This paper deals with an analysis and design of robust, state-feedback control law uniform-asymptotically stabilizing at origin the system consisting of coupled nth–order ordinary differential equations in the presen...
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Air pollution is among the highest contributors to mortality worldwide, especially in urban areas. During spring 2020, many countries enacted social distancing measures in order to slow down the ongoing COVID-19 pande...
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Based on the eigenvalue idea and the time-varying weighted vector norm in state space we construct here the lower and upper bounds on the solutions of uniformly asymptotically stable linear systems. We generalize the ...
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In this brief note, we establish a novel criterion for robustness of global asymptotic stability of zero solution of LTV system x = A(t)x in the presence of possibly unbounded perturbations (external disturbances). To...
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This paper proposes a structure exploiting algorithm for solving non-convex power system state estimation problems in distributed fashion. Because the power flow equations in large electrical grid networks are non-con...
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ISBN:
(数字)9781728113982
ISBN:
(纸本)9781728113999
This paper proposes a structure exploiting algorithm for solving non-convex power system state estimation problems in distributed fashion. Because the power flow equations in large electrical grid networks are non-convex equality constraints, we develop a tailored state estimator based on Augmented Lagrangian Alternating Direction Inexact Newton (ALADIN) method, which can handle these nonlinearities efficiently. Here, our focus is on using Gauss-Newton Hessian approximations within ALADIN to arrive at an efficient (computationally and communicationally) variant of ALADIN for network maximum likelihood estimation problems. Analyzing the IEEE 30-Bus system we illustrate how the proposed algorithm can be used to solve non-trivial network state estimation problems. We also compare the method with existing distributed parameter estimation codes in order to illustrate its performance.
Decentralized optimization algorithms are important in different contexts, such as distributed optimal power flow or distributed model predictive control, as they avoid central coordination and enable decomposition of...
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Optimal operating conditions for a process plant are typically obtained via model-based optimization. However, due to modeling errors, the operating conditions found are often sub-optimal or, worse, they can violate c...
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This paper presents a concept for an integrated process chain for tooling production based on metal additive manufacturing. The proposed approach aims at taking advantage of a fully digitized production line, describi...
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This paper presents a concept for an integrated process chain for tooling production based on metal additive manufacturing. The proposed approach aims at taking advantage of a fully digitized production line, describing the main steps for the synergetic integration of the manufacturing assets. The production line entails digital infrastructure that collects and elaborate data from various monitoring sensors to execute corrective actions and continuously optimize the process. This line will bring breakthrough benefits, like flexibility and full traceability. Also challenges, as change management in the industry, skills gap, the requirement of new business models and product re-design have been addressed.
The German Aerospace Center (DLR) has developed the Terramechanics Robotics Locomotion Lab (TROLL) to provide a feasible testing facility for developing planetary exploration rovers, as well as validating terramechani...
The German Aerospace Center (DLR) has developed the Terramechanics Robotics Locomotion Lab (TROLL) to provide a feasible testing facility for developing planetary exploration rovers, as well as validating terramechanical models. A robotic manipulator is used to provide the required degrees of freedom to the mounted wheel or subsystem, making it necessary to actively control the interaction force of the wheel-soil contact. This paper is concerned with the development of a feasible force control strategy for the testbench wheel-soil contact during single-wheel experiments. For this purpose, a terramechanical model has been developed to accurately map the dynamic processes relevant for the force control design, which is later used in a testbench simulation framework to predict and evaluate the performance of control strategies. The Adaptive Admittance Control (AAC) scheme developed is adapting the gain based on the current control deviation, the rotational velocity of the wheel and an estimated soil stiffness during the experiment. The AAC is evaluated using a benchmark single-wheel experiment and shows superior performance compared to standard admittance control.
The paper proposes first steps towards the formalization and characterization of time-varying turnpikes in optimal control of mechanical systems. We propose the concepts of velocity steady states, which can be conside...
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The paper proposes first steps towards the formalization and characterization of time-varying turnpikes in optimal control of mechanical systems. We propose the concepts of velocity steady states, which can be considered as partial steady states, and hyperbolic velocity turnpike properties for analysis and control. We show for a specific example that, for all finite horizons, both the (essential part of the) optimal solution and the orbit of the time-varying turnpike correspond to (optimal) trim solutions. Hereby, the present paper appears to be the first to combine the concepts of trim primitives and time-varying turnpike properties.
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