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

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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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Maintaining a Wireless Sensor Network Structure in a Variable Dynamic Environment

Maintaining a Wireless Sensor Network Structure in a Variabl...

引用

2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

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

ISBN: (纸本)9798350395044

This article discusses a wireless sensor network, in which elements are attached to a group of robots located on the surface of the water. Due to the group being exposed by constant and unpredictable environmental influences such as wind, waves and swell, the structure of the wireless sensor network can be disrupted to complete failure. Because of this, there is a need to synthesize a control algorithm that could support a predetermined structure of a wireless sensor network on the surface of the water. The proposed algorithm is quite simple to implement, is distinguished by its flexibility and allows to accurately specify the desired shape of the network structure in advance. © 2024 IEEE.

关键词： Wireless sensor networks

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On Finite-Time Average Consensus for Three-Agent System

On Finite-Time Average Consensus for Three-Agent System

引用

2024 International Russian Automation Conference, RusAutoCon 2024

作者： Galkina, Daria Zhdanov, Victor Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

This paper addresses the problem of finite-time average consensus design for a system of three agents. Although this issue has been previously resolved for arbitrary order, this study offers new estimates for settling time. The primary objective is to evaluate the applicability of the proposed approach for more complex scenarios, including an arbitrary number of agents and agents with higher-order dynamics. By providing new insights and estimates, this research aims to enhance the understanding and implementation of finite-time average consensus protocols, potentially leading to more efficient and effective strategies in multi-agent systems across various applications, such as robotics, networked control systems, cooperative control and observer design. © 2024 IEEE.

关键词： Networked control systems

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Maintenance of Operable Condition of a Flexible Production System Through the Development and Implementation of a Method for Cutting Tools and Workpieces Operational control

Maintenance of Operable Condition of a Flexible Production S...

引用

2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Basova, Tatiana V. Andreev, Yuri S. ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9798350395044

The objective of this research is to maintain the operational state of a flexible manufacturing system (FMS) within the required timeframe by developing and implementing a method for operational control of cutting tools and processed workpieces. A reliable technological system (TS) for the mechanical processing operation is to maintain the production of parts with the required quality and quantity within the specified time, particularly crucial when considering FMSs that eliminate personnel to constantly monitor the technological operation. Through the conducted analytical review, the relevance and immediacy of the work aimed at developing the method for operational control of cutting tools and workpieces are emphasized. This method involves the autonomous operation of the TS through multisensory integration of data on changes in geometric parameters of cutting tools and workpieces, with programming automation and management of information about cutting tools using a database of cutting and auxiliary tool parameters. Within the scope of the research, an experimental validation of the proposed method was conducted, along with solutions addressing issues related to predicting the technical condition of cutting tools for enterprises in the instrument-making and machinery industries under actual production conditions. The prediction of the technical condition of cutting tools was performed using artificial intelligence (AI) methods. The proposed approach for obtaining initial data for developing predictive models is characterized by its reliability, minimizing erroneous results from technical diagnostic and control systems operating independently. © 2024 IEEE.

关键词： Cutting tools

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ML-Based Inertial Navigation System Diagnosis for Underwater Vehicle

ML-Based Inertial Navigation System Diagnosis for Underwater...

引用

2024 International Russian Automation Conference, RusAutoCon 2024

作者： Galkina, Daria Margun, Alexey Iureva, Radda Faculty of Control Systems and Robotics Itmo University St. Petersburg Russia

This paper investigates ML methods for diagnosing failures in an integrated Inertial Navigation System (INS) of the underwater vehicle ODIN UAV. Using dynamic equations of motion and considering measurement noise, a dataset was generated during normal operation and during various failures. Data preprocessing, exploratory analysis and feature engineering were conducted. To solve the problem of INS technical state classification, multiple machine learning models were evaluated and optimized using training data and techniques to reduce the number of dimensions. A comparative analysis of the obtained results was carried out. The paper contributes insights into effective ML-based diagnostics for enhancing navigation system reliability in autonomous underwater robots. © 2024 IEEE.

关键词： Inertial navigation systems

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Machine Learning Approaches for Failures Detection in Inertial Navigation systems

Machine Learning Approaches for Failures Detection in Inerti...

引用

2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Margun, Alexey Iureva, Radda Antonov, Daniil ITMO University Faculty of Control Systems and Robotics Saint Petersburg Russia ITMO University Csri Electropribor Saint Petersburg Russia

ISBN: (纸本)9798350395044

Inertial Navigation systems (INS) are essential for the navigation of both surface and underwater crafts, playing a critical role particularly in autonomous and automated control systems. The reliability of these systems is paramount for ensuring the safe maneuvering of such vessels. Monitoring the technical condition of INS is crucial for operational safety. However, traditional diagnostic approaches often fall short in effectively tackling INS challenges due to dynamic uncertainties, external interferences, and susceptibility to informational disruptions. This paper presents a comparative study on the application of various machine learning strategies for diagnosing failures in INS. It specifically examines gyroscope and accelerometer data from surface vessels, employing the Nomoto model to describe their dynamics. The paper suggests methods for feature engineering and evaluation of their significance. Multiple machine learning algorithms were developed, refined, and evaluated to address the diagnostic challenge. An analysis comparing the effectiveness of these models is also included. © 2024 IEEE.

关键词： Inertial navigation systems

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Development of an Algorithm for Calculating the Parameters of the Primary Sensor Transducer for a Dynamic Indentation Device 7

Development of an Algorithm for Calculating the Parameters o...

引用

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

作者： Kolganov, Oleg Egorov, Roman Ilyinsky, Alexander Khoshev, Alexander Kinzhagulov, Igor Fedorov, Alexey Lukyanov, G.N. Itmo University Faculty of Control Systems and Robotics ST Petersburg Russia

ISBN: (纸本)9798350340945

This paper considers the issue of developing an algorithm for calculating the parameters of the primary transducer based on the magnetic induction method with differential inductors. A general algorithm for calculating the primary transducer and, in particular, the geometric parameters of the inductor and indenter has been developed. © 2023 IEEE.

关键词： Parameter estimation

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Research on the Impact of Different controllers on the Adapative Cruise control System

Research on the Impact of Different Controllers on the Adapa...

引用

2023 International Russian Automation Conference, RusAutoCon 2023

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

ISBN: (纸本)9798350345551

Adaptive Cruise control (ACC) system is a well-known Advanced Driver Assistant systems (ADAS) that offers safe, comfortable, and fuel-efficient self-driving capabilities. It utilizes a combination of hardware and software to follow other vehicles, effectively. While the design and control of this system are complex, its user interface ensures ease of use and understanding. This paper aims to demonstrate the application of different control algorithms with the ACC system. Firstly, it introduces the Model Predictive controller (MPC), Levenberg-Marquardt Neural Network (LM NN), Bayesian Regularization Neural Network (BR NN), and Scaled Conjugate Gradient Neural Network (SCG NN). Subsequently, the paper presents a practical implementation of these three neural networks in conjunction with the Classical ACC controller. The performance of MPC with these three emulated neural networks is then evaluated. Finally, the paper concludes by establishing an evaluation and summary of the performance of these controllers. © 2023 IEEE.

关键词： Model predictive control

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Determination of the Finishing Operation Technological Features of an Aircraft Sensor Using The Industrial Internet of Things Tools

Determination of the Finishing Operation Technological Featu...

引用

2023 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2023

作者： Yudin, Semyon Mikhailov, Alexey Tretyakov, Sergey Itmo University Faculty of Control Systems and Robotics Saint-Peterburg Russia

ISBN: (纸本)9781665475952

A study of the plane-parallel surfaces finishing process of high-precision parts was carried out. The architecture of the IIoT environment based on the Winnum Platform for a double-acting flat-finishing machine has been developed. The requirements for surface roughness and the tolerance of flatness and parallelism are considered, and the reasons for their magnitude are determined. The analysis of studies on technological issues of manufacturing aircraft vibration sensors has been carried out. The types of technological finishing operation are considered, as well as the process of machine finishing of flat parallel surfaces for a double-acting flat-finishing machine is described. The kinematics of the finishing operation is considered. The need for the development of recommendations for determining the rational technological modes of finishing is revealed. © 2023 IEEE.

关键词： Surface roughness

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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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