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IEEE Conference on Decision and control

作者： Aaron Grapentin Christian A. Hans Jörg Raisch Control Systems Group Technische Universität Berlin Germany Automation and Sensorics in Networked Systems Group University of Kassel Germany Science of Intelligence Research Cluster of Excellence Berlin Germany

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this paper, a robust linear quadratic optimal control approach for accurate active power tracking of wind turbines is presented. For control synthesis, linear matrix inequalities are employed using an augmented wind turbine state model with uncertain parameters. The optimization problem for controller synthesis is derived from standard linear quadratic optimal control but extended to multiple operating points. The resulting controller ensures robust stability in different operating regions. In a case study, the novel approach is compared to existing controllers from literature. Simulations indicate that the controller improves power tracking accuracy while leading to similar mechanical wear as existing approaches.

关键词： Shafts Accuracy Robust stability Wind tunnels Poles and towers Optimal control Bending Wind turbines Standards Optimization

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Robot-based measurement system for double-sided inspection of optical components

Robot-based measurement system for double-sided inspection o...

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IEEE Instrumentation and Measurement Technology Conference

作者： Daniel Wertjanz Thomas Kern Ernst Csencsics Georg Schitter Group for Advanced Mechatronic Systems Automation and Control Institute (ACIN) TU Wien Vienna Austria

This paper presents a robotic measurement system for the precise double-sided inline inspection of optical elements. The robotic system includes an electromagnetically actuated measurement platform (MP), capable of inducing a stiff link between the integrated high precision confocal chromatic sensor (CCS) and the sample by means of feedback control. In this way, disturbing relative motion between the CCS and the sample are compensated, establishing the desired lab-like conditions during the point-wise acquired 3D measurement. The high-precision positioning capability of the MP is used to precisely move the CCS’ measurement spot across the sample surface in a tailored scan pattern. The robotic 3D measurement system provides a lateral measurement area of $4\times 4\ \mathbf{mm}^{2}$ and achieves a lateral and axial resolution of $5\ \mu \mathrm{m}$ and 130 nm, respectively. In addition, high-precision 3D measurements of arbitrary regions of interest can be performed. Experimental results of a commercial lenslet array demonstrate, that the robotic sample-tracking system increases the double-sided surface and thickness measurement performance by at least one order of magnitude compared to the state-of-the-art approach, while enabling the detection of surface defects on the sub-micrometer scale.

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Model predictive control for tracking using artificial references: Fundamentals, recent results and practical implementation 63

Model predictive control for tracking using artificial refer...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Krupa, P. Kohler, J. Ferramosca, A. Alvarado, I. Zeilinger, M.N. Alamo, T. Limon, D. Computer Science Group L'Aquila Italy Institute for Dynamic Systems and Control Eth Zürich ZürichCH-8092 Switzerland University of Bergamo Information and Production Engineering Department of Management Via Marconi 5 BG Dalmine24044 Italy Universidad de Sevilla Department of Systems Engineering and Automation Seville Spain

ISBN: (纸本)9798350316339

This paper provides a comprehensive tutorial on a family of Model Predictive control (MPC) formulations, known as MPC for tracking, which are characterized by including an artificial reference as part of the decision variables in the optimization problem. These formulations have several benefits with respect to the classical MPC formulations, including guaranteed recursive feasibility under online reference changes, as well as asymptotic stability and an increased domain of attraction. This tutorial paper introduces the concept of using an artificial reference in MPC, presenting the benefits and theoretical guarantees obtained by its use. We then provide a survey of the main advances and extensions of the original linear MPC for tracking, including its non-linear extension. Additionally, we discuss its application to learning-based MPC, and discuss optimization aspects related to its implementation. © 2024 IEEE.

关键词： Predictive control systems

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Adaptive control of Discrete-time Nonlinear systems Using ITF-ORVFL

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IEEE/CAA Journal of Automatica Sinica 2022年第3期9卷 556-563页

作者： Xiaofei Zhang Hongbin Ma Wenchao Zuo Man Luo School of Automation Beijing Institute of TechnologyBeijing 100081 School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China School of Automation Beijing Institute of Technologyand also with the State Key Laboratory of Intelligent Control and Decision of Complex Systems(Beijing Institute of Technology)Beijing 100081China School of Automation Beijing Institute of TechnologyBeijing 100081and he is with Beijing Institute of Electronic System EngineeringBeijing 100854China School of Automation Beijing Institute of TechnologyBeijing 100081and she is with Ant GroupBeijing 310013China

Random vector functional ink(RVFL)networks belong to a class of single hidden layer neural networks in which some parameters are randomly *** network structure in which contains the direct links between inputs and outputs is unique,and stability analysis and real-time performance are two difficulties of the control systems based on neural *** this paper,combining the advantages of RVFL and the ideas of online sequential extreme learning machine(OS-ELM)and initial-training-free online extreme learning machine(ITFOELM),a novel online learning algorithm which is named as initial-training-free online random vector functional link algo rithm(ITF-ORVFL)is investigated for training *** link vector of RVFL network can be analytically determined based on sequentially arriving data by ITF-ORVFL with a high learning speed,and the stability for nonlinear systems based on this learning algorithm is *** experiment results indicate that the proposed ITF-ORVFL is effective in coping with nonparametric uncertainty.

关键词： Adaptive control initial-training-free online learning algorithm random vector functional link networks

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Fractional Order PID control of Propofol Dosage and Optimization in Lean and Obese Patients

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IFAC-PapersOnLine 2024年第7期58卷 228-233页

作者： Amani R. Ynineb Marcian-David Mihai Erhan Yumuk Hamed Farbakhsh Ghada Ben Othman Robin De Keyser Cristina Muresan Isabela Birs Dana Copot Clara M. Ionescu Ghent University Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 9052 Zwijnaarde Belgium Technical University of Cluj-Napoca Department of Automation Cluj-Napoca Romania Istanbul Technical University Department of Control and Automation Engineering Maslak 34469 Istanbul Turkey

This paper outlines the design of a fractional-order proportional–integral–derivative controller for regulating the induction phase of Propofol infusion in lean and obese patients. The obtained controller is implemented within the pharmacokinetic-pharmacodynamic model and the nonlinear Hill function to conduct closed-loop simulations. The latter are employed using a dataset comprising 24 patients to obtain clinical evaluation results. The design of the controller relies on a generic second-order plus dead time approximation model, which characterizes interpatient variability in response to Propofol infusion within the studied population. The fractional-order proportional–integral–derivative is tuned to achieve sufficient robustness margins ie phase margin, cutoff frequency, and the consideration of the iso-damping properties. The results show no undershoot and a smooth convergence to the desired value of the bispectral index, which indicates the depth of hypnosis.

关键词： Closed-Loop control of Anesthesia Obese Patients Fractional-Order PID control

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LQ Optimal control for Power Tracking Operation of Wind Turbines

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IFAC-PapersOnLine 2023年第2期56卷 2759-2766页

作者： Aaron Grapentin Arnold Sterle Jörg Raisch Christian A. Hans Control Systems Group Technische Universität Berlin Germany Science of Intelligence Research Cluster of Excellence Berlin Germany Automation and Sensorics in Networked Systems University of Kassel Germany

In this paper, an approach for active power control of individual wind turbines is presented. State-of-the-art controllers typically employ separate control loops for torque and pitch control. In contrast, we use a multivariable control approach. In detail, active power control is achieved by using reference trajectories for generator speed, generator torque, and pitch angle such that a desired power demand is met if weather conditions allow. Then, a linear quadratic (LQ) optimal controller is used for reference tracking. In an OpenFAST simulation environment, the controller is compared to a state-of-the-art approach. The simulations show a similar active power tracking performance, while the LQ optimal controller results in lower mechanical wear. Moreover, the presented approach exhibits good reference tracking and by improving the reference trajectory generation further performance increases can be expected.

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Analysis and Preliminary Results of a Feedback-Feedforward controller for Depth of Anesthesia

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IFAC-PapersOnLine 2024年第7期58卷 216-221页

作者： Erwin Hegedus Marcian D. Mihai Isabela R. Birs Hamed Farbakhsh Erhan Yumuk Dana Copot Eva H. Dulf Robain De Keyser Clara M. Ionescu Cristina I. Muresan Department of Automation Technical University of Cluj-Napoca Memorandumului Street no. 28 400114 Cluj-Napoca Romania Ghent University Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Science Park 125 Zwijnaarde 9052 Belgium Istanbul Technical University Department of Control and Automation Engineering Istanbul Turkey

In a computer-based anaesthesia control system, the depth of hypnosis must be correctly maintained. The regulated variable is the Bispectral Index scale (BIS) controlled via the Propofol drug rate. The anesthesiologist administers Propofol to prevent unwanted fluctuations in the controlled variable during surgical stimulation, which acts as an unmeasurable disturbance on the BIS signal. In this paper, a feedback controller is paired with a feedforward control action. Based on existing clinical protocols, a digitalized disturbance signal that mimics the actual surgical stimulus is employed in the feedforward controller design as a measurable disturbance. To account for the time delay in the BIS measurements, a time delay estimation algorithm is developed and used to estimate the patient time delay. The digitalized disturbance signal is then shifted based on the estimated time delay to ensure a pre-emptive action of the feedforward controller. Two different designs of the feedforward controller are developed. Closed loop simulations considering a nominal patient with and without the feedforward control action are presented and compared. The results show that the surgical stimulus is better tackled using a feedforward control action, even if the actual surgical stimulus is not entirely known.

关键词： feedforward control fractional order control depth of hypnosis time delay estimation closed loop control of anesthesia

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Uncertainty and its Effect on Optimal Multidrug control of Hemodynamic Variables

Uncertainty and its Effect on Optimal Multidrug Control of H...

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American control Conference (ACC)

作者： Teodora Popescu Isabela R. Birs Ghada Ben Othman Erhan Yumuk Marcian Mihai Erwin Hegedus Dana Copot Robin De Keyser Clara M. Ionescu Cristina I. Muresan Department of Automation Technical University of Cluj-Napoca Cluj-Napoca Romania Department of Electromechanics Systems and Metal Engineering Research Group on Dynamical Systems and Control Ghent University Gent Belgium Department of Control and Automation Engineering Istanbul Technical University Maslak Istanbul Turkey

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

Computer aided control in biomedical applications is gaining more and more popularity due to numerous research studies that have proven the efficiency of automatic control over manual dosing, which is highly susceptible to human errors. Optimal drug dosing is best achieved using automatic control, which triggers important benefits in terms of both costs and patient side-effects. However, mathematical models for patients are highly susceptible to large modeling uncertainty. A predictive control algorithm is designed in this paper for optimal multidrug control of hemodynamic variables. Improved closed loop performance is obtained compared to similar control strategies, for $\pm 30\%$ modeling uncertainty. The simulation results demonstrate that predictive control is a feasible solution for optimal drug dosing. An analysis of the closed loop performance for significant patient variability shows that controllers tuned using a nominal patient model often fail to achieve desired robustness. To limit the effect of modeling uncertainty, the prediction model should be updated using an online identification tool to extract patient features.

关键词： Drugs Uncertainty Simulation Europe Predictive models Prediction algorithms Mathematical models

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Modular ISRU systems as a Building Block for Sustainable Space Exploration 73

Modular ISRU Systems as a Building Block for Sustainable Spa...

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73rd International Astronautical Congress, IAC 2022

作者： Fälker, Svenja Dorau, Tim Viedt, Isabell Mädler, Jonathan Urbas, Leon Tajmar, Martin Bach, Christian Institute of Aerospace Engineering Space Systems TU Dresden Marschnerstraße 32 Dresden01307 Germany Institute of Automation Process Control Systems and Process Systems Engineering Group TU Dresden Helmholtzstraße 14 Dresden01069 Germany

Leading space agencies and companies identified the utilization of local resources as foundation for the continuous long-term exploration of the solar system within the Global Exploration Roadmap. In-Situ Resource Utilization (ISRU) will be one of the key technologies for sustainable space exploration and habitation missions to Moon, Mars and beyond. Defined production systems based on hydrogen value chains are utilized as essential building blocks to transform the available resources into valuable elements for energy, propulsion, life support or production systems. The current research at TU Dresden addresses the engineering of ISRU systems using a modular plant concept of standardized, interchangeable and reusable modules. The development, production and automation processes are defined based on the existing standards on modular process plants (VDI 2776) and modular automation (VDI/VDE/NAMUR 2658) for terrestrial application. Therein, a module called Process Equipment Assembly (PEA) realizes unit operations which are interconnected to form different plant configurations that enable flexible production paths. These standardized architectures and concepts are adapted to the requirements of space utilization. Compared to currently developed highly specialized single use systems, a modular plant approach according to these standards allows the flexible application to different mission requirements and environmental conditions. In advance, modular plants minimize the development effort and risk, lead to a lowered market entry threshold for small and medium-sized enterprises from diverse market sectors and encourage commercial competition between manufacturers. This paper includes initial research work as a foundation for the future development process of modular ISRU process plants. A major input for the holistic development of modular ISRU plants are top-level mission characteristics and derived sub-level requirements. They represent a valuable input for the developme

关键词： Computer software reusability

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Optimal control of quasi-1D Bose gases in optical box potentials

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IFAC-PapersOnLine 2023年第2期56卷 1339-1344页

作者： A. Deutschmann-Olek K. Schrom N. Würkner J. Schmiedmayer S. Erne A. Kugi Complex Dynamical Systems Group Automation and Control Institute TU Wien Vienna Austria Vienna Center for Quantum Science and Technology Atominstitut TU Wien Vienna Austria Center for Vision Automation & Control Austrian Institute of Technology Vienna Austria

In this paper, we investigate the manipulation of quasi-1D Bose gases that are trapped in a highly elongated potential by optimal control methods. The effective mean-field dynamics of the gas can be described by a one-dimensional non-polynomial Schrödinger equation. We extend the indirect optimal control method for the Gross-Pitaevskii equation by Winckel and Borzì (2008) to obtain necessary optimality conditions for state and energy cost functionals. This approach is then applied to optimally compress a quasi-1D Bose gase in an (optical) box potential, i.e., to find a so-called short-cut to adiabaticity, by solving the optimality conditions numerically. The behavior of the proposed method is finally analyzed and compared to simple direct optimization strategies using reduced basis functions. Simulations results demonstrate the feasibility of the proposed approach.

关键词： Optimal control partial differential equations non-polynomial Schrödinger equation Bose gases ultra cold atoms

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