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Fixed-time parameter estimation via the discrete-time DREM method

IFAC-PapersOnLine 2023年第2期56卷 4013-4018页

作者： Marina Korotina Stanislav Aranovskiy Rosane Ushirobira Denis Efimov Jian Wang IETR – CentaleSupélec Cesson-Sévigné France Faculty of Control Systems and Robotics ITMO University 197101 Saint Petersburg Russia Inria Univ. Lille CNRS UMR 9189 - CRIStAL F-59000 Lille France Hangzhou Dianzi University Hangzhou China

A simple fixed-time converging estimation algorithm is presented for a linear regression using the dynamic regressor extension and mixing (DREM) method within a discrete-time setting, with a persistently exciting regressor and bounded measurement noises. The solution is based on Kreisselmeier's filters and is computationally simpler than the existing analogs.

关键词： on-line parameter estimation fixed-time estimation DREM

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Towards Instance Segmentation-Based Litter Collection with Multi-Rotor Aerial Vehicle

Towards Instance Segmentation-Based Litter Collection with M...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Filip Zoric Antonio Franchi Matko Orsag Zdenko Kovacic Chiara Gabellieri Laboratory for Robotics and Intelligent Control Systems (LARICS) at the Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Robotics and Mechatronics Group from the University of Twente Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This paper presents a novel aerial robotics application of instance segmentation-based floating litter collection with a multi-rotor aerial vehicle (MRAV). In the scope of the paper, we present a review of the available datasets for litter detection and segmentation. The reviewed datasets are used to train a Mask-RCNN neural network for instance segmentation. The neural network is off-board deployed on an edge computing device and used for litter position estimation. Based on the estimated litter position, we plan a path based on a quadratic Bezier curve for the litter pickup. We compare different trajectory generation methods for the object pickup. The system is verified in a laboratory environment. Eventually, we present practical considerations and improvements necessary to enable autonomous litter collection with MRAV.

关键词： Instance segmentation Reviews Neural networks Laboratories Estimation Trajectory Aircraft

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Model-Free Predictive control for Harmonic Suppression of PMSMs Based on Adaptive Resonant controller

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IEEE Transactions on Energy Conversion 2025年

作者： Li, Teng Sun, Xiaodong Su, Zonghao Zha, Xuhao Dianov, Anton Prakht, Vladimir Demidova, Galina Ma, Jinlin Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China Ural Federal University Department of Electrical Engineering Ekaterinburg620062 Russia ITMO University Faculty of Control Systems and Robotics Petersburg197101 Russia Jiangsu University School of Automotive and Traffic Engineering Zhenjiang212013 China

To simultaneously suppress the periodic and aperiodic disturbances experienced by permanent magnet synchronous motors in model predictive control, a model-free predictive current control with adaptive resonance control based on an ultra-local model is proposed. Firstly, the ultra-local models of the speed loop and the current loop are established respectively, and the unmodeled and uncertain unknown part F in the ultra-local model is estimated by using a high-order fast terminal sliding mode observer, and its stability is analyzed. Then, an adaptive resonant controller (ARC) is designed to suppress the periodic disturbance caused by the dead zone effect. The ARC and the model-free control based on the ultra-local model are combined to compensate for their respective shortcomings, achieving the suppression of periodic and aperiodic disturbances in the system. Finally, by comparing with the traditional duty cycle model predictive control and the model-free model predictive control without ARC, the proposed scheme is proved to be robust to periodic and aperiodic disturbances. © 2025 IEEE. All rights reserved.

关键词： Permanent magnets

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High–Frequency Transformer Development for Compact Dual Active Bridge Converters

High–Frequency Transformer Development for Compact Dual Act...

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International Conference on Actual Problems of Electronic Instrument Engineering (APEIE)

作者： Galina Demidova Nikolai Poliakov Aleksandr Lukin Dmitry Lukichev Aleksandr Usolchev Jackson J. Justo Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Department of Electrical Engineering University of Dar es Salaam Dar es Salaam Tanzania

This paper presents a methodology for designing high–frequency transformers operating at 20 kHz made for operation in dual active bridge converter with a voltage setup of 600V/3x100V. The paper begins by explaining the calculation process for the transformer's design, focusing on crucial aspects such as leakage and magnetizing inductances. Specific techniques for the transformer winding process are discussed, ensuring accuracy and efficiency. Furthermore, the paper analyzed into calculating the parameters that make up the transformer's equivalent circuit, offering insights into its electrical characteristics. It also explores the impact of transformer leakage inductance on the converter's active power performance. To ensure the transformer's robust thermal performance, a thorough thermal analysis using Ansys software is conducted by considering various cooling methods. Finally, the construction details of the transformer, bridging the gap between theoretical design and practical realization are presented. The research concludes with the development of the final transformer construction, harmonizing the theoretical design with practical realization. This study contributes to the field of high–frequency transformer design and highlights the significance of design considerations, particularly in applications where compact and highly efficient power conversion solutions are required.

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Spectral Mask - Based Technique for Improving Generalized Sidelobe Canceller Beamformer's Evaluation

Spectral Mask - Based Technique for Improving Generalized Si...

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Seminar on Signal Processing

作者： Quan Trong The Nguyen Ba Huy Pham Tuan Anh Falculty of Information Technology Ha Noi University of Science and Technology Ha Noi Viet Nam Falculty of Control Systems and Robotics University ITMO Saint - Petersburg Russia Federation Falculty of Software Engineering and Computer Systems University ITMO Saint - Petersburg Russian Federation

Noise suppression and understanding speech in a complex environment with the presence of numerous and dominant surrounding noise is very difficult for humans. To deal with this problem, microphone array, which exploit a priori information of designed geometry of microphone array, the direction of arrival (DOA) of interest signal or the properties of recorded situation, is used with aiming at preserving the desired speaker without speech distortion while reducing background noise. Generalized Sidelobe Canceller (GSC) beamformer has been installed in almost all acoustic equipment, hearing aids, mobile phones. Unfortunately, the performance of GSC beamformer is often corrupted in many scenarios, such as imprecise DOA, microphone mismatches or different microphone sensitivities. In this paper, a spectral mask - based suggested algorithm to reduce the speech leakage in the reference signal of GSC beamformer. The proposed method is evaluated for increasing the speech quality of dual - microphone systems.

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Bio-inspired visual relative localization for large swarms of UAVs

Bio-inspired visual relative localization for large swarms o...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Martin Křížek Matouš Vrba Antonella Barišić Kulaš Stjepan Bogdan Martin Saska Faculty of Electrical Engineering Czech Technical University in Prague Prague Laboratory for Robotics and Intelligent Control Systems (LARICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We propose a new approach to visual perception for relative localization of agents within large-scale swarms of Unmanned Aerial Vehicles (UAVs). Inspired by biological perception utilized by schools of sardines, swarms of bees, and other large groups of animals capable of moving in a decentralized yet coherent manner, our method does not rely on detecting individual neighbors by each agent and estimating their relative position, but rather we propose to regress a neighbor density over distance. This allows for a more accurate distance estimation as well as better scalability with respect to the number of neighbors. Additionally, a novel swarm control algorithm is proposed to make it compatible with the new relative localization method. We provide a thorough evaluation of the presented methods and demonstrate that the regressing approach to distance estimation is more robust to varying relative pose of the targets and that it is suitable to be used as the main source of relative localization for swarm stabilization.

关键词： Location awareness Visualization Scalability Estimation Object detection Autonomous aerial vehicles Robustness

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Adaptive Compensation Disturbance For Linear systems With Input Delay*

Adaptive Compensation Disturbance For Linear Systems With In...

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Mediterranean Conference on control and Automation (MED)

作者： Tung K. Nguyen Sergey M. Vlasov D. Dobriborsci Anton A. Pyrkin Department of Control Systems and Robotics ITMO University Kronversky Pr. 49 St. Petersburg Russia Deggendorf Institute of Technology (Technology Campus Cham)

An adaptive algorithm, compensating for unknown harmonic disturbance acting for linear objects under conditions of the unavailable state vector with a defined delay in the control channel is proposed. One of the features of the proposed method in comparison with other methods is that the perturbation signal is considered in the form of products of sinusoids. A new approach is proposed for estimating the frequencies of harmonic signal. It is assumed that all parameters of the multiharmonic disturbance (amplitude, frequency, and phase) are unknown. The task is completed in several steps. First, an observer is constructed based on a frequency estimation scheme. Secondly, stabilization of the ouput of object to zero is carried out using feedback based on the predictor. Examples are given that confirm the relevance of the proposed approach. Our main contribution is to propose a new scheme for compensating external disturbances for a linear plant and a new approach for estimating the frequencies of a multisinusoidal signal.

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An Effective Post - Filtering for Minimum Variance Distortionless Response Beamformer

An Effective Post - Filtering for Minimum Variance Distortio...

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Seminar on Signal Processing

An effective hands-free speech interface with an appropriate digital signal processing is essential for teleconference systems and control systems. Beamforming technique, which use a microphone array (MA) is an ideal solution for distant - talking speech acquisition, is one of the most attractive approaches for suppressing background noise and improving the speech intelligibility and speech quality of the processing system. Minimum Variance Distortionless Response (MVDR) has the capacity of maximizing the sensitivity in a certain direction at aiming to extract the desired target speech while removing all total power of surrounding noise. However, in many complex recording environments, due to the error of direction of arrival of interest speaker, the difference of microphone sensitivities, imprecise designed geometry of MA, the performance of MVDR beamformer often degraded. In this contribution, the authors suggested an additive post-filtering to enhance the effectiveness of MVDR beamformer.

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A Method for Reducing Speech Distortion in Minimum Variance Distortionless Response Beamformer

A Method for Reducing Speech Distortion in Minimum Variance ...

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Seminar on Signal Processing

Speech processing devices such as mobile telephone, hearing aid, cochlear implant is commonly equipped with a designed microphone array (MA) to capture the acoustic environment. The MA signals often contain a mixture of desired speech component and unwanted surrounding noise (a combination of reverberation, different interferences, complex recording environment, third-party speaker). Minimum Distortionless Variance Response (MVDR) beamformer is one the most useful methods for reducing background noise and improving speech enhancement has been recently studied. MVDR beamformer merges the predefined constraints of response from a priori relative transfer function and the criteria of minimum total output noise power. Because of the microphone mismatches, the different microphone sensitivities, or the error of the direction of arrival of the interest signal, the output final signal of MVDR beamformer often corrupted. In this paper, the authors proposed an additive gain function for reducing speech distortion and enhancing MVDR beamformer's performance.

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Fuzzy control system design for wheel slip prevention and tracking of desired speed profile in electric trains

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Asian Journal of control 2022年第1期24卷 388-400页

作者： Moaveni, Bijan Rashidi Fathabadi, Fatemeh Molavi, Ali Center of excellence for Modelling and Control of Complex Systems Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Western Michigan University MI United States Institute of Robotics and Industrial Informatics Polytechnical University of Catalonia Barcelona Spain

This study proposes an anti-slip control system for electric trains based on the fuzzy logic theory, which prevents the wheels from slipping during the acceleration and simultaneously tracks the desired speed profile. To improve the control performance, the train longitudinal velocity and the slip ratio are estimated. By using a field-oriented control (FOC), the angular speed of the traction motor is controlled. The fuzzy control system determines the desired angular speed of the traction motor as the reference input of FOC to obtain the desired slip ratio and track the desired speed profile. Simulation results show the effectiveness of the control system in various wheel–rail surface conditions based on the real parameters of ER24PC locomotive. © 2020 Chinese Automatic control Society and John Wiley & Sons Australia, Ltd

关键词： Traction motors

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