.A. Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen Netherlands School of Engineering Computing and Mathematics University of Plymouth Plymouth United Kingdom Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting matched disturbances. In particular, we propose three control designs stemming from the Interconnection and Damping Assignment Passivity-Based control approach. The first controller is a tracker that does not require velocity measurements. The second control design solves the trajectory-tracking problem while guaranteeing robustness with respect to matched disturbances. Then, the third approach is a combination of both mentioned controllers. It is shown that all proposed design methods guarantee exponential convergence of the mechanical system to the desired (feasible) trajectory due to the contraction property of the closed-loop system. The applicability of this method is illustrated via the design of a controller for an underactuated mechanical system. © 2023, CC BY.

关键词： controllers

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Graph-Based Visual-Kinematic Fusion and Monte Carlo Initialization for Fast-Deployable Cable-Driven Robots

Graph-Based Visual-Kinematic Fusion and Monte Carlo Initiali...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： R. Khorrambakht H. Damirchi M.R. Dindarloo A. Saki S.A. Khalilpour Hamid D. Taghirad Stephan Weiss Electrical & Computer Engineering Department Control/Robotics Research Laboratory Tandon School of Engineering New York University Brooklyn NY School of Computer Science University of Adelaide Australia Faculty of Electrical Engineering University of Technology Tehran Iran Department of Smart Systems Technologies University of Klagenfurt Austria

Ease of calibration and high-accuracy task-space state-estimation purely based on onboard sensors is a key requirement for enabling easily deployable cable robots in real-world applications. In this work, we incorporate the onboard camera and kinematic sensors to drive a statistical fusion framework that presents a unified localization and calibration system which requires no initial values for the kinematic parameters. This is achieved by formulating a Monte-Carlo algorithm that initializes a factor-graph representation of the calibration and localization problem. With this, we are able to jointly identify both the kinematic parameters and the visual odometry scale alongside their corresponding uncertainties. We demonstrate the practical applicability of the framework using our state-estimation dataset recorded with the ARAS-CAM suspended cable driven parallel robot, and published as part of this manuscript.

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Continual Learning of a Time Series Model Using a Mixture of HMMs with Application to the IoT Fuel Sensor Verification

Continual Learning of a Time Series Model Using a Mixture of...

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Federated Conference on computer Science and Information systems (FedCSIS)

作者： Przemysław Głomb Michał Cholewa Paweł Foszner Jakub Bularz Institute of Theoretical and Applied Informatics Polish Academy of Sciences Gliwice Poland Department of Computer Graphics Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland AIUT Sp. z o.o. ul Gliwice Poland

This paper presents an application of a mixture of Hidden Markov Models (HMMs) as a tool for verification of IoT fuel sensors. The IoT fuel sensors report the level of fuel in tanks of a petrol station, and are a key component for monitoring system reliability (billing), safety (fuel/oil leak detection) and security (theft prevention). We propose an algorithm for learning a mixture of HMMs based on a continual learning principle, i.e. it adapts the model while monitoring a sensor over time, signalling unexpected or anomalous sensor reports. We have tested the proposed approach on a real-life data of 15 fuel tanks being monitored with the FuelPrime system, where it has shown a very good performance (average area under ROC curve of 0.94) of detecting anomalies in the sensor data. Additionally we show that the proposed method can be used for trend monitoring and present qualitative analysis of the short and long term learning performance. The proposed method has promising performance score, the resulting model has a high degree of explainability, limited memory and computation requirements and can be easily generalized to other domains of sensor verification.

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Development of a UAV-based System for Technical Diagnostics of Overhead Power Lines

Development of a UAV-based System for Technical Diagnostics ...

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International Conference on Computational Problems of Electrical Engineering (CPEE)

作者： Oleksandr Kozlovskyi Dmitro Trushakov Serhiy Rendzinyak Vasyl Korud Department of Electrical Systems and Energy Management Central Ukrainian National Technical University Kropyvnytskyi Ukraine Department of Automation and Control in Technical Systems Central Ukrainian National Technical University Kropyvnytskyi Ukraine Faculty of Electronics and Computer Technologies Ivan Franko National University of Lviv Lviv Ukraine Institute of Power Engineering and Control System Lviv Polytechnic National University Lviv Ukraine

The problems associated with the operation of overhead power lines and ways of improving control over their condition with the help of UAVs are considered. A structural diagram of the system of technical diagnostics of overhead lines based on UAVs was developed, for which the necessary diagnostic parameters were selected according to informative criteria. An analysis of types of UAVs was carried out in order to determine their suitability and efficiency of use for diagnosing the condition of overhead lines.

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Modification of pigments content in red clover sprouts with the use of pulsed electric field

Modification of pigments content in red clover sprouts with ...

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2020 Applications of Electromagnetics in Modern Engineering and Medicine, PTZE 2020

作者： Galązka-Czarnecka, I. Korzeniewska, E. Czarnecki, A. Stańdo, J. Institute of Food Technology and Analysis Faculty of Food Sciences and Biotechnology Lodz University of Technology Poland Institute of Electrical Engineering Systems Faculty of Electrical Electronic Computer and Control Engineering Lodz University of Technology Lodz Poland Centre of Mathematics and Physics Lodz University of Technology Poland

An innovative issue in food engineering is using the impulse electric field (PEF) in modeling the content of biologically active compounds in plant raw materials, including seeds. In the described experiment it was shown that it is possible to modify the carotenoid content in germinating seeds of red clover (Trifolium pratense L.) by treating the seeds with PEF before cultivation. The research material was the seeds of red clover 'Rozeta' variety. As a result of the conducted research, an increase in the content of lutein and zaaxanthin by 10% and β-carotene by 16% was obtained after the sprouts were subjected to a field of 5 kV/cm intensity. © Published under licence by IOP Publishing Ltd.

关键词： Seed

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Port-Hamiltonian Modeling of Hydraulics in 4th Generation District Heating Networks

Port-Hamiltonian Modeling of Hydraulics in 4th Generation Di...

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IEEE Conference on Decision and control

作者： Felix Strehle Juan E. Machado Michele Cucuzzella Albertus J. Malan Jacquelien M.A. Scherpen Sören Hohmann Institute of Control Systems Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen AG Groningen the Netherlands Department of Electrical Computer and Biomedical Engineering University of Pavia Pavia Italy

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this paper, we use elements of graph theory and port-Hamiltonian systems to develop a modular dynamic model describing the hydraulic behavior of 4th generation district heating networks. In contrast with earlier generation networks with a single or few heat sources and pumps, newer installations will prominently feature distributed heat generation units, bringing about a number of challenges for the control and stable operation of these systems, e.g., flow reversals and interactions among pumps controllers, which may lead to severe oscillations. We focus thus on flexible system setups with an arbitrary number of distributed heat sources and end-users interconnected through a meshed, multi-layer distribution network of pipes. Moreover, differently from related works on the topic, we incorporate dynamic models for the pumps in the system and explicitly account for the presence of pressure holding units. By inferring suitable (power-preserving) interconnection ports, we provide a number of claims about the passivity properties of the overall, interconnected system, which proves to be highly beneficial in the design of decentralized control schemes and stability analyses.

关键词： Heating systems Heat pumps Decentralized control Hydraulic systems Interconnected systems Distribution networks Stability analysis

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