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11th International Conference on Electromechanical and Energy systems, SIELMEN 2021

作者： Poliakov, Nikolai Demidova, Galina Zolov, Pavel Vorobev, Konstantin Lukichev, Dmitry Strzelecki, Ryszard ITMO University Faculty of Control System and Robotics Saint-Petersburg Russia

ISBN: (纸本)9781665400787

Distributed energy systems are gaining popularity. A growing number of research works are devoted to multi-agent systems design for the power subsystem of distributed energy systems. However, power electronics units with the use of microprocessor control systems are required to check the proposed algorithms. This study is dedicated to describing the energy laboratory concept for testing and verifying distributed power energy control algorithms based on a multi-agent approach and beta-testing the power units themselves. The power electronics units are designed and implemented for laboratory microgrid which includes a new type of small wind turbine and smart window. © 2021 IEEE.

关键词： Power electronics

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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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Formation control for Multi-Agent System with Disturbances Compensation

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IFAC-PapersOnLine 2022年第13期55卷 222-227页

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

This paper considers the formation control of single-integrator modeled agents with unknown disturbances. Two cases are investigated. In the first case, the connected agents are assumed to be able to measure relative displacements between each other. The control law for this case is designed to ensure a stable formation with a predefined rejection performance for disturbances. In the second case, additionally, one agent is assumed to be able to sense its position in a global coordinate system. The control law for this case is designed to ensure the stability of agents’ positions with respect to predefined desired positions. Also, a rejection performance for disturbances is ensured. Simulation results are provided to support the theoretical analysis for the proposed control algorithms.

关键词： multi-agent systems formation control distributed estimation robust control

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MPPT Algorithms for Wind Turbines: Review and Comparison 29

MPPT Algorithms for Wind Turbines: Review and Comparison

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29th International Workshop on Electric Drives: Advances in Power Electronics for Electric Drives, IWED 2022

作者： Aleksandr, Lukin Demidova, Galina Alassaf, Omar Lukichev, Dmitry Rassolkin, Anton Vaimann, Toomas ITMO University Faculty of Control System and Robotics Saint-Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia

ISBN: (纸本)9781665467865

Wind turbines play an important role in energy generation using renewable sources. The wind is very changeable, and such turbines require techniques for finding and tracking maximum power density. The presented work includes an overview of maximum power point tracking techniques applicable to small-size wind turbines based on the Magnus effect. An overview of existing algorithms is presented. Overviewed algorithms are assessed using a simulation in MATLAB with a model of the experimental Magnus effect wind turbine. © 2022 IEEE.

关键词： Wind power

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Brain over Brawn: Using a Stereo Camera to Detect, Track, and Intercept a Faster UAV by Reconstructing the Intruder's Trajectory

Field Robotics

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Field robotics 2025年 2卷 222-240页

作者： Antonella Barišić Frano Petric Stjepan Bogdan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb Croatia

This paper presents our approach to intercepting a faster intruder UAV, inspired by the MBZIRC 2020 Challenge 1. By utilizing a priori knowledge of the shape of the intruder's trajectory, we can calculate an interception point. Target tracking is based on image processing by a YOLOv3 Tiny convolutional neural network, combined with depth calculation using a gimbal-mounted ZED Mini stereo camera. We use RGB and depth data from the camera, devising a noise-reducing histogram-filter to extract the target's 3D position. Obtained 3D measurements of target's position are used to calculate the position, orientation, and size of a figure-eight shaped trajectory, which we approximate using a Bernoulli lemniscate. Once the approximation is deemed sufficiently precise, as measured by the distance between observations and estimate, we calculate an interception point to position the interceptor UAV directly on the intruder's path. Our method, which we have significantly improved based on the experience gathered during the MBZIRC competition, has been validated in simulation and through field experiments. Our results confirm that we have developed an efficient, visual-perception module that can extract information describing the intruder UAV's motion with precision sufficient to support interception planning. In a majority of our simulated encounters, we can track and intercept a target that moves 30% faster than the interceptor. Corresponding tests in an unstructured environment yielded 9 out of 12 successful results.

关键词： Autonomous aerial vehicles Trajectory Target tracking Cameras Three-dimensional displays Robots Radar tracking Image reconstruction Estimation Detectors

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Student Advising Services in control systems and robotics*

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IFAC-PapersOnLine 2022年第17期55卷 13-18页

作者： Sergey Shavetov Oleg Borisov Elena Borisova Andrei Zhivitskii Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Student Services Office ITMO University St. Petersburg Russia

This paper shows a general concept of establishing student advising services at itmo university for students majoring in control systems and robotics. The work covers a few topics related to these services, which are personalized education, project-oriented training, and curriculum design and redesign. Detailed list of expected duties of advisors and their role in professional career planning are discussed. The paper shows the vision of the way how advisors can be recruited and trained by means of the special course of additional professional education.

关键词： Academic Advising Student Counseling Personalized Education control systems robotics

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Autonomous, Mobile Manipulation in a Wall-Building Scenario: Team LARICS at MBZIRC 2020

Field Robotics

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Field robotics 2025年 2卷 201-221页

作者： Ivo Vatavuk Marsela Polic Ivan Hrabar Frano Petric Matko Orsag Stjepan Bogdan Laboratory for Robotics and Intelligent Control systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb Croatia

In this paper we present our hardware design and control approaches for a mobile manipulation platform used in Challenge 2 of the MBZIRC 2020 competition. In this challenge, a team of UAVs and a single UGV collaborate in an autonomous, wall-building scenario, motivated by construction automation and large-scale robotic 3D printing. The robots must be able, autonomously, to detect, manipulate, and transport bricks in an unstructured, outdoor environment. Our control approach is based on a state machine that dictates which controllers are active at each stage of the Challenge. In the first stage our UGV uses visual servoing and local controllers to approach the target object without considering its orientation. The second stage consists of detecting the object's global pose using OpenCV-based processing of RGB-D image and point-cloud data, and calculating an alignment goal within a global map. The map is built with Google Cartographer and is based on onboard LIDAR, IMU, and GPS data. Motion control in the second stage is realized using the ROS Move Base package with Time-Elastic Band trajectory optimization. Visual servo algorithms guide the vehicle in local object-approach movement and the arm in manipulating bricks. To ensure a stable grasp of the brick's magnetic patch, we developed a passively-compliant, electromagnetic gripper with tactile feedback. Our fully-autonomous UGV performed well in Challenge 2 and in post-competition evaluations of its brick pick-and-place algorithms.

关键词： Robots Robot kinematics Navigation Manipulators Cameras Buildings Grippers Automation Service robots Laser radar

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Adaptive control of an Uncertain Differential Drive Robot

Adaptive Control of an Uncertain Differential Drive Robot

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IEEE International Conference on control Science and systems Engineering (CCSSE)

作者： Zhiqiang Chen Duzhesheng Liao Aleksandr Y. Krasnov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

This paper proposes an adaptive trajectory tracking control scheme for differentially driven robots in the state of unknown kinematic and dynamic model parameters and uncertain external disturbances. The main idea is to design an adaptive controller to reduce the influence of unknown dynamic parameters and unknown parameters of the kinematic model. A kinematic controller is first designed to generate virtual velocities as reference inputs for dynamic control systems. The kinematic controller is then designed so that the actual velocity tracks the virtual velocity asymptotically. The robot can reach the expected speed and let the attitude error converge quickly. This approach enables the robot to quickly follow the desired trajectory. Finally, the effectiveness of the method is proved by MATLAB simulation.

关键词： Adaptation models Uncertainty Trajectory tracking Kinematics control systems Mathematical models Trajectory

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Analysis of Scanning Schemes of Complex-Profile Products with Automated Complex Non-Destructive Quality control of Coating of Complex-Profile Product

Analysis of Scanning Schemes of Complex-Profile Products wit...

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Information, control, and Communication Technologies (ICCT), International Conference on

作者： Maksim S. Gubin Valeriy V. Malyy Alexey V. Fedorov Igor Y. Kinzhagulov Dmitriy S. Sergeev Faculty of Control Systems and Robotics ITMO University ST Petersburg Russia SECT The Institute of Science of the ICC ST Petersburg Russia

In this paper, the existing problems of non-destructive testing of defects in the surface and subsurface coating layers of complex profile products are considered. The main factors influencing the choice of the scanning scheme are determined. For the implementation of non-destructive testing, several scanning schemes were proposed, which were analyzed in order to determine the necessary trajectory and step of movement of the transducer relative to the surface of a complex profile product. As a result, an optimal scanning scheme was selected.

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Adaptive Output Regulation of MIMO LTI systems with Unmodeled Input Dynamics

Adaptive Output Regulation of MIMO LTI Systems with Unmodele...

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IEEE Conference on Decision and control

作者： Oleg Borisov Alberto Isidori Anton Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Dept. of Computer Control and Management Engineering University “Sapienza” Rome Italy

This paper addresses the problem of adaptive output regulation of a minimum-phase MIMO LTI system in the presence of un-modeled (fast) input dynamics. The adoption of a post-processing tunable internal model makes it possible to implement standard methods for the analysis of two-time-scale systems. The proposed adaptation law guarantees, under suitable hypotheses, convergence to zero of the regulation error as well as of the parameter estimation error.

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