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IEEE Conference on Decision and control

作者： Siddhartha Ganguly Nakul Randad Debasish Chatterjee Ravi Banavar Systems & Control Engineering IIT Bombay Mumbai India Department of Aerospace Engineering IIT Bombay Mumbai India

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this article we introduce QuITO — Quasi-Interpolation based Trajectory Optimization, a direct multiple shooting algorithm to solve a class of constrained nonlinear minimum energy optimal control problems. This technique is based on the theory of approximate approximations – a quasi-interpolation scheme. We parameterize the control trajectory using the quasi-interpolation formula, and we discretize the optimal control problem using the collocation points on a uniform cardinal grid, thereby transcribing the optimal control problem (OCP) into a nonlinear program (NLP). Several examples are provided to show the numerical fidelity of the algorithm.

关键词： Optimal control Approximation algorithms Trajectory optimization

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Nonlinear control of a Laboratory Gas Turbine Engine with Uncertain System Dynamics

Nonlinear Control of a Laboratory Gas Turbine Engine with Un...

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2021 International Symposium of Asian control Association on Intelligent Robotics and Industrial Automation, IRIA 2021

作者： Singh, Richa Nandy, Subhashis Maity, Arnab Nataraj, P.S.V. Indian Institute of Technology Bombay Department of Aerospace Engineering Powai400076 India Indian Institute of Technology Bombay IDP in Systems and Control Engineering Powai400076 India

ISBN: (纸本)9781665433235

A sliding mode control (SMC) design approach is presented in this paper to ensure the robust tracking of a laboratory-based gas turbine engine (GTE) subjected to noise and uncertainties in parameters and disturbances. The design of SMC is defined as the main objective to compute the requirement of fuel flow for the engine such that the shaft speed of the GTE tracks its commanded signal with minimum control effort while adhering to physical constraints. Further, an approximation task of the discontinuous signum function is performed by a saturation function to attenuate the chattering phenomena. The proposed control design is then verified on a validated mathematical model of GTE subjected to uncertainties and noise. The closed-loop GTE responses truly accomplish the superiority of the proposed design approach of SMC control in achieving satisfactory tracking performance of the gas turbine engine. © 2021 IEEE.

关键词： Sliding mode control

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Robustification of Unscented Kalman Filtering to Identify Faults in Gas Turbine Engine

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IFAC-PapersOnLine 2022年第1期55卷 826-831页

作者： Subhashis Nandy Richa Singh Arnab Maity P.S.V. Nataraj Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai - 400076 India IDP in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai - 400076 India

A methodology is proposed to improve the robustification of the Unscented Kalman Filtering by adjusting the measurement noise covariance matrix by introducing two adaptive factors. The combined effect of the two adaptive factors helps to identify and filter the outliers more prominently. Improvement in the proposed robust UKF algorithm is established by analyzing the percentage reduction of accumulation error for different conditions with the larger measurement noise covariance. In addition, a method of fault identification of gas turbine engines is developed by the proposed robust UKF approach in the presence of system and measurement noises. The proposed fault identification method deals with the analysis of the residual signature of different states along with the cost function of the derived algorithm. Different component and sensor anomalies are introduced in the nonlinear dynamic model of the gas turbine engine to produce the faulty situations. The deviations in performances are compared with the nominal behavior to obtain the residual signature. A comparative study is performed to identify the faulty scenarios.

关键词： Unscented Kalman filtering Robustification Component faults Sensor faults Residual Cost function Fault identification

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A Moreau Envelope Approach for LQR Meta-Policy Estimation

A Moreau Envelope Approach for LQR Meta-Policy Estimation

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IEEE Conference on Decision and control

作者： Ashwin Aravind Mohammad Taha Toghani César A. Uribe Centre for Systems and Control IIT Bombay Mumbai MH India Department of Electrical and Computer Engineering Rice University Houston TX USA

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

We study the problem of policy estimation for the Linear Quadratic Regulator (LQR) in discrete-time linear timeinvariant uncertain dynamical systems. We propose a Moreau Envelope-based surrogate LQR cost, built from a finite set of realizations of the uncertain system, to define a meta-policy efficiently adjustable to new realizations. Moreover, we design an algorithm to find an approximate first-order stationary point of the meta-LQR cost function. Numerical results show that the proposed approach outperforms naive averaging of controllers on new realizations of the linear system. We also provide empirical evidence that our method has better sample complexity than Model-Agnostic Meta-Learning (MAML) approaches.

关键词： Linear systems Uncertain systems Costs Uncertainty System realization Estimation Cost function Numerical models Trajectory Convergence

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A New Formulation of Sliding Mode control and its Applications

A New Formulation of Sliding Mode Control and its Applicatio...

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International Conference for Convergence of Technology (I2CT)

作者： Prasiddh Trivedi B. Bandyopadhyay Ramrao Adik Institute of Technology IDP in Systems and Control IIT Bombay

ISBN: (纸本)9781728188768;9781728188775

This article aims to present a new formulation of the “Linear control” in sliding mode controller design. It is shown here that the linear control which is frequently augmented with the discontinuous control can be parameterized. The parameterized linear control provides flexibility in the total control law applied to the system and further the flexibility of the linear control is used to obtain the sliding mode control with less chattering magnitude and smaller controller gains.

关键词： Sliding mode control Convergence

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Route planning for capacity restricted agents over railway network, without disrupting train schedules

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IFAC-PapersOnLine 2022年第1期55卷 38-45页

作者： Somnath Buriuly Leena Vachhani Arpita Sinha Sivapragasam Ravitharan Sunita Chauhan Somnath Buriuly is with the Systems and Control Engineering IIT Bombay India and Department of Mechanical and Aerospace Monash University Australia Dr Leena Vachhani is Professor at Systems and Control Engineering IIT Bombay India Dr Arpita Sinha is Professor at Systems and Control Engineering IIT Bombay India Mr Sivapragasam Ravitharan is Director at Monash Institute of Railway Technology Monash University Australia Prof Sunita Chauhan is Professor at Department of Mechanical and Aerospace Monash University Australia

Deploying mobile instrumentation for railway track inspection is a routing and scheduling problem, that can be benefited from plans which don’t disrupt regular train schedules. In this work, we avoid disrupting train schedules by modeling unavailability of railway tracks, thereby improving reliability without sacrificing on costs. The approach involves a novel mathematical formulation for C apacitated A rc R outing P roblem with T emporal restrictions due to arc U navailabilities (CARP-TU). In addition, we discuss the challenges in CARP-TU w.r.t sibling problems, and propose a suitable column generation algorithm for improving upper and lower bounds. The proposed algorithm is validated over few benchmark datasets, and then two variants of the proposed algorithm are compared to analyse the bound improvements w.r.t problem size.

关键词： Capacitated Arc Routing Problem Temporal Arc Unavailability Railway Robotics Column generation Dynamic Programming

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Dynamic consensus and adaptive bias compensation for multi-agent linear systems over directed networks

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IFAC-PapersOnLine 2023年第2期56卷 2626-2631页

作者： Maitreyee Dutta Elena Panteley Srikant Sukumar Antonio Loría Systems and Control Engineering Department IIT Bombay India Laboratoire des signaux et systèmes CNRS 3 Rue Joliot Curie 91192 Gif-sur-Yvette France

Biased measurements in an inter-networked systems can have severe repercussions in closed-loop stability of the individual systems and decelerate dynamical consensus among the interacting agents. Bias in the measurement, even constant, cannot be dealt with ad hoc techniques of robust control, in the presence of additive perturbations, because the control gain amplifies the disturbance. One way to account for the effect of measurement bias is then to rely on adaptive control. This has been done in the literature in the context of individual systems, but to the best of our knowledge not for multi-agent systems, while ensuring consensus control. In this paper we provide a model-reference-adaptive-control scheme to ensure dynamic consensus of generic (stabilizable) linear systems interconnected over directed graphs and under the influence of constant bias measurements. Our controller ensures global asymptotic stability of the synchronization manifold and convergence of the bias estimates.

关键词： Measurement bias directed graphs multi-agent systems linear systems Lyapunov stability

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Modular Hardware, Open Source Software and Training Material for PLC Training

Modular Hardware, Open Source Software and Training Material...

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International Conference on control, Mechatronics and Automation (ICCMA)

作者： Harsha Priyanka Guntaka Rajesh Kushalkar Nirmala Venkat Akshay Chipkar Vishnu Easwaran Kannan Moudgalya Dept. of Systems & Control Engineering IIT Bombay Mumbai India Dept. of Computer Science & Enginering IIT Bombay Mumbai India Dept. of Chemical Engineering IIT Bombay Mumbai India

ISBN: (纸本)9781665490498

A low cost, open source, rugged, modular OpenPLC, based on ATmega16 microcontroller, has been developed for instructional purposes. Modularity permits flexible use of the OpenPLC. The open source software LDmicro, created for ladder logic operations, has been enhanced, and ported to Linux. A total of 27 Spoken Tutorials of about 10 minute duration each, suitable for self learning, are created for OpenPLC training. A pilot workshop is conducted for 16 teachers of polytechnic colleges using the Spoken Tutorials and the simulation capability of LDmicro. The feedback from the workshop is positive, and the method is suitable for a large scale training.

关键词： Training Mechatronics Costs Automation Microcontrollers Conferences Linux

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Backstepping leaderless dynamic consensus among nonlinear systems over directed networks: application to attitude synchronisation control*

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IFAC-PapersOnLine 2023年第2期56卷 1192-1197页

作者： Maitreyee Dutta Antonio Loría Elena Panteley Srikant Sukumar Systems and Control Engineering Department IIT Bombay India Laboratoire des signaux et systèmes CNRS 3 Rue Joliot Curie 91192 Gif-sur-Yvette France

We present a distributed consensus controller for multi-agent homogeneous nonlinear systems over directed networks. The systems are assumed to be of second order and the control design relies on a standard backstepping approach. In that light, the control design also hinges on the ability to construct a strict Lyapunov function for the multi-agent nonlinear system interconnected over a directed graph for which the only assumption is that it is connected. That is, that there exists a directed spanning tree, but there is no requirement of conservative conditions such as strong or balanced connectivity. To construct a strict Lyapunov function, we use a generalised Lyapunov equation for the directed-graph Laplacian matrix, which characterises the spanning-tree-existence condition. Then, we establish exponential stability of the consensus manifold. In addition, we implement our dynamic consensus controller on a multi-agent satellite system in the context of attitude synchronisation and demonstrate its efficacy in numerical simulations.

关键词： Leaderless consensus backstepping Lyapunov stability theory multi-agent systems

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Trajectory Tracking for an Adaptive Cruise control System Using Differential Flatness and Gaussian Processes

Trajectory Tracking for an Adaptive Cruise Control System Us...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Bhavini Jeloka Florentina Nicolau Adnane Saoud Ravi N. Banavar Georgia Tech Atlanta United States Quartz EA7393 Laboratory ENSEA Cergy France College of Computing University Mohammed VI Polytechnic Benguerir Morocco Systems and Control Engineering IIT Bombay Bombay India

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this paper, we explain how differential flatness combined with Gaussian Processes can be applied for the adaptive cruise control system under external, unknown dynamics, to attain accurate trajectory tracking. The proposed approach employs differential flatness for controller design, along with Gaussian Processes to estimate the unknown components in the dynamics. In order to ensure robustness to this data-driven technique, a robust control law is also introduced, that further exploits the Gaussian Process framework. In the recent publication [12], we showed the effectiveness of the proposed control methodology for set-point regulation. In the current paper, we generalize it to trajectory tracking and show numerically that the error dynamics converge to zero.

关键词： Robust control Adaptive systems Trajectory tracking Process control Gaussian processes Robustness Regulation

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