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arXiv 2025年

作者： Doodeman, Sander Tang, Zhiqi Jacinto, Marcelo Cunha, Rita Silvestre, Carlos Department of Mechanical Engineering TU/e Eindhoven University of Technology Eindhoven Netherlands Division of Decision and Control Systems KTH Royal Institute of Technology Sweden Instituto Superior Técnico University of Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global position. Other vehicles in the formation are assumed to only have access to inter-agent bearing (direction) measurements and relative velocities with respect to their neighbor agents. A hierarchical control architecture is adopted for each quadrotor, combining a high-gain attitude inner-loop and an outer-loop bearing-based formation controller with collision avoidance augmentation. The proposed method enables a group of quadrotors to track arbitrary bearing persistently exciting desired formations, including time-varying shapes and rotational maneuvers, such that each quadrotor only requires relative measurements to at least one neighboring quadrotor. The effective performance of the control strategy is validated by numerical simulations in MATLAB and real-world experiments with three quadrotors. © 2025, CC BY-NC-ND.

关键词： Unmanned aerial vehicles (UAV)

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Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs

Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspende...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Sihao Sun Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente AE Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy LAAS-CNRS Université de Toulouse Toulouse France

In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that takes into account the full nonlinear model of the load-UAV system, and ensures all the feasibility constraints concerning the UAV maximumum and minimum thrusts, the collision avoidance between the UAVs, cables and load, and the tautness and maximum tension of the cables. By taking into account the above factors, the proposed control algorithm can fully exploit the performance of UAVs and facilitate the speed of operation. Simulations are conducted to validate the algorithm to achieve fast and safe manipulation of the pose of a rigid-body payload using multiple UAVs. We demonstrate that the computational time of the proposed method is sufficiently small (<100 ms) for UAV teams composed by up to 10 units, which makes it suitable for a huge variety of future industrial applications, such as autonomous building construction and heavy-load transportation.

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Wind Power Forecasting Methods Based on Deep Learning:A Survey

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computer Modeling in engineering & sciences 2020年第1期122卷 273-301页

作者： Xing Deng Haijian Shao Chunlong Hu Dengbiao Jiang Yingtao Jiang School of Computer Science Jiangsu University of Science and TechnologyZhenjiangChina School of Automation Key Laboratory of Measurement and Control for CSEMinistry of EducationSoutheast UniversityNanjingChina Department of Electrical and Computer Engineering University of NevadaLas VegasUSA

Accurate wind power forecasting in wind farm can effectively reduce the enormous impact on grid operation safety when high permeability intermittent power supply is connected to the power *** to provide reference strategies for relevant researchers as well as practical applications,this paper attempts to provide the literature investigation and methods analysis of deep learning,enforcement learning and transfer learning in wind speed and wind power forecasting ***,wind speed and wind power forecasting around a wind farm requires the calculation of the next moment of the definite state,which is usually achieved based on the state of the atmosphere that encompasses nearby atmospheric pressure,temperature,roughness,and *** an effective method of high-dimensional feature extraction,deep neural network can theoretically deal with arbitrary nonlinear transformation through proper structural design,such as adding noise to outputs,evolutionary learning used to optimize hidden layer weights,optimize the objective function so as to save information that can improve the output accuracy while filter out the irrelevant or less affected information for *** establishment of high-precision wind speed and wind power forecasting models is always a challenge due to the randomness,instantaneity and seasonal characteristics.

关键词： Deep learning reinforcement learning transfer learning wind power forecasting

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On the Existence and Uniqueness of Steady State Solutions of a Class of Dynamic Hydraulic Networks via Actuator Placement

On the Existence and Uniqueness of Steady State Solutions of...

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IEEE Conference on Decision and control

作者： Mark Jeeninga Juan E. Machado Michele Cucuzzella Giacomo Como Jacquelien Scherpen Department of Automatic Control Lund University Lund Sweden Chair of Control Systems and Network Control Technology Faculty 3 Mechanical Engineering Electrical and Energy Systems Brandenburg University of Technology Cottbus - Senftenberg Cottbus Germany Department of Electrical Computer Science and Biomedical Engineering Univeristy of Pavia Pavia Italy Department of Mathematical Science “G.L. Lagrange” Politecnico di Torino Torino Italy Department of Automatic Control Lund University Faculty of Science and Engineering Jan C. Willems Center for Systems and Control ENTEG University of Groningen Groningen the Netherlands

In this paper, using tools from graph theory we provide verifiable necessary and sufficient conditions for the existence of a unique hydraulic equilibrium in district heating systems of meshed topology and containing multiple heat sources. Even though numerous publications have addressed the design of efficient algorithms for numerically finding hydraulic equilibria in the general context of water distribution networks, this is not the case for the analysis of existence and uniqueness. Moreover, most of the existing work dealing with these aspects exploit the equivalence between the nonlinear algebraic equations describing the hydraulic equilibria and the KKT conditions of a suitably defined nonlinear convex optimization problem. Differently, this paper proposes necessary and sufficient graph-theoretic conditions on the actuator placement for the existence and uniqueness of a hydraulic equilibrium, independent of the actuators' control objective. An example based on a representative district heating network is considered to illustrate the key aspects of our contribution, and an explicit formulation of the steady state solution is given for the case in which pressure drops through pipes are linear with respect to the flow rate.

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SAGPCN: Self-Attention Graph Pooling Convolutional Network for Battery State of Health Estimation

SAGPCN: Self-Attention Graph Pooling Convolutional Network f...

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IEEE International Conference on Industrial Electronics for Sustainable Energy Systems (IESES)

作者： Jiusi Zhang Jilun Tian Yuchen Jiang Hao Luo Cong-Sheng Huang Mo-Yuen Chow Shen Yin Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Electrical Engineering National Taipei University of Technology Taipei Taiwan R.O.C. Department of Electrical and Computer Engineering North Carolina State University Raleigh NC U.S.A. Faculty of Engineering Norwegian University of Science and Technology Trondheim Norway

Lithium-ion batteries are widely applied in sustainable energy conversion system. Consequently, it is of great research significance to accurately estimate the state of health (SOH) of batteries. To effectively model the input features at the spatial level, this article proposes a self-attention graph pooling convolutional network (SAGPCN) to estimate the SOH. The advantages of SAGPCN proposed in this paper can be reflected as follows: (1) The SAGPCN can consider node characteristics and graph topology, which focuses the attention on key parts of the graph. (2) The SAGPCN designs a self-attention mechanism to reserve significant nodes and delete secondary nodes, so as to optimize the network structure. A real-world dataset is adopted to evaluate the proposed battery SOH estimation approach in this paper. Experimental results represent that the estimation performance of the proposed SAGPCN is better than some data-driven SOH prediction approaches.

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Digital few-mode fiber multiplexer using multiplane light conversion

Digital few-mode fiber multiplexer using multiplane light co...

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IEEE Photonics Conference (IPC)

作者： Dennis Pohle Fabio A. Barbosa Filipe M. Ferreira Stefan Rothe Juergen W Czarske Chair of Measurement and Sensor System Technique Faculty of Electrical and Computer Engineering TU Dresden Dresden Germany Department of Electronic and Electrical Engineering Optical Networks Group University College London United Kingdom Institute of Applied Physics School of Science TU Dresden Dresden Germany

We propose an all-optical data-driven technique for space division multiplexing in few-mode fibers. A digital twin was realized by multiplane light conversion and neural networks. It is promising for a digitally progr...

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Lightweight Trust Model with Machine Learning scheme for secure privacy in VANET 18

Lightweight Trust Model with Machine Learning scheme for sec...

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18th International Learning and Technology Conference, L and T 2021

作者： Junejo, Muhammad Haleem Ab Rahman, Ab Al-Hadi Shaikh, Riaz Ahmed Yusof, Kamaludin Mohamad Kumar, Dileep Memon, Imran Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Skudai81310 Malaysia Department of Computer Science Faculty of Computing and Information Technology King Abdulaziz University Jeddah Saudi Arabia State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Department of Computer Science Bahria University Karachi campus sindh Pakistan

A vehicular ad hoc network (VANETs) is transforming public transport into a safer wireless network, increasing its safety and efficiency. The VANET consists of several nodes which include RSU (Roadside Units), vehicles, traffic signals, and other wireless communication devices that are communicating sensitive information in a network. Nevertheless, security threats are increasing day by day because of dependency on network infrastructure, dynamic nature, and control technologies used in VANET. The security threats could be addressed widely by using machine learning and artificial intelligence on the road transport nodes. In this paper, a comparison of trust and cryptography was presented based on applications and security requirements of VANET. © 2021 The Authors. Published by Elsevier B.V.

关键词： Machine learning

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Shunt Capacitor Bank Fault Detection and Localization Using Sub-Cycle Algorithm

Shunt Capacitor Bank Fault Detection and Localization Using ...

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IEEE Canada Electric Power Conference, EPEC

作者： Mohsen Tajdinian Behzad Behdani Ali Goodarzi Harold R. Chamorro Vijay K. Sood Department of Power and Control Engineering School of Electrical and Computer Engineering Shiraz University Shiraz Iran Faculty of Electrical Engineering Mathematics and Computer Science Delft University of Technology Delft the Netherlands Fars Electricity Distribution Company Fars Iran School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Electrical Computer and Software Engineering Faculty of Engineering and Applied Science Ontario Tech University Ontario Canada

ISBN: (纸本)9781665463195

Fast internal detection and location in Shunt Ca-pacitor Banks (SCBs) can lead to the prevention of damages to other SCBs' elements and consequently avoid undesirable performance and effects in power system operation. This paper targets the performance of phasor-based algorithms of failure detection and fault location of SCBs. Being dependent on the fundamental phasor components which usually are calculated based on the Discrete Fourier Transform (DFT), the failure detection and fault location algorithms suffer from almost one-cycle delay. This paper provides sub-cycle phasor estimation based on the least-square technique. The proposed algorithm is evaluated for different configurations of SCBs considering different fuse protection designs. The proposed method provides a criterion for relay decision-making in the case of multiple faulty phases condition. The proposed method is designed to monitor and detect consecutive failures based on the existing data of commercial relays. Performance evaluations are conducted under different circumstances namely voltage unbalance conditions and multiple internal fault locations.

关键词： Performance evaluation Fault detection Capacitors Discrete Fourier transforms Estimation Voltage Fault location

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Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned

Physical Human-Aerial Robot Interaction and Collaboration: E...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Amr Afifi Gianluca Corsini Quentin Sable Youssef Aboudorra Daniel Sidobre Antonio Franchi Robotics and Mechatronics lab Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands LAAS-CNRS UPS Université de Toulouse Toulouse France Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

In this work, we present, a first of its kind, physical human-aerial robot interaction (pHARI) experiment, with an articulated aerial manipulator (AM). The robotic platform is a fully-actuated multi-rotor aerial vehicle (MRAV) with fixedly-tilted propellers endowed with a 3degree of freedom (DoF) robotic arm. We implemented a state-of-the-art control architecture composed of a feedback linearization motion controller, an admittance filter and a hybrid wrench observer. The experiments prove the viability of a new use case in aerial robotics, namely pHARI. The experimental results also shed light on the limitations of the current state-of-the-art and provide insights into possible research directions. The video of the experiments, which is available at https://***/LrQxXbQ5IHc, shows an experiment simulating work at height, where a human manually guides an AM and then attaches a tool to its end effector (EE).

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Stabilizing control Design by Integrable Differential Passive Outputs*

Stabilizing Control Design by Integrable Differential Passiv...

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IEEE Conference on Decision and control

作者： Morteza Nazari Monfared Yu Kawano Michele Cucuzzella Department of Electrical Computer and Biomedical Engineering University of Pavia Pavia Italy Graduate School of Advance Science and Engineering Hiroshima University Higashi-hiroshima Japan Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering (FSE) University of Groningen (UG) Nijenborgh 4 Groningen AG the Netherlands

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Differential passivity of a nonlinear system has been introduced as passivity of its variational system. Applying standard passivity-based control techniques to differentially passive systems leads to controllers for the corresponding variational systems. However, it is challenging to construct controllers for the original nonlinear systems if the differential passive outputs are non-exact differential one-forms. In this letter, our objective is to provide a systematic procedure to address this issue when differential passive outputs are integrable, i.e., when non-exact differential passive outputs can be made exact by multiplying them by suitable integrating factors. In particular, under suitable detectability assumptions, we propose one static and two dynamic state feedback stabilizing controllers, where each dynamic controller has a form of input-and output-shaping, respectively. We illustrate their effectiveness by stabilization of counter-current heat exchangers.

关键词： Heating systems State feedback Systematics control design Color Nonlinear systems Standards

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