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Parametric control of quasi-linear second-order systems with partitioned eigenstructure assignment by output feedback

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Science China(Information Sciences) 2023年第4期66卷 228-243页

作者： Weizhen LIU Guangren DUAN Dake GU Center for Control Theory and Guidance Technology Harbin Institute of Technology Center for Control Science and Technology Southern University of Science and Technology School of Automation Engineering Northeast Electric Power University

In this paper, a parametric design approach for stabilizing a quasi-linear second-order system with partitioned eigenstructure assignment(PESA) is investigated through output feedback control. The PESA approach is established by partitioning the desired eigenvalue matrix into two parts to separate the associated right and left eigenvectors into a subset of the generalized eigenvectors simultaneously. A parametric controller is established by solving two second-order generalized Sylvester matrix equations, and a certain form with the desired eigenstructure can be derived with the established quasi-linear output feedback controller. Unlike the prevailing approach that assigns the entire set of generalized eigenvectors, which is difficult to satisfy a large number of complicated constraints in practical systems by the normalized pair of right and left eigenvector matrices, a subset of the generalized eigenvectors is considered. In addition, the proposed PESA approach provides less computational load and is easy to use. A numerical example and application in spacecraft rendezvous are provided to verify the numerical economy and high efficiency of the proposed approach.

关键词： quasi-linear second-order systems partitioned eigenstructure assignment parametric approach Sylvester matrix equation output feedback

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Stabilization controller of An Extended Chained Nonholonomic System With Disturbance:An FAS Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1262-1273页

作者： Zhongcai Zhang Guangren Duan School of Engineering Qufu Normal UniversityRizhao 276826China Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055 Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

This study examines the stabilization issue of extended chained nonholonomic systems(ECNSs)with external *** the existing approaches,we transform the considered system into a fully actuated system(FAS)model,simplifying the stabilizing controller *** implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance observer(FTDO)for the two system *** addition,we discuss the specifics of global stabilization control *** approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching stabilization control strategy,while all other system states converge to zero within a finite time.

关键词： design stabilization system

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Envelope Inversion with Source encoding for Ultrasound Computed Tomography

Envelope Inversion with Source encoding for Ultrasound Compu...

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2023 International Congress on Ultrasonics, ICU Beijing 2023

作者： Zhang, Nuomin Zhou, Naixin Yuan, Yu Shen, Yi Zhao, Yue Control Theory and Engineering School of Astronautics Harbin Institute of Technology Harbin China

Ultrasound computed tomography (USCT) is a noninvasive and non-ionizing imaging technique for soft tissue and limb bones. Full waveform inversion (FWI) has received increased interest due to its high resolution. The difficulties in FWI are twofold: high computational burden and poor convergence. To address these issues, an envelope inversion with source coding (EI-SE) algorithm is proposed in this paper. The envelope-based objective function measures the matching degree between the predicted and measured envelopes. It can provide the low-frequency components of the signal that are not available to FWI. Therefore, the EI can provide an accurate solution even when the initial model is far from the ground truth and low-frequency data are missing. The simulations are conducted to demonstrate the validity of the proposed algorithm. The root mean squared error (RMSE) of the proposed algorithm is much smaller than that of conventional FWI. The results show that EI-SE is effective in avoiding cycle skipping. © 2024 institute of Physics Publishing. All rights reserved.

关键词： Mean square error

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Clustering-Assisted Preselection Multiobjective Optimization for Equipment Portfolio 24

Clustering-Assisted Preselection Multiobjective Optimization...

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8th International Conference on control engineering and Artificial Intelligence, CCEAI 2024

作者： Wang, Ningning Liu, Tingrui Gao, Xiangzhou Song, Shenmin Center for Control Theory and Guidance Technology Harbin Institute of Technology China Beijing Institute of Astronautical Systems Engineering China

ISBN: (纸本)9798400707971

The optimization of equipment system combination is crucial for the pre-deployment decision-making of our military. In order to obtain advantageous equipment portfolio solutions, we establish a multi-layer network optimization model for equipment systems and introduce a novel multi-objective optimization algorithm for equipment portfolios in combat systems. Firstly, a multi-objective optimization model for equipment system combination recommendation is established, with the objective of optimizing combat network redundancy and vulnerability. Secondly, due to the complexity of the equipment system optimization model and the challenge of finding optimal equipment portfolios, we propose a clustering-assisted preselection multi-objective evolutionary algorithm called MECAP. This algorithm is designed to enhance the convergence of the population towards the optimal solution set. Additionally, the experimental results highlight the benefits of applying MECAP for offspring generation strategy after model sampling. © 2024 ACM.

关键词： Decision making

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Comparing Human Motion Forecasts in Moving Horizon Trajectory Planning of Collaborative Robots

Comparing Human Motion Forecasts in Moving Horizon Trajector...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Renz, Heiko Krämer, Maximilian Bertram, Torsten Tu Dortmund University Institute of Control Theory and Systems Engineering Dortmund Germany

ISBN: (纸本)9798350325706

Shared workspaces between humans and robots are a significant part of Industry 4.0. Modern planning algorithms aim to increase human safety in collaborative scenarios and dynamic environments by considering motion forecasts of obstacles. While highly accurate approaches exist, the question arises whether their often greater complexity justifies the benefits that motion planners can draw from them. The paper at hand compares two motion forecasters and evaluates their effectiveness in a robot motion planner to generate collision-free trajectories online. One motion forecaster uses neural networks for predicting, while the other estimates and extrapolates the state of a customized human skeleton. The evaluation shows that simple and online capable motion extrapolations constitute towards human safety in varying situations more than highly accurate neural network predictions. © 2023 IEEE.

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Uncertainty Estimation for Predictive Collision Avoidance in Human-Robot Collaboration

Uncertainty Estimation for Predictive Collision Avoidance in...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Renz, Heiko Krämer, Maximilian Bertram, Torsten Tu Dortmund University Institute of Control Theory and Systems Engineering Dortmund Germany

ISBN: (纸本)9798350325706

Predictive motion planning enables robots to consider workspace obstacles and proactively avoid them. Estimating future poses of various obstacles is complex and exhibits results with uncertainties. Especially in the case of human-robot collaboration, the forecast process has to deal with sudden motion changes and varying human intentions. This paper proposes an uncertainty estimation for human motion extrapolations in the joint space of a human skeleton. The approach utilizes Gaussian Mixture Models that allow an online determination of the accuracy of current extrapolations based on preceding extrapolation errors. Multiple human model representations enable consideration of estimated uncertainties and are presented along with evaluating the resulting robot trajectories. The results show that considering estimated uncertainties leads to a robot trajectory with increased distances between humans and robots and decreased danger index from the literature, which is desirable for collaborative scenarios. © 2023 IEEE.

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Two-Stage Hierarchical Motion Planning with Basis-Splines in Highway Environments

Two-Stage Hierarchical Motion Planning with Basis-Splines in...

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18th IEEE International Conference on Advanced Motion control, AMC 2024

作者： Dorpmuller, Philip Bertram, Torsten Institute of Control Theory and Systems Engineering Tu Dortmund University Dortmund44227 Germany

ISBN: (纸本)9798350342819

Road environments can include several local optimal solutions to be explored by a motion planning algorithm, which can be computationally complex. This work proposes a two-stage approach, where each stage solves the same basis-spline parameterized optimal control problem. In the first step, a solution is selected from a discrete set of trajectory candidates. In the second one, the trajectory is refined by a nonlinear optimization algorithm in the continuous solution space. The non-uniform basis-spline parameterization guarantees the trajectory's time-continuous feasibility. Final costs are introduced to ensure convergence towards a final manifold. The approach is evaluated in a highway scenario where other vehicles must be circumnavigated to reach a specified velocity and lane center. © 2024 IEEE.

关键词： Motion planning

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A Note on the Local Observability of Uniform Hypergraphs

A Note on the Local Observability of Uniform Hypergraphs

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94th Annual Meeting of the International Association of Applied Mathematics and Mechanics, GAMM 2024

作者： Gerbet, Daniel Röbenack, Klaus Institute of Control Theory Faculty of Electrical and Computer Engineering TUD Dresden University of Technology Dresden Germany

Hypergraphs generalize graphs in such a way that edges may connect any number of nodes. If all edges are adjacent to the same number of nodes, the hypergraph is called uniform. Thus, a graph is a 2-uniform hypergraph. Each uniform hypergraph can be identified with an autonomous dynamical state-space system, whose vector field is composed of homogenous polynomials. We consider the observability of dynamical systems, which possess this special structure. In control theory, the observability of a dynamical system asks for the possibility to reconstruct the systems state from an output trajectory, where the output is a projective measurement of the systems state. In addition, one can ask for the observable subspace of the state. Nonlinear systems, although observable at almost all points in the state space, may possess not-locally observable ones. The existence and location of such states are important for observability analysis and observer design. Recently, the observability of these hypergraph systems has been studied for the general case. We apply an extended deterministic observability test to uniform hypergraphs and also compute the not-observable states for different linear output maps. We are able to confirm the results of the recent study, at least for graphs with a small number of nodes, due to the computational complexity of our method. In addition, the not-locally observable states are computed for different combinations of measured nodes. © 2025 The Author(s).

关键词： Dynamical systems

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On the Observation of Glucose–Insulin Models

On the Observation of Glucose–Insulin Models

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94th Annual Meeting of the International Association of Applied Mathematics and Mechanics, GAMM 2024

作者： Röbenack, Klaus Gerbet, Daniel Faculty of Electrical and Computer Engineering Institute of Control Theory TUD Dresden University of Technology Dresden Germany

The glucose–insulin subsystem has been modeled in different ways as a low-dimensional dynamical system. These models consist of various parameters, which are fitted such that the model coincides with specific experiments. For individuals with the Diabetes Mellitus syndrome model-based controllers for insulin injection have been proposed. These controllers, however, require the knowledge of the model parameters as well as the full systems state, which must be estimated as well. In addition, the system is disturbed by, in general, unknown carbohydrate intake. From a control-theoretic point of view, the state estimation using only the measurable glucose concentration is an observer problem. Due to the nonlinearity of the system, its observability is more difficult to test. There may also be some points in the state space, where the system is not locally observable for some parameters tuples. Those issues are important for a robust observer design. In this contribution, several observers are discussed for the widely used Bergman minimal model. These include unknown-input observers that make use of the special systems structure as well as observers based on the observability canonical form with different embedding dimensions. The canonical form is computed by algebraic methods. © 2024 The Author(s).

关键词： Observability

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Cooperative control Concept for the Handwheel Actuator of a Steer-by-Wire System

Cooperative Control Concept for the Handwheel Actuator of a ...

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14th International Munich Chassis Symposium, IMCS 2023

作者： Gonschorek, Robert Bertram, Torsten ZF Automotive Germany GmbH Düsseldorf Germany Institute of Control Theory and Systems Engineering TU Dortmund Dortmund Germany

ISBN: (纸本)9783662703472

Upcoming vehicle generations will provide fault-tolerant onboard power supply systems and an increasing level of driving automation. These changes contribute to the applicability of Steer-by-Wire (SbW) systems and the development of automated lateral vehicle guidance control functions. For the market acceptance of automated driving the lateral vehicle guidance control function must be cooperative, that implies it must permit driver interventions. This contribution proposes a cooperative control concept for the Handwheel Actuator (HWA) of a SbW system, which enables a true coexistence between steering position and steering torque control. The controller performs precise tracking of the reference steering position provided by a lateral vehicle guidance controller. In the event of a driver intervention, the driver can override the active control and experiences a natural steering feel. In contrast to existing approaches, the transitions hereby are seamless as no gain scheduling, switching or controller output saturation are required. Moreover, a consistent control performance is ensured. After the derivation of a mathematical system model, identification, and model evaluation, the cooperative control concept is systematically designed. Besides a frequency domain analysis of the nominal control performance and stability, real vehicle tests are conducted to verify simulation results and get a representative view of the controller performance. © The Author(s), under exclusive license to Springer-Verlag GmbH, DE, part of Springer Nature 2025.

关键词： Frequency domain analysis

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