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Optimal control for Minimizing Inescapable Ellipsoids in Linear Periodically Time-Varying systems Under Bounded Disturbances

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IEEE control systems Letters 2025年 9卷 228-233页

作者： Dogadin, Egor Peregudin, Alexey ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia University of Sheffield School of Electrical and Electronic Engineering Sheffield United Kingdom

This letter addresses optimal controller design for periodic linear time-varying systems under unknown-but-bounded disturbances. We introduce differential Lyapunov-type equations to describe time-varying inescapable ellipsoids and define an integral-based measure of their size. To minimize this measure, we develop a differential Riccati equation-based approach that provides exact solutions for state-feedback, observer synthesis, and output-feedback control. A key component is a systematic procedure for determining the optimal time-varying parameter, reducing an infinite-dimensional optimization to a simple iterative process. A numerical example validates the method’s effectiveness. © 2017 IEEE.

关键词： State feedback

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Application of Machine Learning Methods for Production Data Analysis

Application of Machine Learning Methods for Production Data ...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Igor Volkov Yuri Andreev Faculty of Control Systems and Robotics ITMO University Saint- Petersburg Russia

ISBN: (数字)9798331511241

ISBN: (纸本)9798331511258

Ensuring the quality of CNC-machined parts is a challenging task in modern manufacturing due to frequent shifts in production conditions and the high costs of traditional inspection methods. In this study, we propose a data-driven approach that integrates machine learning (ML) models with statistical acceptance sampling to dynamically optimize quality control processes. Production data from ERP, MES, and IIoT systems were analyzed with Gradient Boosting model. By continuously retraining the model on newly completed batches, the system adapts to evolving conditions, maintaining predictive accuracy. A key innovation of this work is the timely adjustment of sampling parameters (e.g., sample size, acceptance number) according to predicted defect levels. This adaptive strategy conserves inspection resources when defect risks are low and intensifies monitoring when risks are high. The results demonstrate a marked reduction in inspection costs and a robust capacity to detect defects promptly, aligning with industry goals of minimizing scrap and rework. Overall, this study validates the effectiveness of applying machine learning methods to production data analysis, laying a foundation for future enhancements in adaptive, proactive quality control systems.

关键词： Industries Adaptation models Technological innovation Data analysis Costs Process control Production Quality control Inspection Predictive models

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Assessment of the Reliability of Technologies Introduced Into Production by Accuracy Parameters

Assessment of the Reliability of Technologies Introduced Int...

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13th International Conference on Modern Mechanical Engineering: Science and Education, MMESE 2024

作者： Ermakov, Sergey P. Pompeev, Kirill P. Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

ISBN: (纸本)9783031820823

The paper discusses the development of a methodology for assessing the reliability of TPs introduced into production to ensure a given accuracy and, based on it, an algorithm for the accuracy assessment of existing TPs. They were tested using the example of factory technological processes, which confirmed the adequacy of the proposed methodology and the operability of the created algorithm, and also made it possible to identify the shortcomings of these technologies and errors made by the technologist, in particular, when developing the technology for manufacturing a prismatic part, for which appropriate recommendations were given. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

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Performance Validation of Wireless Power Transfer for UAVs Charging System Considering Misalignments 4

Performance Validation of Wireless Power Transfer for UAVs C...

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4th International Conference on Power, control and Computing Technologies, ICPC2T 2025

作者： Zolotarev, Alexander V. Koreshin, Eugene A. Chatterjee, Sutanu Justo, Jackson J. Demidova, Galina L. Kapitanova, Pohna V. Bansal, Ramesh C. School of Physics and Engineering ITMO University Saint-Petersburg Russia Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia University of Sharjah Sharjah United Arab Emirates University of Pretoria Pretoria South Africa

ISBN: (纸本)9798331530402

Wired or contact power transfer (CPT) technology for electric vehicle (EVs) charging infrastructures has been commercialized by several manufacturers with either AC or DC charging configurations. AC charging system comes as Level-1 and Level-2 whtle DC charging system is either Level-3 or Level-4. For DC charging systems which are known as fast chargers, shorter charging duration is the main advantage over the AC charging systems. However, both AC and DC based CPT require human interventions to plug the cable before charging process to take place. On the other hand, wireless power Transfer (WPT) such as inductive, capacitive or laser beam based power transfer are the alternatives for unmanned aerial vehicles (UAVs) autonomous charging techniques. Apart from being resilient to environmental factors like dust and water, WPT eliminates human intervention and the hassles related to battery swapping. However, WPT technologies have some limitations such as coil weight constraints and low charging performance due misalignment which hinders its efficient utilization in UAVs applications. Thus, this paper presents the performance analysis of WPT in terms of power transfer capability while uncovering several constraints for its deployment in UAV applications. Specifically, WPT performance parameters like power transfer efficiency, coefficient of coupling, and quality factors are analyzed in detail. The results of the analysis show that increasing the misalignment reduces the coefficient of coupling and hence overall power transfer efficiency. © 2025 IEEE.

关键词： Wireless power transfer

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Cascade LTI System for Acoustic Emission Digital Signal Processing: Result Visualization via Scalogram for Defect Pattern Representation

Cascade LTI System for Acoustic Emission Digital Signal Proc...

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Digital Signal Processing and its Applications (DSPA), International Conference on

作者： Yeldos A. Altay Alexey V. Fedorov Department of Robotics and Technical Means of Automation Satbayev University Almaty Kazakhstan Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russian Federation

ISBN: (数字)9798331518752

ISBN: (纸本)9798331518769

Modern acoustic emission (AE) diagnostic systems are sensitive instruments for detecting developing defects. A significant limitation of the AE method is the difficulty of isolating signals against the background of interference, which significantly reduces the signal-to-interference ratio. Therefore, in this article a cascade filtering scheme for visualizing acoustic signatures through a scalogram is proposed to isolate AE signals that characterize the process of defect formation. Acoustic portraits of the isolated signals characterizing the process of defect formation are given. It is shown that the amplitude of the AE signal from a defective structure during crack formation is characterized by the highest values of the signal amplitude and has a rich frequency-time structure, the signal shape of which is determined by discrete AE.

关键词： Linear systems Visualization Time-frequency analysis Filtering Shape Instruments Interference Digital signal processing Acoustic emission Signal to noise ratio

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Model Predictive Torque control of Six-Phase Switched Reluctance Motors Based on Improved Voltage Vector Strategy

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 7650-7661页

作者： Yang, Yifei Sun, Xiaodong Dianov, Anton Demidova, Galina Prakht, Vladimir Wang, Yong Han, Shouyi Suzhou Vocational University School of Mechanical and Electrical Engineering Suzhou215104 China Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China ITMO University Faculty of Control Systems and Robotics Petersburg197101 Russia Ural Federal University Department of Electrical Engineering Ekaterinburg620062 Russia Jiangsu University School of Electrical and Information Engineering Zhenjiang212013 China

To rapidly and accurately establish the model of switched reluctance motors (SRMs) and enhance torque control performance, this paper proposes a model predictive torque control (MPTC) strategy based on the optimized voltage vector. First, a fourth-order Fourier series is used to calculate the flux and torque models, and a complete nonlinear model of the SRM is constructed using the Kriging model. Second, the torque characteristics are used to divide the sectors, thereby reducing the number of candidate voltage vectors (CVVs) and effectively decreasing the computational burden of predictive control. Finally, an adaptive adjustment algorithm for the sector boundary angle is proposed, where the position of the sectors is determined based on variations in speed and load. The proposed method reduces torque ripple and enhances dynamic response capability. The effectiveness of this approach is validated through experiments on a 12/10 pole six-phase SRM prototype. © 2015 IEEE.

关键词： Vectors

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Parameter Estimation of Autonomous Underwater Vehicles Dynamics. A Data-Driven Optimization Framework

Parameter Estimation of Autonomous Underwater Vehicles Dynam...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Radda Iureva Alexey Margun Egor Lykoyanov Faculty of Control Systems and Robotics ITMO Univresity Saint Petersburg Russia State Research Center of the Russian Federation Concern CSRI Elektropribor JSC ITMO University Saint Petersburg Russia

ISBN: (数字)9798331511241

ISBN: (纸本)9798331511258

Accurate parameter estimation in ship dynamics models is pivotal for enhancing navigation precision, optimizing control systems, and ensuring maritime safety. This study explores two distinct methodologies: the “Grey Box” approach, where the governing equations of ship dynamics are known but certain parameters remain unidentified, and the “Black Box” approach, which relies entirely on trajectory data without any prior knowledge of the underlying mathematical models. Leveraging machine learning techniques, specifically Long Short-Term Memory (LSTM) networks, alongside optimization algorithms like L-BFGS-B, this research aims to evaluate and compare the efficacy of both approaches in estimating model parameters and predicting ship trajectories. The findings demonstrate that while the Grey Box approach benefits from incorporating physical laws for parameter tuning, the Black Box method offers flexibility in modeling complex, nonlinear dynamics purely based on empirical data. The integrated use of these methodologies provides a robust framework for enhancing the accuracy and reliability of ship dynamics models, contributing significantly to maritime engineering applications.

关键词： Parameter estimation Accuracy Predictive models Prediction algorithms Mathematical models Trajectory Vehicle dynamics Marine vehicles Optimization Long short term memory

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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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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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Performance Validation of Wireless Power Transfer for UAVs Charging System Considering Misalignments

Performance Validation of Wireless Power Transfer for UAVs C...

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Power, control and Computing Technologies (ICPC2T), Conference on

作者： Alexander V. Zolotarev Eugene A. Koreshin Sutanu Chatterjee Jackson J. Justo Galina L. Demidova Polina V. Kapitanova Ramesh C. Bansal School of Physics and Engineering ITMO University Saint-Petersburg Russia Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia University of Sharjah Sharjah UAE University of Pretoria Pretoria South Africa

ISBN: (数字)9798331530402

ISBN: (纸本)9798331530419

Wired or contact power transfer (CPT) technology for electric vehicle (EVs) charging infrastructures has been commercialized by several manufacturers with either AC or DC charging configurations. AC charging system comes as Level-1 and Level-2 while DC charging system is either Level3 or Level-4. For DC charging systems which are known as fast chargers, shorter charging duration is the main advantage over the AC charging systems. However, both AC and DC based CPT require human interventions to plug the cable before charging process to take place. On the other hand, wireless power transfer (WPT) such as inductive, capacitive or laser beam based power transfer are the alternatives for unmanned aerial vehicles (UAVs) autonomous charging techniques. Apart from being resilient to environmental factors like dust and water, WPT eliminates human intervention and the hassles related to battery swapping. However, WPT technologies have some limitations such as coil weight constraints and low charging performance due misalignment which hinders its efficient utilization in UAVs applications. Thus, this paper presents the performance analysis of WPT in terms of power transfer capability while uncovering several constraints for its deployment in UAV applications. Specifically, WPT performance parameters like power transfer efficiency, coefficient of coupling, and quality factors are analyzed in detail. The results of the analysis show that increasing the misalignment reduces the coefficient of coupling and hence overall power transfer efficiency.

关键词： Couplings Q-factor Power lasers Wireless power transfer Autonomous aerial vehicles Reliability engineering Electric vehicle charging Performance analysis Laser beams System analysis and design

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