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Chinese control Conference (CCC)

作者： Guang-Quan Duan Guo-Ping Liu Yan-Ming Fu Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin P. R. China Department of Electronic Engineering Southern University of Science and Technology Shenzhen P. R. China

In this paper, a fully-actuated system prescribed performance controller is proposed to achieve attitude tracking control of the combined spacecraft. In order to make the combined spacecraft satisfy the required steady-state and transient performance in the attitude tracking control process, a fully actuated system controller with prescribed performance is proposed. The attitude dynamics model of the combined spacecraft is transformed into a tracking error function. Furthermore, the controller of the fully actuated system is designed according to the error function to realize the attitude tracking control of the combined spacecraft. Lyapunov function is introduced to prove the stability of the system. With the presented way of designing fully actuated system prescribed performance controller, the numerical simulation results verify the effectiveness of the proposed method.

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Organochlorine Pesticides in Water and Sediment at a Typical Karst Wetland in Southwest China

SSRN

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SSRN 2024年

作者： Hu, Qianqian Liang, Yanpeng Zeng, Hong-Hu Huang, Huanfang Chen, Wenwen Qin, Litang Song, Xiaohong Yan, Xiaoyu College of Environmental Science and Engineering Guilin University of Technology Guilin541004 China Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology Guilin University of Technology Guilin541004 China State Environmental Protection Key Laboratory of Water Environmental Simulation and Pollution Control South China Institute of Environmental Sciences Ministry of Ecology and Environment Guangzhou510530 China Collaborative Innovation Center for Water Pollution Control and Water Security in Karst Region Guilin University of Technology Guilin541004 China

The Huixian karst wetland, situated in southwest China, is the largest karst wetland. Historically, organochlorine pesticides (OCPs) have negatively affected the aquatic environment and the health of surrounding residents. In this study, the pollution status and environmental fate of OCPs in multiple environmental media in the Huixian wetland were investigated. The 15 OCPs’ total concentration ranges in lake water, ditch water, groundwater, and lake sediment were 46.8–306 ng·L-1, 77.8–251 ng·L-1, 26.0–233 ng·L-1, and 44.8–345 ng·g-1, respectively. The concentrations and proportions of the different OCPs demonstrated significant seasonality. Historical residues are the main source of OCPs in the region, as evidenced by the typical ratios of DDTs to HCHs. Karst regions are extremely vulnerable to environmental change, as evidenced by the highly dynamic character of the karst wetland system and the rapid migration of multimodal OCPs in different media without considerable damage. According to the risk assessment, both the possible carcinogenic risk to sediments in the Huixian wetland and the ecological risk to water bodies were acceptable. In contrast, the consumption of lake water may put the local population at health risk, which is a cause of concern. © 2024, The Authors. All rights reserved.

关键词： Wetlands

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Suboptimal nonlinear model predictive control with input move-blocking

arXiv

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arXiv 2021年

作者： Makarow, Artemi Rösmann, Christoph Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund44227 Germany

This paper deals with the integration of input move-blocking into the framework of suboptimal model predictive control. The blocked input parameterization is explicitly considered as a source of suboptimality. A straightforward integration approach is to hold back a manually generated stabilizing fallback solution in some buffer for the case that the optimizer does not find a better input move-blocked solution. An extended approach superimposes the manually generated stabilizing warm-start by the move-blocked control sequence and enables a stepwise improvement of the control performance. In addition, this contribution provides a detailed review of the literature on input move-blocked model predictive control and combines important results with the findings of suboptimal model predictive control. A numerical example supports the theoretical results and shows the effectiveness of the proposed approach. Copyright © 2021, The Authors. All rights reserved.

关键词： Asymptotic stability

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A quantitative and constructive proof of Willems' Fundamental Lemma and its implications

arXiv

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arXiv 2022年

作者： Berberich, Julian Iannelli, Andrea Padoan, Alberto Coulson, Jeremy Dörfler, Florian Allgöwer, Frank University of Stuttgart Institute for Systems Theory and Automatic Control Stuttgart70550 Germany Department of Information Technology and Electrical Engineering ETH Zurich Zurich8092 Switzerland

Willems' Fundamental Lemma provides a powerful data-driven parametrization of all trajectories of a controllable linear time-invariant system based on one trajectory with persistently exciting (PE) input. In this paper, we present a novel proof of this result which is inspired by the classical adaptive control literature and differs from existing proofs in multiple aspects. The proof involves a quantitative and directional PE notion, allowing to characterize robust PE properties via singular value bounds, as opposed to binary rank-based PE conditions. Further, the proof is constructive, i.e., we derive an explicit PE lower bound for the generated data. As a contribution of independent interest, we generalize existing PE results from the adaptive control literature and reveal a crucial role of the system's zeros. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear time-invariant system

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Optimization of B-Spline parameterized Trajectories for On-Road Vehicle Guidance

Optimization of B-Spline parameterized Trajectories for On-R...

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AmE 2021 - Automotive meets Electronics;12th GMM-Symposium

作者： Philip Dorpmueller Martin Keller Torsten Bertram TU Dortmund Institute of Control Theory and Systems Engineering ZF Group Division Electronics and ADAS

ISBN: (纸本)9783800754878

The guidance of an automated vehicle requires a software-module, which plans a comfortable and collision-free future motion. Furthermore, it must be able to lead the vehicle into a given planning goal. This requires the design of a trajectory planning method including a suitable objective function under consideration of vehicle dynamics and environmental constraints. In this contribution, a trajectory planning algorithm is proposed, which enables the execution of different maneuvers for on-road driving. Restrictions of the state- and input space are included as hard constraints.

关键词： Vehicle navigation Automated vehicles Vehicle dynamics Objective function trajectory planning Guidance splines (mathematics) Legal Executions Planning methods vehicle trajectory parameterization

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Design of a Capsule Robot System for Gastric Hemorrhage Detection using Luminol 20

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Mao, Yuchen Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application Complicated Systems Intelligent Robot Laboratory School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system. © 2023 IEEE.

关键词： Chemiluminescence

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Observer design for 2×2 linear hyperbolic PDEs that are bidirectionally coupled with nonlinear ODEs

Observer design for 2×2 linear hyperbolic PDEs that are bid...

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European control Conference (ECC)

作者： Abdurrahman Irscheid Nicole Gehring Joachim Deutscher Joachim Rudolph Chair of Systems Theory and Control Engineering Saarland University Saarbrücken Germany Institute of Automatic Control and Control Systems Technology Johannes Kepler University Linz Austria Institute for Measurement Control and Microtechnology Ulm University Ulm Germany

A prediction-based observer is designed for systems consisting of 2×2 linear heterodirectional hyperbolic partial differential equations (PDEs) with collocated actuation and measurement at one boundary and bidirectional coupling with nonlinear ordinary differential equations (ODEs) at the other one. Following a preliminary backstepping transformation, a solution-based analysis of the plant allows to draw upon well-known results on the observer design for nonlinear ODEs. For that, the design is split into several steps, with a retarded observer for the ODE state and a prediction thereupon, thus significantly extending existing results for PDE-ODE systems. It is shown that the resulting error system admits a cascaded structure, from which (local) asymptotic convergence follows. Numerical studies underline the performance of the observer.

关键词： Couplings Backstepping Partial differential equations Europe Observers Ordinary differential equations Error correction codes

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Model-Based and Data-Driven control of Event- and Self-Triggered Discrete-Time LTI Systems

arXiv

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arXiv 2022年

作者： Wang, Xin Berberich, Julian Sun, Jian Wang, Gang Allgöwer, Frank Chen, Jie The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing10081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China The University of Stuttgart Institute for Systems Theory and Automatic Control Stuttgart70550 Germany The Department of Control Science and Engineering Tongji University Shanghai201804 China The State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

The present paper considers the model-based and data-driven control of unknown linear time-invariant discretetime systems under event-triggering and self-triggering transmission schemes. To this end, we begin by presenting a dynamic event-triggering scheme (ETS) based on periodic sampling, and a discrete-time looped-functional approach, through which a model-based stability condition is derived. Combining the model-based condition with a recent data-based system representation, a data-driven stability criterion in the form of linear matrix inequalities (LMIs) is established, which also offers a way of co-designing the ETS matrix and the controller. To further alleviate the sampling burden of ETS due to its continuous/periodic detection, a self-triggering scheme (STS) is developed. Leveraging pre-collected input-state data, an algorithm for predicting the next transmission instant is given, while achieving system stability. Finally, numerical simulations showcase the efficacy of ETS and STS in reducing data transmissions as well as of the proposed co-design methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear matrix inequalities

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Improvement of the Predictive control Method for the High-Level controller

Improvement of the Predictive Control Method for the High-Le...

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International Conference on Modern Problems of Radio engineering, Telecommunications and Computer Science

作者： Vitalii Budashko Albert Sandler Oksana Glazeva Educational and Scientific Institute of Automation and Electrical Engineering National University “Odessa Maritime Academy” NUOMA Odesa Ukraine Department of the theory of automatic control and computer technology National University “Odessa Maritime Academy” NUOMA Odesa Ukraine Department of electrical engineering and electronics National University “Odessa Maritime Academy” NUOMA Odesa Ukraine

ISBN: (数字)9798331520564

ISBN: (纸本)9798331520571

Automation of ship maneuvering in limited sailing conditions usually requires 100% redundancy of thrusters (THRs) of various modifications and their locations in accordance with the matrix. The hierarchy of the motion control system is branched by levels using high-level motion controllers and THRs control distribution algorithms, which allows for a modular design with software, where the high-level controller (HLC) can be designed without comprehensive information about the thruster motors, and the input signal branching and speed limits are handled by the motion controller. But, for certain THRs configurations, this branching leads to the decrease in control efficiency due to the limitation of data on the physical characteristics of the ships and the operation of the motion controller. This research examines different approaches to improving control efficiency using methods of nonlinear predictive control models as a basis for developing motion controllers with decision optimization based on relevant constraints. The implemented branched system is the result of solving two simple problems of ship's motion, which highlight the related problems. The use of different approaches to eliminate the identified shortcomings made it possible to develop the nonlinear controller that combines the motion controller with distributed control of the THRs and ensuring the certain level of system reliability. The modularity of the control system is provided by the expansion of the closed system, which made it possible to achieve an increase in efficiency during the combined mode of operation. The obtained solution of nonlinear control with time-varying constraints made it possible to increase the accuracy of the control with a decrease in the duration of the pause in response to the change of the disturbance within 10 % .

关键词： Attitude control Software algorithms Redundancy Propulsion Predictive models Software Telecommunications Reliability Marine vehicles Predictive control

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A Note on the Local Observability of Uniform Hypergraphs

引用

PAMM 2025年第1期25卷

作者： Daniel Gerbet Klaus Röbenack 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.

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