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检索条件"机构=Faculty of Control Systems and Robotics"

共 514 条记录，以下是41-50 订阅

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LMI-Based Design of Output Robust controller with Static Anti-Windup∗

LMI-Based Design of Output Robust Controller with Static Ant...

引用

2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Kakanov, Mikhail A. Borisov, Oleg I. Pyrkin, Anton A. Faculty of Control Systems and Robotics St. Petersburg197101 Russia

ISBN: (纸本)9781728187631

The article discusses the development of a robust algorithm for controlling the system output in the presence of restrictions on the input signals. The nominal controller contains an integral component to compensate for the external disturbance. Undesired effects of saturation of the input signals are compensated by the static anti-windup correction sheme. An approach is proposed for adjusting the coefficient of anti-windup correction based on the tools of linear matrix inequalities. The effectiveness of the proposed approach is illustrated by the example of an autopilot system by surface vessel. © 2020 IEEE.

关键词： Linear matrix inequalities

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Input-to-State Stability Analysis for Descriptor Homogeneous systems

Input-to-State Stability Analysis for Descriptor Homogeneous...

引用

2023 International Russian Automation Conference, RusAutoCon 2023

作者： Konovalov, Dmitry Zimenko, Konstantin Kremlev, Artem Itmo University Faculty of Control Systems and Robotics Saint Petersburg Russia

ISBN: (纸本)9798350345551

The paper is devoted to the problem of Input-to-State Stability (ISS) analysis for descriptor (singular) homogeneous systems. In particular, sufficient conditions for descriptor homogeneous systems to be ISS are proposed. It is shown that to verify the ISS property it is enough to establish asymptotic stability of a homogeneous descriptor system in disturbance-free case and check provided algebraic conditions. Based on this result it was shown that existing homogeneity-based finite-time controls and observers for linear descriptor systems provide the ISS property with respect to additive disturbances and measurement noise. The results are supported with numerical simulations of the generator system. © 2023 IEEE.

关键词： Asymptotic stability

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Signal Adaptive Filtering Algorithm to Eliminate White Noise of Stationary and Non-Stationary Signals

Signal Adaptive Filtering Algorithm to Eliminate White Noise...

引用

2024 International Russian Automation Conference, RusAutoCon 2024

作者： Shabanov, Kirill A. Vlasov, Sergey M. Itmo University Control Systems and Robotics Faculty Saint-Petersburg Russia

This article aims to research and evaluate existing adaptive signal filtering algorithms. Filtering of signals removes noise and distortion, which is a crucial scientific and technical challenge. the authors specifically consider the problem of white noise filtering using an adaptive filter approach. To address this problem, classical adaptive filtering algorithms are selected as the primary techniques for investigation. the efficiency of the least mean squares and recursive least squares with forgetting factor algorithms is compared in white noise filtering tasks for stationary and non-stationary signals. As a result, the authors have successfully filtered multi-harmonic signals from white noise using both the least mean squares and recursive least squares with forgetting factor algorithms. © 2024 IEEE.

关键词： Wiener filtering

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Robust Visual-Inertial Odometry for Ground Robots in Dynamic Environments 30

Robust Visual-Inertial Odometry for Ground Robots in Dynamic...

引用

30th Saint Petersburg International Conference on Integrated Navigation systems, ICINS 2023

作者： Penkovsky, Andrey Mohrat, Malik Mahmoud, Jaafar Kolyubin, Sergey ITMO University Faculty of Control Systems Robotics Saint Petersburg Russia

ISBN: (纸本)9785919950950

This paper introduces a novel approach to improve robustness of visual-inertial odometry for ground mobile robots in dynamic environments. The proposed approach extends a standard Visual-Inertial Navigation System with weighted least squares state estimation problem using alternating factor graph optimization. Additionally, we establish a reliability model for visual landmarks based on semantic prior knowledge of the scene. The robustness of our approach is validated on real-world experiments and evaluation results show stable and accurate state estimation in high-dynamic environments. © 2023 Concern CSRI Elektropribor, JSC.

关键词： Inertial navigation systems

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The Effect of Changing-Lane Prediction Algorithms on the Performance of ACC System Model in Matlab/Simulink

The Effect of Changing-Lane Prediction Algorithms on the Per...

引用

2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Suleiman, Leila Vlasov, Sergei Control Systems and Robotics Faculty ITMO University Saint-Petersburg Russia

ISBN: (纸本)9798350395044

Self-driving vehicles are capturing the attention of numerous researchers, companies, and car enthusiasts. The automation of vehicles varies across multiple levels, depending on the tasks they perform and the techniques they employ. The Adaptive Cruise control (ACC) system is an automated vehicle at the first level. It checks the presence of other vehicles in its lane to adapt its velocity accordingly or maintain a constant speed. However, it does not include lane-changing capabilities. Nevertheless, the presence of other neighboring vehicles can affect the performance of the ACC based Model Predictive controller (MPC) system, leading to discomfort or collisions. In this paper, we will provide a brief description of the ACC system and the MPC controller. Subsequently, we will discuss the challenges that affect the performance of the ACC based MPC system and propose potential solutions using the Variable Time Headway (VTH) strategy or changing-lane prediction algorithms, such as Random Forest (RF), K- Nearest Neighbor (KNN) and Support Vector Machine (SVM). Simulation results of applying these methods to a sufficiently dangerous driving scenario will be illustrated, followed by a brief conclusion. © 2024 IEEE.

关键词： Support vector machines

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Application of Machine Learning Tools in Computer-Aided Design of Technological Processes (CAPP) 5

Application of Machine Learning Tools in Computer-Aided Desi...

引用

5th International Conference on Neural Networks and Neurotechnologies, NeuroNT 2024

作者： Laptev, Aleksandr A. Tretyakov, Sergey D. Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (纸本)9798350363739

In this work, various methods of designing technological processes are highlighted, their comparative analysis is conducted and general stages are highlighted. Special attention was paid to the analysis of solutions in the information retrieval subsystem, where the search of parts-analogues in the existing systems of automated design of technological processes (CAD TP) is realized. On the basis of the conducted analysis, a new approach to the search for parts-analogues and unification of details with the use of tools and algorithms of machine learning has been proposed. The use of a new database format in CAD TP is also proposed, which allows to significantly simplify the process of search and unification of details. And also to improve the efficiency of the search by reducing the time and qualitative results. The obtained results and proposals can become the basis for improving the process design procedure in industry and increasing the efficiency of the use of computer-aided process design systems. © 2024 IEEE.

关键词： Machine learning

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A New Modular Adaptive Backstepping control of Nonlinear systems with Unknown control Coefficients∗ 63

A New Modular Adaptive Backstepping Control of Nonlinear Sys...

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： Gerasimov, Dmitry Pashenko, Artem Suzdalev, Oleg Nikiforov, Vladimir O. Itmo University Faculty of Control Systems and Robotics Saint Petersburg Russia

ISBN: (纸本)9798350316339

The paper addresses the problem of design of a modular adaptive backstepping controller for a class of nonlinear strict-feedback systems with unknown virtual and actual control gains. By involving the high-order time derivatives (HOTD) of the adjustable parameters into the virtual and actual control laws, the backstepping procedure is reduced to a relatively simple static error model. This model is used for design of the recently proposed adaptation algorithm with memory regressor extension which ensures two key properties. First, it is used for calculation of the HOTD of the adjustable controller parameters. Second, the algorithm provides a systematic technique for accelerating the controller parameters and, as a result, improves the transient performance of the closed-loop system. © 2024 IEEE.

关键词： Adaptive control systems

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Ultrasonic Quality control of Polymer Composite Coatings 7

Ultrasonic Quality Control of Polymer Composite Coatings

引用

7th International Conference on Information, control, and Communication Technologies, ICCT 2023

作者： Shmakov, Alexey Fedorov, Alexey Alifanova, Irina Bychenok, Vladimir Berkutov, Igor Itmo University Faculty of Control Systems and Robotics ST Petersburg Russia

ISBN: (纸本)9798350340945

Quality control of multilayer composite coatings of modern aircraft products is an urgent task. The purpose of this work is to substantiate the possibility of using the ultrasonic echo method for quality control of multilayer composite coatings. The objectives of this work are to compare two methods of ultrasonic testing-with piezoelectric and optoacoustic generation of acoustic vibrations-on experimental samples of multilayer composite coatings. The experimental study was carried out on samples with one-, two-and three-layer coatings with artificial defects on a metal substrate and a substrate made of polymer composite materials. It is established that the ultrasound echo method with piezoelectric and optoacoustic generation of acoustic vibrations allows detecting stratifications in the coating and between the coating and the substrate, and measuring the total thickness of coatings. The ultrasonic method with optical-acoustic generation also resolves the interface between layers of a multi-layer coating, which also allows us to estimate the thickness of individual layers in a multi-layer coating. © 2023 IEEE.

关键词： Nondestructive examination

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Direct Adaptive control of LTV Discrete-time systems with Uncertain Periodic Coefficients 63

Direct Adaptive Control of LTV Discrete-time Systems with Un...

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： Gerasimov, Dmitry N. Ngo, Dang Hien Nikiforov, Vladimir O. Itmo University Faculty of Control Systems and Robotics Saint Petersburg Russia

ISBN: (纸本)9798350316339

The paper considers the problem of the state-feedback adaptive control of a class of discrete linear time-varying plant with multisinusoidal parameters. The plant is representable in the strict-feedback form, in which the parameters are on the main diagonal of the state matrix. The amplitudes, frequencies, and the phases of the multisinusoids are not known a priori, however the maximum numbers of sinusoids (harmonics) in each parameter are available. The problem is solved by design of periodic parameters observers recovering the parameters dynamics, the plant parameterization, and developing a discrete-time adaptive backstepping controller. In order to tune the controller parameters and improve the closed-loop transient performance, an adaptation algorithm with memory regressor extension is applied. The main results of the paper are demonstrated by simulation. © 2024 IEEE.

关键词： State feedback

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Edge IIoT in Manufacturing

Edge IIoT in Manufacturing

引用

2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Remizov, Boris Tretyakov, Sergey Andreev, Yuriy ITMO University Faculty of Control Systems and Robotics Saint Petersburg Russia

ISBN: (纸本)9798350395044

There have been many studies on the integration of edge computing technology into the Internet of Things and its integration into the operation of various processes that require greater adaptability in dealing with information and better utilization of available resources. Indeed, in recent years there has been an active exploration of new ways to utilize this technology. However, most research has focused on the development of new architectural solutions and in the area of integration with various smart systems such as smart home or smart health care, with little attention to the application of this technology in industrial production. However, it is recognized that this technology is a new step in improving IT/OT convergence, which makes this technology highly relevant for industrial applications. This study explores the principles of edge within the enterprise digital transformation and proposes a model in which edge technology is integrated into the operation of an automated warehouse management system in manufacturing. The study shows that that technology can be used to filter previously unused data in order to better identify possible defects in the system by obtaining additional data without the need to manually upload it. © 2024 IEEE.

关键词： Internet of things

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