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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jacek Michalski Marek Retinger Piotr Kozierski Wojciech Giernacki Faculty of Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Division of Control and Optimization Poznan University of Technology Poznan Poland

This paper presents the active disturbance rejection control (ADRC) algorithm applied to control the position of the small flying robot Crazyflie 2.1 in two degrees of freedom (movement in x and y axis). The platform and its functionalities, such as physical attributes and a communication system, were presented. Discrete proportional-integral-derivative (PID) and ADRC controllers were implemented and tuned. Furthermore, comparative tests were performed. Sensory data from the OptiTrack motion capture system was used in real flight experiments, ensuring high precision of measurements and high sampling frequency. Selected time plots and numerical quality indices were compared, especially for different ADRC controller gains. Based on the obtained results, one can conclude about some advantages of the ADRC method for nonlinear system, such as a drone. The presented approach additionally, once tuned, theoretically works fine for any object model.

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Recent advances in analysis and control design for switched fuzzy systems: A review

Recent advances in analysis and control design for switched ...

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2012 6th IEEE International Conference Intelligent Systems, IS 2012

作者： Ojleska, Vesna Kolemishevska-Gugulovska, Tatjana Dymirkovsky, Gyorgyi SS Cyril and Methodius University in Skopje Faculty of Electrical Eng. and Information Technologies Institute of Automation and Systems Engineering 1000 Skopje R. Macedonia Faculty of Engineering Depts. of Computer and of Control Engineering Dogus University of Istanbul Acibadem TR-34722 Istanbul R. Turkey

ISBN: (纸本)9781467327824

This paper overviews recent advances in the field of switched fuzzy systems, switched systems whose subsystems are fuzzy systems, followed by the comparative study for this kind of systems. Starting with the basic ideas of switched fuzzy systems, the comparative study is aimed in introducing the diverse approaches in their model construction, as well as the challenges related with the stability analysis and stabilization of such systems. The last includes the issue of stability analysis and finding conditions for existence of switched fuzzy controllers which will stabilize the nonlinear system. © 2012 IEEE.

关键词： Hybrid systems

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AMG: A Depression Detection Model with Autoencoder and Multi-Head Graph Convolutional Network 42

AMG: A Depression Detection Model with Autoencoder and Multi...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Han-Guang Meng, Qing-Hao Jin, Li-Cheng Wang, Jian-Bang Hou, Hui-Rang Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Process Measurement and Control Tianjin300072 China China Southern Power Grid Company Limited Guangzhou510623 China

ISBN: (纸本)9789887581543

Depression is a common chronic mental disorder characterized by high prevalence, recurrence, suicide rate, disability rate and heavy disease burden. Depression assessment based on questionnaires is subjective, therefore, a novel framework to is hereby designed to detect depression automatically and obj ectively. The framework first utilizes a two-way autoencoder to extract the hidden features from the original differential entropy features. The new features are used to generate the channel connectivity graph, using the multi-head attention mechanism. Next, the new features and graphs are input into the graph convolutional network (GCN) to aggregate spatial information. Finally, the output from GCN is passed to a fully connected layer and a soft layer to obtain the predicted label. Experiments are performed on Multimodal Open Dataset for Mental-disorder Analysis dataset. A final accuracy of 88.68% and a cross entropy loss of 2.4532 are obtained, when using ten-fold cross validation, outperforming other traditional machine learning methods including SVM, KNN, decision tree. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Decision trees

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Modeling of the blood pressure regulation system in rats using genetic algorithms 19

Modeling of the blood pressure regulation system in rats usi...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Sekaj, Ivan Bališ, Peter Majzúnová, Miroslava Behuliak, Michal Zicha, Josef Kajan, Slavomír Števo, Stanislav Bernátová, Iveta Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovakia Institute of Normal and Pathological Physiology Slovak Academy of Sciences Bratislava Slovakia Institute of Physiology Academy of Sciences of the Czech Republic Prague Czech Republic

ISBN: (纸本)9783902823625

Blood pressure (BP) is one of the principal vital signs. The regulation of normal BP is critical for maintaining the normal functioning of an organism. The structure of the BP regulation in vertebrates, including humans, is very complex and it is not yet fully understood. There are several BP regulation subsystems which interact together. In this study, we analysed and modelled the role of the most important BP regulation systems (sympathetic nervous system, renin-angiotensin-aldosterone system, L-Arginine/nitric oxide) as well as the role of reactive oxygen species, the imbalance of which is implied in the development of hypertension disease. Our aim is to design a dynamic model of the BP regulation in normotensive rats, which can help us better understand the complex process of BP regulation. The BP responses were measured in conscious rats after acute stress with or without the application of selected drugs, which can inhibit particular regulation subsystems. Linear dynamic models of particular regulation subsystems were identified using genetic algorithms. Each subsystem is a feedback loop, which contains both the system dynamics and the controller. We describe the simulation-based identification procedure of these particular models as well as of the entire BP regulation system. © IFAC.

关键词： Dynamic models

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Reviewing Fault Diagnosis Methods in Electric Drives: Power Subsystem and electrical Machine 24

Reviewing Fault Diagnosis Methods in Electric Drives: Power ...

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24th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2023

作者： Demidova, Galina Chen, Hao Li, Yibin Lukichev, Dmitry Anuchin, Alecksey Itmo University Faculty of Control System and Robotics Saint-Petersburg Russia School of Electrical and Power Engineering China University of Mining and Technology Xuzhou China Institute of Marine Science and Technology Shandong University Shandong China Moscow Power Engineering Institute Department of Electric Drives Moscow Russia

ISBN: (纸本)9798350336870

This paper provides a review of popular fault diagnosis methods in the power subsystem and electrical machine of electric drives. The review aims to explore the different approaches used to detect faults in these components and the most common types of faults encountered in electric drives. The paper first provides an overview of the power subsystem and electrical machine and their respective functions within the electric drive system. It then proceeds to discuss the different types of faults that can occur in these components, including overvoltage, undervoltage, overcurrent, and short circuits. The review evaluates the various fault diagnosis methods available for these components, including model-based, signal-based, and artificial intelligence-based approaches. Model-based approaches use mathematical models of the system to detect and diagnose faults. Signal-based approaches rely on the analysis of measured signals to detect changes in system behavior that indicate a fault. Artificial intelligence-based approaches use machine learning algorithms to identify patterns in data and detect faults. Model-based approaches are highly accurate but can be computationally intensive. Signal-based approaches are less computationally intensive but may be less accurate in certain situations. Artificial intelligence-based approaches are versatile but require significant amounts of data for training. This review provides a comprehensive overview of the current state-of-the-art in fault diagnosis methods for the power subsystem and electrical machine of electric drives. The review concludes by suggesting potential areas for future research to further improve the accuracy and efficiency of fault diagnosis methods for electric drives. © 2023 IEEE.

关键词： Failure analysis

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Nash Pursuit Strategy for Nonzero-Sum MPC Game via Inverse Optimal control 13

Nash Pursuit Strategy for Nonzero-Sum MPC Game via Inverse O...

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13th Asian control Conference, ASCC 2022

作者： Qiu, Tianyu Zhang, Han Wang, Jingchuan Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9788993215236

In this paper, a traditional one v.s. one pursuit and evasion scenario is considered. The evader aims to reach her target and avoid being captured by the pursuer, while the pursuer, without the knowledge of the evader's cost function, intends to capture the evader before she successfully escapes. We formulate this problem as a Model Predictive control Decoupled Pursuit and Evasion Game (MPC-DPEG) model with incomplete information. We apply Inverse Optimal control (IOC) technique to estimate the evader's cost function and give a Nash pursuit strategy for MPC-DPEG as the optimal strategy for the pursuer. Numerical examples reveal the improvement of pursuit performance of the Nash pursuit strategy based on the estimated cost function over naive pursuit strategies. © 2022 ACA.

关键词： Simulation Optimal control Games Predictive models Cost function Numerical models Predictive control

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On computing determinants of large Sylvester type matrices

On computing determinants of large Sylvester type matrices

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作者： Kujan, Petr Hromčík, Martin Šebek, Michael Department of Control Engineering Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Centre for Applied Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Karlovo nam. 13 12135 Prague 2 Czech Republic Centre for Applied Cybernetics Institute of Information Theory and Automation Czech Republic Institute of Information Theory and Automation Pod vodarenskou vezi 4 18208 Praha 8 Czech Republic

ISBN: (纸本)008045108X

This work is devoted to computation of large n-D polynomial determinants with a special structure. Applications involve n-D systems theory (e.g. coprimeness test for two n-D polynomials or the theory of algebraic equations. More specifically, these determinants were exploited in (Chiasson et al., 2003b;Chiasson et al., 2003a) to solve the practical problem of multilevel converter by a special computational procedure. To tackle the concerned problem it is essential to solve a system of polynomial equations with many unknowns. An algorithm was chosen based on elimination theory using resultants leading to the fundamental problem of computing determinants of large Sylvester type matrices with n-D polynomial entries. The aim of this work is to propose and test new numerical algorithms that would make it possible to solve the concerned problems more effectively. Copyright © 2005 IFAC.

关键词： Fast Fourier transforms

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Parameter fault estimation in distributed heating/cooling systems 7

Parameter fault estimation in distributed heating/cooling sy...

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7th International Conference on Sustainable information engineering and Technology, SIET 2022

作者： Kurniawan, Wijaya Hangos, Katalin M. Marton, Lorinc Faculty of Computer Science University of Brawijaya Malang Indonesia Dept. of Electrical Engineering and Information Systems University of Pannonia Veszprem Hungary Institute for Computer Science and Control Budapest Hungary Dept. of Electrical Engineering Sapientia Hungarian University of Transylvania Targu Mures Romania

ISBN: (纸本)9781450397117

In this paper, the problem of fault estimation and localization in the connecting dynamic elements of distributed heating and cooling systems are treated. The fault represents the physical parameter change related to the heat transfer between the system and the external environment. First, based on the bi-linear dynamic state space model of the system in the presence of a fault, structural observability analysis using Signed Directed Graph (SDG) has been performed to investigate the sensor placement problem. Then, a nonlinear observer with a parameter adaptation algorithm was proposed for fault estimation. The simulation results show that it can successfully detect and estimate the fault. Fault localization along the length of the element has also been attempted, but it has been found that the localization cannot be performed using practically changeable input variables. Frequency domain analysis is presented to discuss this phenomenon. © 2022 ACM.

关键词： Parameter estimation

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Optimization of Vehicle Suspension Parameters with use of Evolutionary Computation

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Procedia engineering 2012年 48卷 174-179页

作者： Vladimír Goga Marian Kľúčik Institute of Power and Applied Electrical Engineering Faculty of Electrical Engineering and Information Technology in Bratislava Ilkovičova 3 812 19 Bratislava Slovakia Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology in Bratislava Ilkovičova 3 812 19 Bratislava Slovakia

The main purpose of vehicle suspension is to achieve good driving stability and passenger comfort regardless of road surface. These requirements are often contradictory. This article aims to show the possibilities offered by a combination of modeling in a virtual environment and evolutionary computation in the process of optimization. Mathematical half-car model was created in Matlab/Simulink. Passive suspension parameters (damping and stiffness coefficients) were optimized with use of evolutionary computation. Results from simulations of model with original and optimized suspension parameters were compared.

关键词： Dynamic analysis Evolutionary computation Genetic algorithm Optimization Vehicle suspension

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Self-Tuning Fuzzy PID controller

Self-Tuning Fuzzy PID Controller

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International Conference on Process control

作者： Jana Paulusova Lukas Orlicky Maria Dubravska Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology STU

ISBN: (纸本)9781479909261

In this paper method of design of self-tuning fuzzy PID controller is addressed, proposed and tested. Fuzzy logic is used to tune each parameter of PID controller. The proposed controller is tested in control of the concentration in the chemical reactor, manipulating its flow rate. This paper deals with theoretical and practical methodology, offering approaches for control design and its successful application.

关键词： Fuzzy control PID control Self-tuning control

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