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Mediterranean Conference on control and Automation (MED)

作者： Mikhail Kuznetsov Sergey Vrazhevsky Ekaterina Khalyamina Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratory of Adaptive and Iintelligent Control of Networked and Distributed Systems IPME RAS Saint Petersburg Russia

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

The article proposes a new robust tracking control method for UAV systems in roll and pitch angular planes. The main achievement of the obtained controller is a guarantee that the output signal is confined in a sufficiently small prespecified bounded set formed by arbitrary continuously differentiable functions. The method is applied to a multiple-input multiple-output quadrotor model under external bounded disturbances and parametrical uncertainties influence. Results and achieved performance are verified via representative computer simulation results.

关键词： Uncertainty Computer simulation Heuristic algorithms Computational modeling Observers Stability analysis MIMO

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Adaptive Nonlinear Tracking Approach for Motion Tracking Applications

Adaptive Nonlinear Tracking Approach for Motion Tracking App...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Gromov, Vladislav S. Meshkov, Aleksei V. Pyrkin, Anton A. Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728187631

The problem of output regulation for systems affected by nonlinear reference signal, which is caused by exosystem with parametric uncertainties, is addressed. The control law for a nonlinear trajectory is proposed with the design of an adaptive internal model. The efficiency of the proposed algorithm was proved by experiments using the setup that includes an articulated robot. The experimental results are presented. © 2020 IEEE.

关键词： Nonlinear analysis

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RSSI-Based Evaluation of Wireless Personal Area Networks Nodes Noise Immunity in Industrial Buildings

RSSI-Based Evaluation of Wireless Personal Area Networks Nod...

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2020 International Multi-Conference on Industrial Engineering and Modern Technologies, FarEastCon 2020

作者： Krylova, A.A. Kolesnikov, M.V. Afanasev, M.Ya. Fedosov, Yu.V. Andreev, Yu.S. Shorokhov, S.A. Zimenko, K.V. Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728169514

Results of a study of the influence of manufacturing environment factors on wireless personal networks are presented in the paper. A classification of such factors is proposed, and the noise immunity of wireless personal networks is determined using a real production as an example. A method for evaluating noise immunity based on a received signal strength indicator (RSSI) is proposed. RSSI values can be obtained natively from almost any receiver and transmitter, which makes this method affordable compared to using network analyzers and other specialized equipment. In the conducted experiment the receiver and transmitter were located at a distance ranging from 0.5 to 25 m from each other. The act of signal transfer was carried out alternately under the influence of each production environment factor. Then measured RSSI values were analyzed and converted into the maximum permissible distance between the receiver and the transmitter in accordance with the proposed method. As a result, data on the influence of a production environment on the noise immunity of wireless personal networks was obtained. Nevertheless, it is concluded that the influence is not significant enough to decide against the use of wireless personal networks, since the influence of many factors can be offset by the use of mesh topology and a dense arrangement of receivers and transmitters. The results are particularly interesting in the context of manufacturing digitalization, where the wireless method of data transmission from field level sensors becomes preferable to the wired due to the requirement for flexibility and mobility of a production process. © 2020 IEEE.

关键词： Transmitters

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Disturbance Frequency Estimation for an LTV System

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IFAC-PapersOnLine 2022年第12期55卷 318-323页

作者： Marina Korotina Stanislav Aranovskiy Alexey Bobtsov Faculty of Control Systems and Robotics ITMO University 197101 Saint-Petersburg Russia IETR – CentaleSupélec Avenue de la Boulaie 35576 Cesson-Sévigné France

We consider the frequency estimation problem for a sinusoidal disturbance acting on a linear time-varying system, where only the input and output signals are available. We propose a novel parametrization that translates this problem into a linear regression model with unknown parameters. The frequency estimation is performed using the Dynamic Regressor Extension and Mixing procedure and an algebraic finite-time estimator. The resulting scheme provides finite-time frequency estimation under the interval excitation condition. The role of the tuning coefficients in satisfying the convergence condition is also discussed. Simulations illustrate the applicability of the proposed solution.

关键词： Adaptive system control Frequency estimation Time-varying systems Excitation

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A Terrain Segmentation Method Based on U-MobileNet for Navigation of Outdoor Robots

A Terrain Segmentation Method Based on U-MobileNet for Navig...

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第34届中国控制与决策会议

作者： Tao Hong Botao Zhang Qi'an Zhang Sergey A.Chepinskiy Anton A.Zhilenkov School of Automation Hangzhou Dianzi University Faculty of Control Systems and Robotics ITMO University Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University

Terrain segmentation is widely used in the recognition and navigation of outdoor mobile robots,in which deep learning-based segmentation methods have achieved remarkable ***,most of the segmentation networks can hardly meet the real-time requirement for outdoor robots.A novel terrain segmentation approach is proposed for segmentation terrains in the navigation of robots based on U-MobileNet.U-MobileNet,a lightweight segmentation network,is formed by transposing the feature extraction structure of MobileNetV2 to the contracting path of *** network efficiently reduce the computational cost and the error in segmentation by applying depth wise separable convolution,inverted residual and linear *** experimental results show that the proposed lightweight neural network has good real-time performance with high-accuracy.

关键词： Mobile robot Navigation Terrain segmentation Visual perception Inverted residual

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RNA genetic algorithm based on octopus learning mechanism

RNA genetic algorithm based on octopus learning mechanism

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Zhang, Lifeng Wu, Qiuxuan Chi, Xiaoni Wang, Jian Zhang, Botao Lin, Weijie Chepinskiy, Sergey A. Zhilenkov, Anton A. Luo, Yanbin Gao, Farong School of Automation Hangzhou Dianzi University Hangzhou China ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University Russia

ISBN: (纸本)9781665436786

Genetic algorithms are often easy to fall into local optimum, Inspired by octopus RNA gene editing ability and learning ability, this paper proposed an RNA genetic algorithm based on octopus learning mechanism (LRNA-GA), which uses a single RNA chain to represent the individuals of the population, Imitating the octopus's A-to-G RNA editing method to replace traditional gene mutations, using behavioral learning to design the RNA chain, and determining the possibility of RNA editing by evaluating the RNA chain, so as to quickly jump out of the local optimal solution. The effectiveness of LRNA-GA is tested through typical benchmark functions, and it has fast search capabilities and high accuracy. © 2021 IEEE.

关键词： RNA

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Fast Prototyping of In-Pavement Airport Navigation Lamp Prism Classification

Fast Prototyping of In-Pavement Airport Navigation Lamp Pris...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Jakub Suder Tomasz Marciniak Division of Electronic Systems and Signal Processing Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznań Poland

The paper presents an analysis of fast selection of neural network for the purpose of visual analysis of mechanical wear on prism lenses of in-pavement airport navigational lighting systems. This issue is particularly important in terms of aviation safety and navigational lighting control, regulated by EASA and ICAO. The article is the next stage of the development of the system for the vision control of lamps, in which the concept of using a different neural network with an increased data set prepared by the authors is presented. The Deep Network Designer tool included in the Matlab 2022b environment was used. The solution using the GoogLeNet neural network allows for the classification of lamps with an accuracy of 88.37%.

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Influence of power supply on airport navigation lamps photometric test accuracy

Influence of power supply on airport navigation lamps photom...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Kacper Podbucki Jakub Suder Tomasz Marciniak Adam Dąrowski Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznan University of Technology Poznań Poland

The paper presents research on the accuracy of measuring illuminance and chromaticity of airport lamps. The impact of the type of DC and AC power supply on measurement was assessed with the use of electronic sensors. BH1750 and BH1745 type sensors in a microprocessor system with an I 2 C interface were used for the measurements. A professional luxmeter was used for comparison purposes. Experimental tests were carried out under laboratory conditions for three types of halogen lamps: approach system lamps, runway centerline lamps, and touchdown zone lamps.

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Parameter Estimation of Quadrotor Model

Parameter Estimation of Quadrotor Model

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Kakanov, Mikhail A. Tomashevich, Stanislav I. Gromov, Vladislav S. Borisov, Oleg I. Gromova, Fatimat B. Pyrkin, Anton A. Itmo University Faculty of Control Systems and Robotics St. Petersburg197101 Russia

ISBN: (纸本)9781728187631

This article is devoted to the estimation of unknown parameters of the quadrotor dynamic model. The linear regression model of the quadrotor was obtained. To estimate the unknown parameters of the regression model, the gradient approach and its modifications, such as the advanced Kalman filter, and dynamic regressor extension and mixing (DREM) methods were applied. The effectiveness of the proposed methods was confirmed by simulation. The results showed the benefits of the DREM algorithm, in particular, concerning the convergence rate. © 2020 IEEE.

关键词： Parameter estimation

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Flux Observer for the Levitated Ball with Relaxed Excitation Conditions

Flux Observer for the Levitated Ball with Relaxed Excitation...

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European control Conference (ECC)

作者： Alexey Ovcharov Alexey Vedyakov Kazak Sviatoslav Bespalov Vladimir Anton Pyrkin Alexey Bobtsov Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia

This paper describes a magnetic flux observer for a nonlinear model of one degree of freedom magnetic levitation system. Recently presented parameter estimation-based observer for such system uses dynamic regressor extension and mixing method and requires non-square integrability property for the regressor to guarantee that an observer error convergences to zero. However, it is not satisfied in some operating modes. The model reduction and parameters recovery algorithm is proposed to estimate a flux value. The proposed algorithm requires relaxed excitation conditions, but an observer error converges to the bounded area instead of zero. The error depends on the threshold, which is used to determine the regressor linearly dependent components. It can be decreased with the threshold to an arbitrarily small number. The simulation results demonstrate the efficiency of the algorithm and comparison with the previous work.

关键词： Magnetic flux Heuristic algorithms Simulation Europe Observers Reduced order systems Nonlinear dynamical systems

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