检索结果-内蒙古大学图书馆

A Globally Convergent Estimator of the Parameters of the Classical Model of a Continuous Stirred Tank Reactor

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Pyrkin, Anton Bobtsov, Alexey Ortega, Romeo Romero, Jose Guadalupe Dochain, Denis Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint Petersburg197101 Russia Departamento Académico de Sistemas Digitales ITAM Progreso Tizapán 1 Ciudad de México04100 Mexico ICTEAM Université Catholique de Lovain Avenue Georges Lemâitre 4-6 Louvain-la-Neuve1348 Belgium

In this paper we provide the first solution to the challenging problem of designing a globally exponentially convergent estimator for the parameters of the standard model of a continuous stirred tank reactor. Because of the presence of non-separable exponential nonlinearities in the system dynamics that appear in Arrhenius law, none of the existing parameter estimators is able to deal with them in an efficient way and, in spite of many attempts, the problem was open for many years. To establish our result we propose a novel procedure to obtain a suitable nonlinearly parameterized regression equation and introduce a radically new estimation algorithm-derived applying the Immersion and Invariance methodology-that is applicable to these regression equations. A further contribution of the paper is that parameter convergence is guaranteed with weak excitation requirements. Copyright © 2023, The Authors. All rights reserved.

关键词： Parameter estimation

Distributed formation control of networked mechanical systems

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Javanmardi, Najmeh Borja, P. Yazdanpanah, M.J. Scherpen, J.M.A. Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Cognitive Robotics Delft University of Technology Delft Netherlands Jan C. Wilems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen Netherlands

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach. © 2022, CC BY.

关键词： Networked control systems

Robust Output Regulation of Permanent Magnet Synchronous Motors by Enhanced Extended Observer ⁎

学校读者我要写书评

暂无评论

IFAC-PapersOnLine 2020年第2期53卷 4881-4886页

作者： Oleg I. Borisov Anton A. Pyrkin Alberto Isidori ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia University of Rome “La Sapienza” Department of Computer Control and Management Engineering “A. Ruberti” Rome Italy

This paper presents an application of the enhanced extended observer design with regard to the problem of robust output regulation of permanent magnet synchronous motors. The control framework is further advanced by means of the internal model so as to cope with disturbances represented by the time-varying load torque. The paper shows simulation of regulating a motor for different cases of torque loads and references and provides an explicit procedure of the recursive calculation of the enhanced extended observer coefficients.

关键词： Dayawansa’s lemma Robust observers Nonlinear systems High-gain observers Permanent magnet synchronous motors

On-line Identification of Photovoltaic Arrays' Dynamic Model Parameters

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Bobtsov, Alexey Mancilla-David, Fernando Aranovskiy, Stanislav Ortega, Romeo Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint Petersburg197101 Russia University of Colorado Denver DenverCO80204 United States IETR–CentaleSupélec Cesson-Sévigné35576 France Departamento Académico de Sistemas Digitales ITAM Mexico

This paper deals with the problem of on-line identification of the parameters of a realistic dynamical model of a photovoltaic array connected to a power system through a power converter. It has been shown in the literature that, when interacting with switching devices, this model is able to better account for the PV array operation, as compared to the classical five parameter static model of the array. While there are many results of identification of the parameters of the latter model, to the best of our knowledge, no one has provided a solution for the aforementioned more complex dynamic model since it concerns the parameter estimation of a nonlinear, underexcited system with unmeasurable state variables. Achieving such objective is the main contribution of the paper. We propose a new parameterisation of the dynamic model, which, combined with the powerful identification technique of dynamic regressor extension and mixing, ensures a fast and accurate online estimation of the unknown parameters. Realistic numerical examples via computer simulations are presented to assess the performance of the proposed approach—even being able to track the parameter variations when the system changes operating point. © 2022, CC BY.

关键词： Dynamic models

Constructive barrier feedback for collision avoidance in leader-follower formation control

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Tang, Zhiqi Cunha, Rita Hamel, Tarek Silvestre, Carlos Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal Division of Decision and Control Systems KTH Royal Institute of Technology Sweden I3S-CNRS Université Côte d'Azur Institut Universitaire de France France Department of Electrical and Computer Engineering The Faculty of Science and Technology The University of Macau China

This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in three-dimensional space. Using only relative measurements between neighboring agents, we propose an elegant decentralized controller as the sum of a nominal tracking controller and the constructive barrier feedback for leader-follower formations under a directed single-spanning tree graph topology. The key ingredient is the use of divergent flow as a dissipative term, which slows down the relative velocity in the direction of the neighboring robots without compromising the nominal controller's performance. Compared to traditional barrier function-based optimization controllers, the proposed constructive barrier feedback avoids feasibility issues and results in more computationally efficient control algorithms with systematic equilibrium analysis. Simulations are provided to validate the effectiveness of the proposed control method. © 2023, CC BY-NC-ND.

关键词： Collision avoidance

Hardware-in-the-Loop Simulation of Vehicle-Manipulator systems for Physical Interaction Tasks

学校读者我要写书评

暂无评论

Hardware-in-the-Loop Simulation of Vehicle-Manipulator Syste...

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

作者： Hemjyoti Das Bjørn Kåre Sæbø Kristin Y. Pettersen Christian Ott Faculty of Electrical Engineering and Information Technology Automation and Control Institute (ACIN) Technical University of Vienna TU Wien Vienna Austria Department of Engineering Cybernetics Centre for Autonomous Marine Operations and Systems (NTNU AMOS) NTNU Norwegian University of Science and Technology Trondheim Norway German Aerospace Center Institute of Robotics and Mechatronics Wessling Germany

Hardware-in-the-loop simulation (HILS) allows a more realistic evaluation of control approaches than what is possible with pure software simulations, but without the actual complexity of the complete system. This is important for some complex systems such as orbital robots, where testing of the system is typically not possible after its launch, and an on-ground replica is used to validate the performance of such a system. In this article, an impedance-matching approach is presented to match the end-effector dynamics of a fixed-base robot manipulator with that of a target vehicle-manipulator system (VMS), while taking into account the redundant nullspace dynamics in a connected real-time simulation framework. This approach ensures that the forces and torques exerted by the system on the environment matches with that of the simulated system. The contact wrenches used in our approach are not obtained from numerical simulations, but rather from real physical interaction, which is one of the main advantages of our approach. The effectiveness of our method is validated by demonstrating various physical interaction tasks with the environment, using a suspended aerial manipulator as the target system.

关键词：

A Shadowcasting-Based Next-Best-View Planner for Autonomous 3D Exploration

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Batinovic, Ana Ivanovic, Antun Petrovic, Tamara Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

—In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while planning paths and calculating information gain in short computation time, suitable for implementation on an on-board computer. To this end, we present a planner that randomly samples viewpoints in the environment map. It relies on a novel and efficient gain calculation based on the Recursive Shadowcasting algorithm. To determine the Next-Best-View (NBV), our planner uses a cuboid-based evaluation method that results in an enviably short computation time. To reduce the overall exploration time, we also use a dead end resolving strategy that allows us to quickly recover from dead ends in a challenging environment. Comparative experiments in simulation have shown that our approach outperforms the current state-of-the-art in terms of computational efficiency and total exploration time. The video of our approach can be found at https://***/playlist?list=PLC0C6uwoEQ8ZDhny1V dmFXLeTQOSBibQl. © 2021, CC BY-SA.

关键词： Antennas

Sim2Air - Synthetic Aerial Dataset for UAV Monitoring

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Barisic, Antonella Petric, Frano Bogdan, Stjepan The University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 Zagreb10000 Croatia

In this paper we propose a novel approach to generate a synthetic aerial dataset for application in UAV monitoring. We propose to accentuate shape-based object representation by applying texture randomization. A diverse dataset with photo-realism in all parameters such as shape, pose, lighting, scale, viewpoint, etc. except for atypical textures is created in a 3D modelling software Blender. Our approach specifically targets two conditions in aerial images where texture of objects is difficult to detect, namely challenging illumination and objects occupying only a small portion of the image. Experimental evaluation of YOLO and Faster R-CNN detectors trained on synthetic data with randomized textures confirmed our approach by increasing the mAP value (17 and 3.7 percentage points for YOLO;20 and 1.1 percentage points for Faster R-CNN) on two test datasets of real images, both containing UAV-to-UAV images with motion blur. Testing on different domains, we conclude that the more the generalisation ability is put to the test, the more apparent are the advantages of the shape-based representation. © 2021, CC BY-NC-SA.

关键词： robotics

Balancing energy consumption in limited power grid with active front-end and three phase dual active bridge system

学校读者我要写书评

暂无评论

Balancing energy consumption in limited power grid with acti...

Compatibility in Power Electronics (CPE)

作者： Konstantin Vorobev Ryszard Strzelecki Nikolai Poliakov School of Computer Technologies and Control Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia Faculty of Electrical and Control Engineering Gdańsk University of Technology Gdańsk Poland

ISBN: (数字)9781728142180

ISBN: (纸本)9781728142197

Paper deals with simulation analysis of bidirectional power converters system for charging station of electric vehicle in condition of limited power source in city infrastructure. In case of incapability to provide additional power supply through the grid by virtue of historical, architectural and economic reasons it is possible to solve this issue by implementation of mobile battery-powered supply source. The proposed bidirectional power converters system for consist of three-phase dual active bridge two-directional converter and active front end. Bidirectional power converters system operation modes considered in the paper include transmission of energy from both the battery station, and grid and the joint power supply with battery and grid.

关键词： Batteries Power supplies Switches Urban areas Power grids Bridges