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Distributed Observers for LTI systems with Finite Convergence Time: A Parameter Estimation-based Approach

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arXiv 2020年

作者： Ortega, Romeo Nuño, Emmanuel Bobtsov, Alexei Université Paris-Saclay CNRS CentraleSupélec Laboratoire des Signaux et Systèmes Gif-sur-Yvette91190 France Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint Petersburg197101 Russia Dept. of Computer Science CUCEI University of Guadalajara Guadalajara Mexico Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint Petersburg197101 Russia

A novel approach to solve the problem of distributed state estimation of linear time-invariant systems is proposed in this paper. It relies on the application of parameter estimation-based observers, where the state observation task is reformulated as a parameter estimation problem. In contrast with existing results our solution achieves convergence in finite-time, without injection of high gain, and imposes very weak assumptions on the communication graph—namely the existence of a Hamiltonian walk. The scheme is shown to be robust vis-á-vis external disturbances and communication delays. Copyright © 2020, The Authors. All rights reserved.

关键词： Parameter estimation

MPPT Algorithms for Magnus Effect Wind Turbine control System

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MPPT Algorithms for Magnus Effect Wind Turbine Control Syste...

International Conference on Power Drives systems (ICPDS)

作者： Marina Babayeva Artur Abdullin Nikolay Polyakov Stanislav Aranovskiy Faculty of Control Systems and Robotics IFMO University St. Petersburg Russia CentaleSupélec — IETR Cesson-Sévigné France

ISBN: (数字)9781728165387

ISBN: (纸本)9781728165394

In this paper, wind energy is considered as a promising trend for the development of alternative energy. The physical implementation of a wind generator based on the Magnus effect is explained, as well as its mathematical model. The relationship between the rotation speed of the blades of a wind generator, the rotation speed of the rotor of the generator and wind speed is considered. The influence of the parameters on the mechanical power coefficient is evaluated. Algorithms for tracking the maximum power point and the effect of mechanical power coefficient on the amount of generated power are considered. Changes in the mechanical power coefficient during mathematical modelling under various conditions are analyzed.

关键词： Wind energy generation Process control Wind power generation control systems Generators Wind turbines Mathematical model

A multi-resolution frontier-based planner for autonomous 3D exploration

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arXiv 2020年

作者： Batinović, Ana Petrović, Tamara Ivanovic, Antun Petric, Frano 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 propose a planner for 3D exploration that is suitable for applications using state-of-the-art 3D sensors such as lidars, which produce large point clouds with each scan. The planner is based on the detection of a frontier - a boundary between the explored and unknown part of the environment - and consists of the algorithm for detecting frontier points, followed by clustering of frontier points and selecting the best frontier point to be explored. Compared to existing frontier-based approaches, the planner is more scalable, i.e. it requires less time for the same data set size while ensuring similar exploration time. Performance is achieved by not relying on data obtained directly from the 3D sensor, but on data obtained by a mapping algorithm. In order to cluster the frontier points, we use the properties of the Octree environment representation, which allows easy analysis with different resolutions. The planner is tested in the simulation environment and in an outdoor test area with a UAV equipped with a lidar sensor. The results show the advantages of the approach. Copyright © 2020, The Authors. All rights reserved.

关键词： Conformal mapping

Conditions for convergence of dynamic regressor extension and mixing parameter estimators using LTI filters

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arXiv 2020年

作者： Yi, Bowen Ortega, Romeo Australian Centre For Field Robotics Sydney Institute For Robotics And Intelligent Systems The University Of Sydney SydneyNSW2006 Australia Departamento Académico De Sistemas Digitales ITAM Ciudad de México Mexico Department Of Control Systems And Informatics ITMO University Saint Petersburg197101 Russia

In this note we study the conditions for convergence of the recently introduced dynamic regressor extension and mixing (DREM) parameter estimator when the extended regressor is generated using LTI filters. In particular, we are interested in relating these conditions with the ones required for convergence of the classical gradient (or least squares), namely the well-known persistent excitation (PE) requirement on the original regressor vector, φ(t) ∈ q, with q ∈ the number of unknown parameters. Moreover, we study the case when only interval excitation (IE) is available, under which DREM, concurrent and composite learning schemes ensure global convergence, being the convergence for DREM in finite time. Regarding PE we prove, under some mild technical assumptions, that if φ is PE then the scalar regressor of DREM, ΔN∈ , is also PE ensuring exponential convergence. Concerning IE we prove that if φ is IE then ΔNis also IE. All these results are established in the almost sure sense, namely proving that the set of filter parameters for which the claims do not hold is of zero measure. The main technical tool used in our proof is inspired by a study of Luenberger observers for nonautonomous nonlinear systems recently reported in the literature. © 2020, CC BY.

关键词： Adaptive control systems

State observation of affine-in-the-states systems with unknown time-varying parameters and output delay

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arXiv 2021年

作者： Bobtsov, Alexey Nikolaev, Nikolay Ortega, Romeo Efimov, Denis Kozachek, Olga Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg197101 Russia Departamento Académico de Sistemas Digitales ITAM Ciudad de México Mexico INRIA Univ. Lille CNRS UMR 9189 CRIStAL LilleF-59000 France Laboratory "Control of Complex Systems" Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg199178 Russia

In this paper we address the problem of adaptive state observation of affine-in-the-states time-varying systems with delayed measurements and unknown parameters. The development of the results proposed in the [Bobtsov et al. 2021a] and in the [Bobtsov et al. 2021c] is considered. The case with known parameters has been studied by many researchers-see [Sanz et al. 2019, Bobtsov et al. 2021b] and references therein-where, similarly to the approach adopted here, the system is treated as a linear time-varying system. We show that the parameter estimation-based observer (PEBO) design proposed in [Ortega et al. 2015, 2021] provides a very simple solution for the unknown parameter case. Moreover, when PEBO is combined with the dynamic regressor extension and mixing (DREM) estimation technique [Aranovskiy et al. 2016, Ortega et al. 2019], the estimated state converges in fixed-time with extremely weak excitation assumptions. © 2021, CC BY-NC-ND.

关键词： Parameter estimation

A Survey of Robot Manipulation in Contact

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arXiv 2021年

作者： Suomalainen, Markku Karayiannidis, Yiannis Kyrki, Ville Center of Ubiquitous Computing Faculty of Information Technology and Electrical Engineering University of Oulu Finland Systems and Control Department of Electrical Engineering Chalmers University of Technology Gothenburg Sweden Intelligent Robotics research group Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Helsinki Finland

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment to complete the task. Robots can perform more and more manipulation tasks that are still done by humans, and there is a growing number of publications on the topics of 1) performing tasks that always require contact and 2) mitigating uncertainty by leveraging the environment in tasks that, under perfect information, could be performed without contact. The recent trends have seen robots perform tasks earlier left for humans, such as massage, and in the classical tasks, such as peg-in-hole, there is a more efficient generalization to other similar tasks, better error tolerance, and faster planning or learning of the tasks. Thus, in this survey we cover the current stage of robots performing such tasks, starting from surveying all the different in-contact tasks robots can perform, observing how these tasks are controlled and represented, and finally presenting the learning and planning of the skills required to complete these tasks. © 2021, CC BY.

关键词： Surveys

The Complex of Operations on Cybersecurity in Man-Made Objects

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The Complex of Operations on Cybersecurity in Man-Made Objec...

International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon)

作者： R.A. Iureva V.O. Popova Y.S. Andreev M.V. Nikitina dept. of Control Systems and Robotics ITMO University Saint Petersburg Russia

The paper deals with the problem of cybersecurity in man-made objects, especially with protection from destructive information in automated enterprise control systems. This topic is most acute in the context of managing systems critical to safety, for example, at nuclear power plants (NPP). Besides, violation of cybersecurity can have catastrophic consequences.

关键词： Regulators Computer security Industrial engineering Information security Actuators

Experimental Prototype of High-Efficiency Wind Turbine Based on Magnus Effect

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Experimental Prototype of High-Efficiency Wind Turbine Based...

International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Aleksandr Lukin Galina L. Demidova Dmitry V. Lukichev Anton Rassõlkin Ants Kallaste Toomas Vaimann Anouar Belahcen Faculty of Control System and Robotics ITMO University Saint Petersburg Russia Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallin Estonia Department of Electrical Engineering and Automation Aalto University Helsinki Finland

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

The main feature of Magnus wind turbine is the ability to produce energy at low wind speed. This benefit lets to use such types of turbines in smart homes, which are an important part of the development of distributed energy systems, growth of blockchain electricity technology and needs for duplication of the solar energy system in the private buildings. This paper presents topology of two cylinders Magnus wind turbine in order to ensure the highest values of power coefficient and the Magnus force. The optimal ratio of wind speed and cylinder rotation speed were detected to eliminate the oscillations caused by the Von Karman vortex street phenomenon.

关键词： Wind turbines Force Drag Rotors Mathematical model Wind speed Generators

Magnus Wind Turbine: Finite Element Analysis and control System

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Magnus Wind Turbine: Finite Element Analysis and Control Sys...

International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM

作者： Galina L. Demidova Alecksey Anuchin Aleksandr Lukin Dmitry Lukichev Anton Rassõlkin Anouar Belahcen Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Department of Electrical Engineering and Automation Aalto University Helsinki Finland

ISBN: (数字)9781728170190

ISBN: (纸本)9781728170206

Due to its special features, the Magnus effect wind turbine allows you to produce energy at a very low speed of the wind. This fact, as well as the growing interest in the of blockchain technology, makes it possible to use this type of wind turbine in private household as part of a distributed energy system in addition to solar panels. The article describes a two blades Magnus wind turbine whose cylinders rotate by means of embedded motors. To avoid a von Karman vortex street effect that occur when the cylinders rotate in the air flow, as well as to ensure maximum power, the optimal ratio between the wind speed and the cylinder rotation speed is determined using finite element analysis. Further, the obtained relations are used in the algorithms of the wind turbine control system.

关键词： Wind turbines Force Wind speed Generators Mathematical model Torque control systems