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17th International Conference on Informatics in control, Automation and robotics, ICINCO 2020

作者： Vunder, Nina Dudarenko, Natalia Institute of Control Engineering TU Braunschweig Hans-Sommer-Str. 66 Braunschweig Germany Department of Control Systems and Industrial Robotics ITMO University 49 Kronverksky Pr. Saint-Petersburg Russia

ISBN: (纸本)9783030924416

The paper presents the algorithm for robustness estimation of large deviations in free motion of linear discrete-time systems. A tracking discrete-time systems with the modal control law are discussed, where the modal control law is designed taking into account the value of delay and the deviation. Two cases of discrete-time systems with control signal delay are considered in the paper. The first case relates to predictable delay of control signal, and the second one relates to unpredictable delay of control signal. It is assumed that parameters of the system are linearly dependent on the uncertainties. The problem is solved with the state space approach and the sensitivity theory methods. An upper bound estimation of trajectory deviations for discrete-time systems is obtained. The estimation contains the condition number of the eigenvectors matrix of the system state matrix. Therefore, sensitivity functions of singular values of the eigenvectors matrix are used to calculate the robustness estimation of the deviations. Based on the obtained equations, an algorithm for the robustness estimation of large deviations in linear discrete-time systems with parametric uncertainties is proposed. The proposed method is compared with an alternative LMI based approach for the peak estimation problem. Advantages and disadvantages of both approaches are illustrated with examples. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Sensitivity analysis

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Adaptive observer for a LTV system with partially unknown state matrix and delayed measurements

arXiv

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arXiv 2022年

作者： Bobtsov, Alexey Nikolaev, Nikolay Kozachek, Olga Slita, Olga Department of Control Systems and Robotics ITMO University Saint-Petersburg Russia

Problem of adaptive state observer synthesis for linear time-varying (LTV) system with unknown time-varying parameter and delayed output measurements is considered. State observation problem has attracted the attention of many researchers [4]. In this paper the results proposed in the [2], [9], [10] are developed. It’s supposed that the state matrix can be represented as sum of known and unknown parts. Output vector is measured with known constant delay. An adaptive identification algorithm which reconstructs unknown state and unknown time varying parameter is proposed. © 2022, CC BY-NC-ND.

关键词： Parameter estimation

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A control Strategy for Bidirectional Buck Converter with Combining Continuous and Active Discontinuous Conducting Modes

A Control Strategy for Bidirectional Buck Converter with Com...

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Annual Siberian Russian Workshop on Electron Devices and Materials (EDM)

作者： Evgeniy Stolyarov Maxim Lashkevich Egor Kulik Yousef Ali Galina Demidova Alecksey Anuchin Department of Electric Drives Moscow Power Engineering Institute Moscow Russia Faculty of Control System and Robotics ITMO University Saint Petersburg Russia

ISBN: (数字)9798350389234

ISBN: (纸本)9798350353051

The hybrid electric powertrains can utilize bidirectional buck converters to charge the battery while driving and discharge it when extra power is required. In order to increase the power density, the wide-bandgap switches should be used. These switches have bidirectional conductivity mode as they are metal-oxide-semiconductor field-effect transistors (MOSFET) and the utilization of the freewheeling diode is undesirable due to high voltage drop across it and much higher losses in conducting mode. This paper proposes the combined control strategy which implements continuous conducting mode at high and active discontinuous conducting mode at low currents. The use of model predictive control allows to minimize the conducting losses by means of reverse conductivity mode of the switches. The paper provides derivation of the combined control strategy. Then, the simulation results show the effectiveness of the proposed method. Finally, the simulation was performed with various errors in the definition of the system parameters.

关键词： Power system measurements MOSFET Buck converters Density measurement Mechanical power transmission Conductivity control systems

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DEGAS - Deformation Estimation based on Magnetic Gradient Tensor Contraction for Soft Robot Shape Servoing

DEGAS - Deformation Estimation based on Magnetic Gradient Te...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Jelena Vuletić Bruno Marić Matko Orsag LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

This work proposes the first derivation, implementation, and experimental validation of magnetic-based proprioceptive sensing method for soft robotic applications. In our proposed approach, the magnetic sensing system measures gradient tensor contractions that can be directly related to the shape of a deformable plastering tool. Custom-designed and 3D-printed plastering tool embeds two identical permanent magnets that generate a non-symmetric magnetic field tracked by the proposed sensor. Seamless real-time control is enabled with the sensor sampling rate of 1 kHz. Classical linear control is synthesized for the scraper bending angle and orientation control. The tool, sensor, and the proposed control system are validated on robotic plastering and painting tasks.

关键词： Magnetic field measurement Tensors Deformation Shape Propioception Estimation Bending Soft robotics Sensors Painting

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Water Indicator Measurement and Data Processing From Internet of Things Modules

Water Indicator Measurement and Data Processing From Interne...

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IEEE International Conference on Electrical Engineering and Photonics (EExPolytech)

作者： Yeldos A. Altay Lashin Bazarbay Raisa K. Uskenbayeva Alexey V. Fedorov Zhuldyz B. Kalpeyeva Department of Robotics and Technical Means of Automation Satbayev University Almaty Kazakhstan Vice-Rector Satbayev University Almaty Kazakhstan Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russian Federation Institute of Automation and Information Technologies Satbayev University Almaty Kazakhstan

ISBN: (数字)9798350388879

ISBN: (纸本)9798350388886

This article presents the results of the implementation of a measuring system based on an IoT module for remote transmission of aggregate measurement data obtained during analytical monitoring of five water parameters via a wireless communication channel. A model of an experimental setup is presented and discussed, demonstrating the operability and consistency of the model for monitoring physical parameters during aggregate measurements. The obtained results of remote data transmission via a wireless communication channel revealed a statistically significant correlation between spring water parameters and the most influential predictor of acidity, conductivity, turbidity and oxidation-reduction potential is water temperature. The discovered relationship between the measured parameters is mainly associated with the effect of temperature on the processes occurring with an increase and decrease in the temperature of the analyzed water samples.

关键词： Temperature measurement Wireless communication Correlation coefficient Temperature distribution Correlation Turbidity Conductivity Internet of Things Springs Monitoring

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Graph-Based Decentralized Exploration and Semantic Inspection for Multi-Robot systems

Graph-Based Decentralized Exploration and Semantic Inspectio...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Nada E. Abbas Tamara Petrovic Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

This paper presents a decentralized graph-based exploration and inspection framework for Multi-Robot systems, designed to address challenges in subterranean and largescale environments. Unlike prior works that focus solely on exploration or inspection, this framework integrates volumetric exploration, semantic inspection, and dynamic task allocation into a unified decentralized system. A key novelty of this work is the seamless integration of these modules in a multi-robot setting, allowing UAVs to autonomously coordinate their tasks without relying on centralized control. The framework employs a hierarchical graph structure, utilizing a dense local graph for immediate navigation and a sparse global graph for long-term planning and repositioning. Extensive simulations in large-scale complex-shaped environments demonstrate that the proposed approach improves the completeness of the generated maps, reduces inconsistencies in the constructed mesh, and accelerates the overall exploration-inspection process compared to existing decentralized strategies.

关键词： Semantics Inspection Prediction algorithms Dynamic scheduling Aircraft navigation Robustness Planning Multi-robot systems Resource management Centralized control

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Geometry-Based Robust control of a Multi-Agent System of Quadrotors ⁎

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IFAC-PapersOnLine 2021年第14期54卷 482-487页

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

This paper addresses formation control for a group of quadrotors interconnected between each other by the Laplacian. The control framework is based on the establishing the consensus protocol and designing the geometry... 详细信息

关键词： Multi-agent systems Formation control Robust control Geometric control Group of quadrotors

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Model Study and Analysis of Operating Modes of a Reconfigurable Battery Pack

Model Study and Analysis of Operating Modes of a Reconfigura...

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Annual Siberian Russian Workshop on Electron Devices and Materials (EDM)

作者： Alexander Politsinsky Arina Arbuzina Akhil Garg Nikolai Poliakov Galina Demidova Faculty of Control System and Robotics ITMO University St. Petersburg Russia School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9798350389234

ISBN: (纸本)9798350353051

The paper examines the modeling of a reconfigurable battery pack and analyzes energy dissipation in battery energy storage across various operation modes. A battery management system is designed for the reconfigurable battery pack to minimize inner resistance and enhance energy performance across a wide voltage range. Additionally, a method for evaluating the inner resistance of reconfigurable battery packs is presented, allowing comparison with standard battery packs of the same cell number and capacity. It is shown that different battery energy storage structures in electric drive operations optimize losses in the battery pack and enable comparison of battery cell heating power during drive operations. Obtaibed results facilitate the optimization of energy efficiency and battery heating, enabling the synthesis of the electrical structure while excluding unnecessary switched states during reconfigurable battery pack operations. It is also shown that within the analyzed voltage and current range, it is possible to determine the optimal structure on the basis of the known battery pack structure and resistance ratio of the switch and battery cell.

关键词： Resistance Analytical models Battery management systems Voltage Switches Batteries Trajectory

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On Small-Gain Theorem for Interconnected Finite/Fixed-Time Input-to-State Stable systems*

On Small-Gain Theorem for Interconnected Finite/Fixed-Time I...

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IEEE Conference on Decision and control

作者： K. Zimenko D. Efimov A. Polyakov X. Ping Faculty of Control Systems and Robotics ITMO University 49 Kronverkskiy av Saint Petersburg Russia Inria Univ. Lille CNRS UMR 9189 - CRIStAL Lille France Xidian University Xi’an Shaanxi China

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

The paper addresses the problem of input-to-state stability analysis for interconnected systems with accelerated convergence, namely, for interconnected nonlinear systems composed of two finite-time or (nearly) fixed-time input-to-state stable subsystems. Under additional mild restrictions, small-gain theorems are proposed for a class of such systems that guarantee the preservation of accelerated convergence for the interconnection.

关键词： Interconnected systems Stability analysis Nonlinear systems Convergence

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Automated Ultrasonic Testing of Carbon-Carbon Composite Materials

Automated Ultrasonic Testing of Carbon-Carbon Composite Mate...

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

作者： Evgeniy A. Pavlukhin Igor Y. Kinzhagulov Alexey V. Fedorov Magomed A. Omarov Faculty of Control Systems and Robotics ITMO University ST Petersburg Russia Institution of Science “Engineering and design center for support of the operation of space technology ST Petersburg Russia

The quality of products made of carbon-carbon composite materials (CCCM) is influenced by many factors, including the parameters of the technological process and the technical level of equipment for the manufacture of materials and structures. One of the most important moments in the process of creating products from CCCM is the formation of reinforcing components, matrix and their structural bonds. The efficiency of the system of structural bonds depends on the homogeneity (heterogeneity) of the material structure. The required mechanical and thermal properties of CCCM are ensured by the uniformity (continuity) of the structure, the change of which affects the properties of the material as a whole. In the event of discontinuity, an uneven distribution of mechanical and thermal fields can occur, which will jeopardize the performance of the entire structure, so non-destructive testing (NDT) of CCCM is an important task. The ultrasonic shadow method of control was chosen as the NDT method. This method makes it possible to detect structural inhomogeneities in the material of the test object - accumulations of pores and microcracks (at the microlevel), cracks, zones of low density, local heterogeneity of the structure (at the macrolevel). This article discusses the automation and ultrasonic testing of products from CCCM.

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