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Towards backward compatibility of ADRC: revisiting classical state-feedback control with integral compensator

Bulletin of the Polish Academy of Sciences: Technical Sciences 2025年第2期73卷

作者： Mrotek, Mikolaj Michalski, Jacek Madonski, Rafal Pazderski, Dariusz Retinger, Marek Faculty of Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3a Poznan60-965 Poland

In this paper, the problem of backward compatibility of active disturbance rejection control (ADRC) is investigated. The goal is to contextualize ADRC to deliver its interpretations from the established field of linear control systems. For this study, a control algorithm, denoted here as integral disturbance rejection control (IDRC), is considered that combines classical state-feedback control with an integral compensator. At first, an interpretation of ADRC is involved in terms of existing state-space control approaches. Next, a transition to the frequency domain is performed, which is justified as a significant part of practical control engineering is conducted in that domain. For assumed specific plant structures, both ADRC and IDRC are then holistically compared in terms of transfer function representation and frequency characteristics, as well as steady-state convergence conditions. Such a juxtaposition helps to highlight the similarities and differences of both approaches, whereas the utilized bandwidth parameterization is shown to bring the control system to the same form, thus indicating some interesting practical aspects. Finally, the theoretical results concerning both considered control structures are validated in a set of numerical simulations and experiments conducted on a laboratory hardware testbed. © 2025 The Author(s).

关键词： Disturbance rejection

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Enhanced Robustness Properties and Tracking Performance of the Quadrotor Unmanned Aerial Vehicle under Disturbances via the Second Order Sliding Mode control

Enhanced Robustness Properties and Tracking Performance of t...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Faik Tahirovic Almir Salihbegovic Emir Sokic Nedim Osmic Department for Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This paper presents a full degrees-of-freedom (DOFs) robust control design for a nonlinear quadrotor unmanned aerial vehicle (UAV) operating under bounded disturbances. Second-order sliding modes controllers (SOSMCs) are designed so that the quadrotor UAV can follow a 3D trajectory in the presence of model uncertainties, underactuation, as well as external disturbances that may be matched or mismatched, and vanishing or nonvanishing. The stability analysis of the closed-loop system is presented via the Lyapunov method, showing the finite-time convergence of the system trajectories to the sliding surfaces, as well as the finite-time convergence of the quadrotor position and attitude to their reference values. The high-gain adaptation (HGA) method is adopted in the SOSMC technique, called SOSMC-HGA, to alleviate the chattering phenomenon. Simulation studies in different scenarios demonstrate that the SOSMC technique exhibits superior tracking performance and robustness properties compared to concurrent control methods for tracking reference trajectories of quadrotor UAVs. The simulation results confirm that SOSMC-HGA significantly attenuates the chattering phenomenon in control signals and system states, which is an important improvement, as it increases the safety of UAVs and reduces power consumption.

关键词： Solid modeling Uncertainty Three-dimensional displays Autonomous aerial vehicles Robustness Stability analysis Trajectory Sliding mode control Quadrotors Convergence

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New control Method for Multi-phase Buck DC-DC Converters Used with Photovoltaic Panels 5

New Control Method for Multi-phase Buck DC-DC Converters Use...

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5th IEEE International Conference on Modern electrical and Energy System, MEES 2023

作者： Kovac, Dobroslav Melnykov, Viacheslav Technical University of Kosice Faculty of Electrical Engineering and Informatics Dept. of Theoretical and Industrial Electrical Engineering Kosice Slovakia Institute of Electromechanics Energy Saving and Control Systems Kremenchuk Mykhailo Ostrohradskyi National University Kremenchuk Ukraine

ISBN: (纸本)9798350359787

The paper deals with a new algorithm for controlling a multi-phase buck DC-DC converter. The principle of its control is explained in detail using a flowchart. It is based on the continuous change of the converter topology using the number of its currently controlled phases depending on the size of the input power. In connection with this, its microprocessor control is also mentioned. The whole issue is explained on the design, simulation and measurement of a laboratory sample of a four-phase buck converter. © 2023 IEEE.

关键词： Solar panels

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Integration of Industrial Automation and IoT Devices on the Example of the Assembly Station with the Astorino Educational Robot 4th

Integration of Industrial Automation and IoT Devices on the ...

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4th International Conference on Intelligent Systems in Production engineering and Maintenance, ISPEM 2023

作者： Ćwikla, Grzegorz Kalinowski, Krzysztof Kciuk, Marek Gold, Michal Waluśkiewicz, Marek Sladek, Michal Tlolka, Jaroslaw Woźnica, Robert Wlazlo, Aleksander Faculty of Mechanical Engineering Silesian University of Technology Konarskiego 18A Gliwice44-100 Poland Faculty of Electrical Engineering Silesian University of Technology Akademicka 10A Gliwice44-100 Poland Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 16 Gliwice44-100 Poland

ISBN: (纸本)9783031442810

The article presents an automated assembly station designed by students as part of Project Based Learning. The task of the project was to familiarize with the issues of integration of automation and control elements operating in various standards in order to implement the idea of Industry 4.0. The main elements of the station are the Astorino educational robot, gripper, servo drive and other professional elements of industrial automation and IoT systems. Raspberry PI, microcontrollers, etc. are also used. The assembly process of the product in the configuration in accordance with the user’s order is carried out at the station, quality control is carried out during the process using a vision system and various sensors. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Data acquisition

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Secure transmission of medical image using a wavelet interval type-2 TSK fuzzy brain-imitated neural network

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Soft Computing 2025年第4期29卷 2311-2329页

作者： Pham, Duc-Hung Huynh, Tuan-Tu Lin, Chih-Min Giap, Van Nam Vu, Van-Phong Department of Electrical Engineering Yuan Ze University No. 135 Yuandong Road Zhongli 320 Taoyuan Taiwan Faculty of Electrical and Electronic Engineering Hung Yen University of Technology and Education Hai Duong160000 Viet Nam Faculty of Mechatronics and Electronics Lac Hong University No. 10 Huynh Van Nghe Road810000 Bien Hoa Dong Nai Viet Nam School of Electrical & Electronic Engineering Hanoi University of Science and Technology Hai Ba Trung Hanoi100000 Viet Nam Department of Automatic Control Ho Chi Minh City University of Technology and Education Ho Chi Minh70000 Viet Nam

The purpose of this research is to develop a new design of a wavelet interval type-2 takagi–Sugeno-Kang fuzzy brain-imitated neural network (WIT2TFBINN), which is a combination of the mathematical models of a Takagi–Sugeno-Kang (TSK) fuzzy system based on wavelet interval type-2 function (WIT2) and a wavelet interval type-2 fuzzy brain imitated neural network (FBINN). The proposed WIT2TFBINN is used for synchronization control of a 4D Lorentz chaotic system and has the benefits of wavelet interval type-2 membership function, TSK fuzzy inference system, decision making, and emotional activity. To provide fast training, the proposed method's parameter update laws are derived using the gradient descent method. The proposed WIT2TFBINN synchronization technique is then applied to the transmission of medical images in a secure manner. As a cipher image, a medical image is encrypted into a chaotic trajectory. After transmission, the image can be decrypted using chaotic trajectory synchronization on the received signal. The simulation results show that the proposed neural network and the encryption/decryption method are powerful and effective. The results of the static test analysis (histogram, attack analysis, image with noise, image with cropping) show that the encryption/decryption method provides high security. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2025.

关键词： Membership functions

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Advanced Signal Processing and Classification of EEG Patterns in Neurointerface Systems 3

Advanced Signal Processing and Classification of EEG Pattern...

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3rd International Workshop on Information Technologies: Theoretical and Applied Problems, ITTAP 2023

作者： Lupenko, Serhii Butsiy, Roman Volyanyk, Oleksandr Stadnyk, Nataliia Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole45-758 Poland Institute of Telecommunications and Global Information Space National Academy of Sciences of Ukraine Kyiv02000 Ukraine Ternopil Ivan Puluj National Technical University Ternopil46001 Ukraine

This study provides a comprehensive assessment of an extended set of modern classifiers designed for electroencephalography signal analysis in brain-computer interface systems. Using the modern model of the vector of cyclic rhythmically connected random processes for estimating signal characteristics, the classifiers compared encompass k-NN, Linear SVM, Decision Tree, Random Forest, Multilayer Perceptron, AdaBoost, and Naive Bayes. By decomposing signals into Fourier series, the optimal number of coefficients is investigated to both reduce computational complexity and increase accuracy. To facilitate a transparent and decisive comparison among the classifiers, the Confusion Matrix methodology is used. Results suggest that among the diverse range evaluated, Linear SVM, Naive Bayes, and Multilayer Perceptron classifiers showcased superior accuracy. © 2023 CEUR-WS. All rights reserved.

关键词： Brain computer interface

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Output Tracking control of a Nonlinear System Based on Takagi-Sugeno Fuzzy Model: Generalized Partial Eigenstructure Assignment Approach

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IEEE Access 2024年 12卷 18520-18535页

作者： Soltanian, Farzad Shasadeghi, Mokhtar Mobayen, Saleh Skruch, Pawel University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2M9 Canada Shiraz University of Technology Electrical Engineering Faculty Shiraz71557-13876 Iran National Yunlin University of Science and Technology Graduate School of Intelligent Data Science Yunlin Douliu64002 Taiwan AGH University of Science and Technology Department of Automatic Control and Robotics Kraków30-059 Poland

This paper introduces an innovative optimal control approach to achieve output tracking while incorporating H2-performance specifications in a specific class of nonlinear dynamics modeled by the Takagi-Sugeno fuzzy model (TSFM). The primary innovation lies in extending partial eigenstructure assignment to TSFM-based nonlinear systems within the framework of sliding mode control (SMC). We propose a two-step methodology for designing optimal sliding surface gains. Initially, optimal state feedback gains are computed for each rule consequence containing a linear subsystem, adhering to predetermined eigenvalues and satisfying H2-performance criteria. Subsequently, using a convex combination, the overall state feedback gain is calculated and utilized to design sliding matrix gains. The sliding matrix gains are then determined by strategically combining previously calculated state-feedback gains in a convex optimization problem. We reframe the output tracking strategy as a stabilization problem using a virtual control input and reformulate the optimization task concerning tracking state errors. This process yields state feedback gains, sliding gains, and the formulation of the virtual control input. The effectiveness of our approach is verified through comprehensive simulations, emphasizing its capability in addressing output tracking challenges within nonlinear systems. © 2013 IEEE.

关键词： Transient analysis

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Real-time Pricing Mechanism for V2G Using Distributed Bilevel Optimization 63

Real-time Pricing Mechanism for V2G Using Distributed Bileve...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： You, Jiawei Dai, Xinliang Jiang, Yuning Yin, Haoyu Shi, Yuanming Jones, Colin N. ShanghaiTech University School of Information Science and Technology China Epfl Switzerland Karlsruhe Institute of Technology Institute for Automation and Applied Informatics Germany Epfl Automatic Control Laboratory Switzerland Washington University in St. Louis Department of Electrical and Systems Engineering United States

ISBN: (纸本)9798350316339

This paper explores the impact of the burgeoning electric vehicle (EV) presence on distribution grid operations, highlighting the challenges they present to conventional pricing strategies due to their dual role as power consumers and suppliers, coupled with their energy storage capabilities. We propose an advanced real-time pricing model for the electricity market, employing a novel distributed bilevel optimization framework. This framework distinguishes between the distribution system operator (DSO) at the upper level and the EVs at the lower level, each aiming to optimize profit margins. The optimization includes power flow constraints at the upper level to ensure efficient operation within safe system limits, while model predictive control (MPC) is used to optimize lower-level EV responses. Additionally, we provide a rigorous convergence analysis of the proposed bilevel optimization method. Detailed convergence studies and simulation results demonstrate the effectiveness and superiority of the proposed algorithm. © 2024 IEEE.

关键词： Predictive control systems

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Impact of energy leakage on the energy performance of green IoT nodes

Impact of energy leakage on the energy performance of green ...

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International Symposium on Modeling, Analysis and Simulation of Computer and Telecommunication Systems (MASCOTS)

作者： Godlove Suila Kuaban Tadeusz Czachórski Erol Gelenbe Piotr Pecka Valery Nkemeni Piotr Czekalski Polish Academy of Sciences (IITiS PAN) Institute of Theoretical and Applied Informatics Gliwice Poland Laboratory of Electrical Engineering and Computing Faculty of Engineering and Technology University of Buea Cameroon Faculty of Automatic Control Electronics and Informatics Silesian University of Technology Gliwice Poland

ISBN: (数字)9798331531300

ISBN: (纸本)9798331531317

In the present paper, we investigate the impact of imperfections (non-idealities) of the energy storage system (e.g., batteries, capacitors, or supercapacitors) on the energy performance of green IoT nodes. In particular, we investigate the impact of energy leakage from the Energy Storage System (ESS) on important energy performance metrics, such as service outage probability, the density of the lifetime of the node, and the time-dependent mean number of energy packets (EPs) in the ESS. Also, we explore various strategies that can be employed to compensate for the impact of energy losses due to energy leakage on the energy performance metrics. Specifically, we examine two potential strategies for improving the energy performance of the IoT nodes: (i) through increasing the energy generation rate of the energy harvesters (e.g., by adding additional solar panels or replacing the existing solar panels with more efficient ones that can produce more energy), and (ii) through reducing the energy consumption rate of the IoT node (e.g., by configuring ESS energy thresholds below which the nodes are forced to operate in low energy consumption states).

关键词： Measurement Energy consumption Green products Production Probability Energy efficiency Sensors Power system reliability Solar panels Internet of Things

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Energy performance of Internet of Things (IoT) networks for pipeline monitoring

Energy performance of Internet of Things (IoT) networks for ...

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International Wireless Communications and Mobile Computing Conference, IWCMC

ISBN: (数字)9798350361261

ISBN: (纸本)9798350361278

Pipelines are the most convenient ways to transport fluids (e.g., water, oil, and gas). However, leakage of fluids into the environment results in resource wastage (primarily water, which is becoming a scarce resource) and environmental pollution (in the case of leakage of toxic fluids like oil and gas). Emerging technologies like the Internet of Things (IoT), Wireless Sensor Networks (WSNs), Artificial Intelligence (AI), distributed computing, and cloud computing enable continuous monitoring of pipelines to detect leakages and corrosion on the pipeline. The main challenge with using battery-powered sensor nodes to monitor pipelines is the energy constraint, necessitating frequent battery replacement. Thus, there is a need to develop energy-saving mechanisms to prolong the lifetime of these sensor nodes. In this paper, we use the diffusion approximation modelling framework in which the data from the experimental testbed are used to model the dynamics of the battery’s energy content and to estimate the mean and variance of the device’s lifetime. The novelty in the proposed diffusion model of the battery of an IoT node is the introduction of multiple energy thresholds that split the energy state-space of the battery into multiple energy-saving regimes. As the battery discharges, the node gradually transitions into energy-saving regimes by reconfiguring some of its parameters to reduce energy consumption (sometimes at the cost of trading off some performance metrics). We investigate the impact of energy-saving regimes or the number of thresholds on the node’s lifetime.

关键词： Wireless sensor networks Fluids Pipelines Data models Water pollution Batteries Sensors

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