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European control Conference (ECC)

作者： Erwin Hegedus Marcian D. Mihai Isabela R. Birs Hamed Farbakhsh Erhan Yumuk Dana Copot Robain De Keyser Clara M. Ionescu Cristina I. Muresan Department of Automation Technical University of Cluj-Napoca Cluj-Napoca Romania Department of Electromechanics Ghent University Systems and Metal Engineering Research Group on Dynamical Systems and Control Tech Lane Zwijnaarde Belgium Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Monitoring and control of general anesthesia, involving cardiac output or mean arterial pressure are critical to ensure patient safety during surgery. Several computer control solutions have been developed for each of the anesthesia components and hemodynamic processes. However, most do not tackle the synergistic and antagonistic effects of the anesthetic and hemodynamic drugs. Hitherto, only a handful of preliminary results and ideas regarding multivariable control have been reported so far, usually considering a simplified decentralized approach. A decoupled control strategy is proposed here to reduce the interaction between the hemodynamic and anesthesia sub-systems, hence increasing the robustness and stability of the overall control loop. Due to their intrinsic robustness to uncertainty and process model variability, fractional order controllers are designed to ensure that more specific performance criteria are addressed, compared to the traditional PIDs. The decoupled control strategy is compared to the decentralized approach to validate the minimization of the interactions. A robustness analysis is performed using a benchmark patient model and data from 24 patients.

关键词： Uncertainty Stability criteria Surgery Process control Anesthesia Robustness Hemodynamics

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PID control of data-driven patient response with fixed ratio co-administration of drugs for depth of hypnosis

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IFAC-PapersOnLine 2024年第7期58卷 222-227页

作者： Clara M. Ionescu Hamed Farbakhsh Cristina Muresan Robin De Keyser Erhan Yumuk Ghada Ben Othman Amani Rayene Ynineb Isabela Birs Dana Copot Martine Neckebroek 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 Memorandumului no. 28 Cluj-Napoca 400114 Romania Istanbul Technical University Department of Control and Automation Engineering Systems and Control Istanbul Turkey Ghent University Hospital Department of Anesthesia C. Heymanslaan 10 9000 Ghent Belgium

In this work we make use of knowledge from clinical practice to deliver a trusted environment for feedback control of co-administration of two drugs to induce depth of hypnosis during general anesthesia. The clinical data we have provides valuable insight into the ratio used to determine the Propofol and Remifentanil infusion rates by means of specifying their corresponding effect site concentrations. A feedback closed loop with a fixed parameter PID controller tuned on population dynamics is used. To account the strong variations in gain of the system (patient) we propose an online identification of the dose-effect response from clinical data available during clinical protocol. Theoretical analysis is provided to justify the approach and simulations with real data from patient are given to support the theoretical insight. Limitations of this approach are discussed as to justify why ratio based co-administration is used in practice solely during the induction phase of general anesthesia.

关键词： Closed-Loop control of Anesthesia PID control Depth of Hypnosis Ratio control Model Estimation Data Driven control

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MADDPG: Multi-agent Deep Deterministic Policy Gradient Algorithm for Formation Elliptical Encirclement and Collision Avoidance 5th

MADDPG: Multi-agent Deep Deterministic Policy Gradient Algor...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Xu, Leixin Chen, Weibin Liu, Xiang Chen, Yang-Yang School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China Jiangsu Automation Research Institute Lianyungang222061 China China Tiesiju Civil Engineering Group Co. Ltd. Hefei230023 China

ISBN: (纸本)9789811939976

This paper considers the formation encirclement problem of multi-agent systems with collision avoidance, where the enclosing orbit is an ellipse, the target and the formation are dynamic. The novel rewards, that is the elliptical encirclement reward, the formation reward, the angular velocity reward and collision avoidance reward are designed and a reinforcement learning (RL) algorithm, that is multi-agent deep deterministic policy gradient (MADDPG), is designed based on the novel setting of rewards. Simulation results are given to show the validity of the proposed method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Reinforcement learning

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Design of An Intelligent control System for Underground Directional Drilling Trajectory in Coal Mines 41

Design of An Intelligent Control System for Underground Dire...

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第41届中国控制会议

作者： Wangnian Li Min Wu Ke Yao Quanxin Li Chengda Lu Sheng Du School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Xi'an Research Institute Co.Ltd. China Coal Technology and Engineering Group

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Directional drilling trajectory control technology is one of the key technologies to realize automation and intelligence of underground tunnel drilling in coal *** construction of directional drilling in underground coal mines mainly relies on manual observation of measurement-while-drilling parameters to control the drilling trajectory,which is highly dependent on manual *** paper designs an intelligent control system of underground directional drilling trajectory for coal *** the idea of hierarchical design and modular design,this system collects and displays geometric parameters,geological parameters,and engineering parameters of the directional drilling ***,an intelligent decision-making platform for directional drilling trajectory prediction and control is developed,laying a foundation for the research of directional drilling trajectory prediction and intelligent control for coal mines.

关键词： Trajectory prediction trajectory control geometric parameters geological parameters engineering parameters

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Design of an Intelligent Monitoring System for Operating States in a Coal Mine Drilling Process 41

Design of an Intelligent Monitoring System for Operating Sta...

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第41届中国控制会议

作者： Xiao Yang Luefeng Chen Sheng Du Chengda Lu Wangnian Li Min Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Xi'an Research Institute Co.Ltd. China Coal Technology and Engineering Group

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the development trend of intelligent drilling in coal mines,an intelligent monitoring system for operating states in a drilling process is developed to solve the problems of incomplete display of drilling parameters and ineffective *** system realizes the remote monitoring of drilling *** mainly adopts the Fuzzy C-Means clustering algorithm to cluster the drilling *** it combines expert empirical knowledge to classify coal seams into soft,hard and alternating soft and hard coal *** boundary values are calculated according to the boundary ***,three drilling operating states,rated,conservative and over-excited,are judged to provide guidance for the drilling process control.

关键词： Drilling process Intelligent monitoring Fuzzy C-Means clustering Operating states

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A Simple Computationally Efficient Path ILC for Industrial Robotic Manipulators

A Simple Computationally Efficient Path ILC for Industrial R...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Michael Schwegel Andreas Kugi Complex Dynamical Systems Group Automation and Control Institute (ACIN) TU Wien Vienna Austria AIT Austrian Institute of Technology GmbH Vienna Austria

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this paper, a numerically efficient flexible control scheme for the absolute accuracy of industrial robots is presented and experimentally validated. A model-based controller that leverages all typically available parameters is combined with an online path iterative learning controller (ILC). The ILC law is employed to compensate for the unknown residual error dynamics caused by elastic and transmission effects. The proposed approach combines several benefits, including the possibility of a continuous execution of trials, a straightforward generalization of the learned data to different execution speeds, and learning from partial trials. The experimental validations on a 6-axis industrial robot with a laser tracker absolute measurement system show a 95% improvement in absolute accuracy after two trials. When the laser tracker is removed, the learned feedforward controller can sustain the accuracy achieved even without trial-by-trial learning.

关键词： Accuracy Service robots Measurement by laser beam Industrial robots Manipulators Motors Numerical models

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Predictive Linear Online Tracking for Unknown Targets

arXiv

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arXiv 2024年

作者： Tsiamis, Anastasios Karapetyan, Aren Li, Yueshan Balta, Efe C. Lygeros, John Automatic Control Laboratory ETH Zürich Zürich Switzerland Institute for Dynamic Systems and Control ETH Zürich Zürich Switzerland Control and Automation Group inspire AG Zürich Switzerland

In this paper, we study the problem of online tracking in linear control systems, where the objective is to follow a moving target. Unlike classical tracking control, the target is unknown, non-stationary, and its state is revealed sequentially, thus, fitting the framework of online non-stochastic control. We consider the case of quadratic costs and propose a new algorithm, called predictive linear online tracking (PLOT). The algorithm uses recursive least squares with exponential forgetting to learn a time-varying dynamic model of the target. The learned model is used in the optimal policy under the framework of receding horizon control. We show the dynamic regret of PLOT scales with O(√TVT), where VT is the total variation of the target dynamics and T is the time horizon. Unlike prior work, our theoretical results hold for non-stationary targets. We implement PLOT on a real quadrotor and provide open-source software, thus, showcasing one of the first successful applications of online control methods on real hardware. © 2024, CC BY.

关键词： Linear control systems

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On the Regret of Recursive Methods for Discrete-Time Adaptive control with Matched Uncertainty

arXiv

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arXiv 2024年

作者： Karapetyan, Aren Balta, Efe C. Tsiamis, Anastasios Iannelli, Andrea Lygeros, John Zürich8092 Switzerland Control and Automation Group Inspire AG Zürich8005 Switzerland Automatic Control Laboratory Switzerland Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70569 Germany

Continuous-time adaptive controllers for systems with a matched uncertainty often comprise an online parameter estimator and a corresponding parameterized controller to cancel the uncertainty. However, such methods are often impossible to implement directly, as they depend on an unobserved estimation error. We consider the equivalent discrete-time setting with a causal information structure, and propose a novel, online proximal point method-based adaptive controller, that under a sufficient excitation (SE) condition is asymptotically stable and achieves finite regret, scaling only with the time required to fulfill the SE. We show the same also for the widely-used recursive least squares with exponential forgetting controller under a stronger persistence of excitation condition. © 2024, CC BY.

关键词： Adaptive control systems

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Context-Aware control for Quality Improvement in Liquid Steel Manufacturing

Context-Aware Control for Quality Improvement in Liquid Stee...

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2023 IEEE Conference on control Technology and Applications, CCTA 2023

作者： Birs, Isabela R. Muresan, Cristina I. Susca, Mircea Mihaly, Vlad Mihai Ghita, Mihaela Ghita, Maria De Keyser, Robin Ionescu, Clara Eedt Decision & Control Flanders Make Consortium Tech Lane Science Park 125 and 131 GhentB-9052 Belgium Ghent University Research Group of Dynamical Systems and Control Faculty of Engineering and Architecture Belgium Technical University of Cluj Napoca Department of Automation Memorandumului nr 28 Cluj-Napoca400114 Romania

ISBN: (纸本)9798350335446

This paper presents an original theoretical and implementation framework of fractional order event-based control with the purpose of quality improvement at the end production line of a continuous casting process. A real-life steel manufacturing plant is taken into consideration in the study. A prior fractional order model is considered to tune a fractional order Proportional Integral controller that ensures an ideal flow velocity of liquid steel. A novel event-based fractional order methodology is proposed that uses internal and external process events in order to improve quality. The implementation strategy takes into consideration available software and hardware components at the plant site, offering a realistic and implementable solution, highly suitable for the current steel industry setting. Numeric simulations successfully validate the proposed methodology. © 2023 IEEE.

关键词： Steelmaking

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Switched max-plus linear-dual inequalities for makespan minimization: the case study of an industrial bakery shop 1

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IFAC-PapersOnLine 2023年第2期56卷 8628-8634页

作者： Davide Zorzenon Nataliia Zaiets Jörg Raisch Control Systems Group Technische Universität Berlin Germany Department of Automation and Robotics Systems National University of Life and Environmental Sciences of Ukraine Kyiv Science of Intelligence Research Cluster of Excellence Berlin Germany

In this paper, an industrial bakery shop is modeled by switched max-plus linear-dual inequalities (SLDIs). SLDIs are timed discrete event systems suitable for describing flow shops with time-window constraints and switching operating modes, where each mode corresponds to a job type. We consider the scheduling problem of minimizing the makespan of the shop, and we show that the application of methods based on the max-plus algebra leads to a faster solution compared to standard techniques. The results of the paper are general, in the sense that they can be applied to any permutation flow shop with time-window constraints.

关键词： Scheduling Food industry Max-plus algebra Discrete event systems

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