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Robust Output Regulation of Disturbed systems with Uncertainties and Input Constraints ⁎

IFAC-PapersOnLine 2019年第29期52卷 79-84页

作者： Oleg I. Borisov Mikhail A. Kakanov Anton A. Pyrkin Sergey V. Shavetov Vladislav S. Gromov Fatimat B. Karashaeva ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia

In this paper a “state-space” revised version of the consecutive compensator control approach is proposed to regulate systems with uncertainties and input constraints affected by external disturbances. As a preliminary result the redesigned controller is applied to a system coupled with unmodeled dynamics. The main result enhances this approach by implementing the internal model and back-calculation anti-windup scheme in the control law. The paper throughly addresses the stability issues and provides a numerical example illustrating the proposed approach.

关键词： Robust control Output feedback Uncertain dynamic systems Constraints Robot control

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Two approaches (GC-ECD and electrochemical sensors signals processing) to the determination of carbonyl compounds as markers of air pollution 26

Two approaches (GC-ECD and electrochemical sensors signals p...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Bronczyk, Karolina Adamski, Michal Dabrowska, Agata Konieczka, Adam Dabrowski, Adam Adam Mickiewicz University Faculty of Chemistry Department of Trace Analysis Poznań Poland Institute of Automatic Control and Robotics Poznan University of Technology Division of Signal Processing and Electronic Systems Poznań Poland

ISBN: (纸本)9798350304985

This article presents the application possibilities of unmanned aerial vehicles (UAVs) for the rapid and efficient determination of carbonyl compounds: formaldehyde and acetaldehyde concentrations in gaseous environmental samples. One of the described methods is the use of special electrochemical sensors (PMS5003 and SEN0231) to measure air pollution in real time (every 10 seconds). The second method involves adsorbing gas samples into sorption tubes with XAD-2 cartridges and uses chromatographic analysis: gas chromatography coupled with a selective electron capture detector (GC-ECD). The proposed analytical technique allows the determination of carbonyl compounds at low concentration levels (μg/m3) using pre-derivatization of samples with the reagent 2,3,4,5,6-pentafluorobenzyl-hydroxylamine (PFBOA). Comparing the results obtained from electrochemical sensors and chromatographic analysis, we can conclude that there are discrepancies between the determined concentrations of formaldehyde in the analyzed gas samples. © 2023 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Formaldehyde

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An Extension of Adaptive State Observers Using Dynamic Regressor Extension and Mixing With Relaxed Excitation Conditions

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IFAC-PapersOnLine 2022年第12期55卷 330-335页

作者： Alexey Vedyakov Vladimir Bespalov Vladimir Vorobev Dmitry Cherginets Anton Pyrkin Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 197101 Saint Petersburg Russia

The recently proposed DREM-based adaptive state observer (DREMBAO) design approach assumes that there exists transformation of the system model into a cascade form, linearly dependent on parameters vector and depends only on measured input and output. This paper proposes an extension to relax that assumption and extend the approach to state affine systems. Like the original version of DREMBAO, the proposed approach ensures global convergence of an estimation error to zero under a relatively weak condition. The advantages of the extension are demonstrated in the example with a permanent magnet synchronous motor. In contrast to the original approach, the proposed extension allows taking into account viscous friction in the motor and obtaining a simplified load torque estimation algorithm. Moreover, finite-time convergence to zero is ensured for the load torque and speed estimation error under a weak interval excitation.

关键词： adaptive state observers nonlinear systems system identification

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Adaptive Consensus control for Linear Multi-Agent System with Unknown Sinusoidal Disturbances

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IFAC-PapersOnLine 2023年第2期56卷 1198-1203页

作者： Sokrat Aldarmini Sergey Kolyubin Alexey Vedyakov Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 197101 Saint Petersburg Russia

This paper deals with consensus control for a multi-agent system, where agents are represented via state-space models. It is assumed that they are subjected to sinusoidal disturbances with unknown parameters in the input channel. The connections between the agents are represented by a cycle-free graph containing a spanning tree. An adaptive distributed control algorithm is proposed, guaranteeing asymptotic convergence of the agents’ states towards consensus, provided that the agent model satisfies the controllability condition. The control algorithm consists of a distributed observer, a distributed control law, and an adaptation law. The theoretical results are proven using LaSalle's invariance principle. Finally, a simulation example is presented to demonstrate the theoretical findings.

关键词： Consensus Adaptive control of multi-agent systems Distributed control and estimation

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Realtime KLT feature point tracking for high definition video

Realtime KLT feature point tracking for high definition vide...

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1st International Workshop on Computer Graphics, Computer Vision and Mathematics, GraVisMa 2009

作者： Fassold, Hannes Rosner, Jakub Schallauer, Peter Bailer, Werner JOANNEUM RESEARCH Institute of Information Systems Steyrergasse 17 8010 Graz Austria Silesian University of Technology Faculty of Automatic Control and Robotics Ulica Academicka 2 44-100 Gliwice Poland

ISBN: (纸本)9788086943909

Automatic detection and tracking of feature points is an important part of many computer vision methods. A widely used method is the KLT tracker proposed by Kanade, Lucas and Tomasi. This paper reports work done on porting the KLT tracker to the GPU, using the CUDA technology by NVIDIA. For the feature point detection, we propose to do all steps of the detection process, except the final one (enforcing a minimum distance between feature points), on the GPU. The feature point tracking is done on a multi-resolution image representation to allow tracking of large motion. Each feature point is calculated in parallel on the GPU. We compare the CUDA implementation with the corresponding OpenCV (using SSE and OpenMP) routines in terms of quality and speed, noticing a significant speedup of up to factor 10. Some additional experiments are done regarding the influence of different parameterization on the runtime. Our GPU implementation achieves realtime (> 25 fps) performance for High Definition (HD) video sequences, successfully tracking several thousands of points. In summary, the GPU implementation achieves a significant speedup compared with an optimized CPU implementation and allows the analysis of high resolution video sequences in realtime.

关键词： Motion estimation

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Accuracy and cross-sensitivity analysis of the PMS5003 formaldehyde sensor 27

Accuracy and cross-sensitivity analysis of the PMS5003 forma...

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27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Bronczyk, Karolina Adamski, Michal Dabrowska, Agata Konieczka, Adam Dabrowski, Adam Adam Mickiewicz University Faculty of Chemistry Department of Trace Analysis Poznań Poland Poznan University of Technology Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Poznań Poland

ISBN: (纸本)9788362065486

Measurement data produced with the PMS5003 electrochemical sensor, allegedly selective for formaldehyde, were analyzed. The amounts of formaldehyde released from heated standard solutions were measured. At the same time, samples were sorbed into sorption tubes with an XAD-2 cartridge, which enabled chromatographic analysis - gas chromatography coupled with an electron capture detector (GC-ECD). A susceptibility of the PMS5003 sensor to cross-sensitivity associated with the presence of other low-molecular-weight carbonyl compounds, such as acetaldehyde and acetone in the sample, was also tested. The conducted research clearly indicates poor selectivity/accuracy of the PMS5003 sensor in relation to formaldehyde and its sensitivity to the presence of other carbonyl compounds in the sample, with a structure similar to formaldehyde. © 2024 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Acetone

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Electrochemical determination of pollutants from various passenger car engines 27

Electrochemical determination of pollutants from various pas...

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27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Bronczyk, Karolina Adamski, Michal Dabrowska, Agata Konieczka, Adam Dabrowski, Adam Adam Mickiewicz University Faculty of Chemistry Department of Trace Analysis Poznań Poland Poznan University of Technology Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Poznań Poland

ISBN: (纸本)9788362065486

This paper presents measurements of the concentrations of particulate matter (PM1, PM2.5, and PM10), carbon dioxide (CO2), total organic compounds (TVOCs), and formaldehyde as pollutants released during fuel combustion. For this purpose, a suitable measuring device containing selective electrochemical sensors was prepared. The influence of fuel type and engine speed on the amount of pollutants released into the environment, was studied. Based on the achieved results, it can be concluded that the factor influencing the amount of pollutants released is mainly the type of fuel. Gasoline-powered cars can pollute the environment in a particularly negative way. A relationship was also noted between the increase in engine speed and the concentration of released carcinogenic formaldehyde. © 2024 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Electrochemical sensors

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Output Adaptive Switching controller Design with DREM-Based Multi-Harmonic Disturbance Cancellation ⁎

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IFAC-PapersOnLine 2019年第29期52卷 263-268页

作者： Dmitrii Dobriborsci Sergey Kolyubin Fatimat Karashaeva Alexey Bobtsov Faculty of Control systems and Robotics ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

A new DREM-based (Dynamic Regressor Extension and Mixing) modification for output adaptive controller with input multi-harmonic disturbance cancellation is proposed in this paper. This approach provides monotonic convergence of the disturbance internal model parameters’ estimates to its true values. We also introduce a novel algorithm for the DREM-based estimator gains tuning in order to improve convergence under poor excitation. Parallel kinematics Ball-and-Plate robotic system is considered as a test-bed, while the non-prehensile ball stabilization in a predefined coordinates under bounded disturbances is a task to be solved.

关键词： Adaptive control output control disturbance cancellation DREM ball-and-plate

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The Cutting Tool Technical State Forecasting During the Technological Production Preparation Stages

The Cutting Tool Technical State Forecasting During the Tech...

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International Ural Conference on Measurements (UralCon)

作者： T. V. Basova Y. S. Andreev Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

This study deals with the addressing the issue of ensuring the operational condition of the technological system in terms of quality parameters for manufacturing products within the required timeframe by developing and implementing the method for forecasting the technical state of the cutting tool (CT). The paper highlights the importance of determining and forecasting the technical state of the CT for enterprises in the instrument-making and mechanical engineering industries. To address the research question, an operational control method for the CT, based on the multisensory data fusion obtained from technical diagnostic and control systems on a computer numerical control (CNC) machine, was proposed. The forecasting of the CT's technical state was performed using artificial intelligence (AI) methods. The proposed approach for obtaining input data for developing predictive models differs in their reliability due to minimizing erroneous results from individual technical diagnostic and control systems.

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Maintaining a Wireless Sensor Network Structure in a Variable Dynamic Environment

Maintaining a Wireless Sensor Network Structure in a Variabl...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Daria Galkina Stanislav Tomashevish Oleg Borisov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

This article discusses a wireless sensor network, in which elements are attached to a group of robots located on the surface of the water. Due to the group being exposed by constant and unpredictable environmental influences such as wind, waves and swell, the structure of the wireless sensor network can be disrupted to complete failure. Because of this, there is a need to synthesize a control algorithm that could support a predetermined structure of a wireless sensor network on the surface of the water. The proposed algorithm is quite simple to implement, is distinguished by its flexibility and allows to accurately specify the desired shape of the network structure in advance.

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