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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

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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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An Adaptive Distributed Observer for A Class of Discrete-Time Uncertain Linear Systems over Acyclic Digraphs

An Adaptive Distributed Observer for A Class of Discrete-Tim...

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IEEE Conference on Decision and control

作者： Tao Liu Jie Huang Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China Shenzhen Research Institute and Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin N.T. Hong Kong

This paper proposes an adaptive distributed observer for a class of discrete-time uncertain linear leader systems. The leader system is assumed to be neutrally stable with unknown parameters in the system matrix. Such a leader system can produce multi-tone sinusoidal signals with unknown frequencies, magnitudes, and phases. Under the assumption that the digraph of the communication network is a spanning tree with the leader system as the root, the proposed adaptive distributed observer is shown to be capable of estimating over the communication network not only the leader's state, but also the unknown parameters of the leader's system matrix.

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Dynamic modelling and PFL-based trajectory tracking control for underactuated cable-driven truss-like manipulator

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Journal of Central South University 2021年第10期28卷 3127-3146页

作者： DING Shu-chen PENG Li QIAO Shang-ling LIU Rong-qiang JOSEPHAT Bundi School of IoT Engineering Jiangnan UniversityWuxi 214122China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

In recent years,an innovative underactuated robot was developed,named as underactuated cable-driven trusslike manipulator(UCTM),to be suitable in aerospace ***,there has been strong consensus that the stabilization of planar underactuated manipulators without gravity is a great challenge since the system includes a second order nonholonomic constraint and most classical control methods are not suitable for this kind of ***,the complexity of the truss-like structure results in tremendous difficulty of computational complicacy and high nonlinearity during dynamic modelling in addition to controller *** is paramount to solve these difficulties for UCTM's future *** solve the above difficulties,this paper presents a dynamic modelling method for UCTM and a trajectory tracking control method based on partial feedback linearization(PFL)that fulfills the control goal of moving UCTM from its original position to a desired position by tracking a given trajectory of the joint *** achieve this,a model equivalent method is proposed to make UCTM equivalent with a three-link manipulator in the sense of dynamic *** the Lagrangian equation combined with complex vector method is proposed in the dynamic modelling process of UCTM,which simplifies the derivation *** on the established dynamic model,a coordinate transformation method is proposed to transform the control force matrix into the conventional form of an underactuated system,so that the control force can be separated from the unactuated *** PFL method in combination with the LQR control method is then proposed to realize the targets that the joint angles can track given desired *** experiments are conducted to verify the correctness and effectiveness of the proposed methods.

关键词： underactuated robot trajectory tracking control partial feedback linearization non-linear control

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Research on Measuring Method of Self-Mixing Interference Magnetic Field Based on Faraday Effect

SSRN

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SSRN 2024年

作者： Zhao, Yan Sun, Wenqiang Wang, Haipeng Ma, Shihui School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin300384 China Institute of Functional Crystals and Tianjin Key Laboratory of Functional Crystal Materials Tianjin University of Technology Tianjin300384 China

In this paper, the magnetic field measurement method of laser self-mixing interference based on the Faraday effect is proposed. The polarization plane of the linearly polarized light is changed by the terbium gallium garnet crystal with the influence of the magnetic field. The light modulated by the magnetic field reentered into the laser cavity through the Brewster window and formed the self-mixing effect. The theoretical analysis of the self-mixing interference model based on the Faraday effect is conducted, which explains essential features of the experimental results. The magnetic field is measured by the peak-to-peak value of self-mixing interference signal. The experimental results show that the relative error of the magnetic field measurement is within ±1.6%. The measurement method has the advantage of simple and compact structure with strong anti-interference ability. © 2024, The Authors. All rights reserved.

关键词： Faraday effect

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Global prescribed-time control of a class of uncertain nonholonomic systems by smooth time-varying feedback

arXiv

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arXiv 2024年

作者： Zhang, Kang-Kang Zhou, Bin Fan, Chenchen Lam, James Department of Mechanical Engineering University of Hong Kong Hong Kong Department of Computer Science KU Leuven HeverleeB-3001 Belgium Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China Department of Rehabilitation Sciences The Hong Kong Polytechnic University Hong Kong

This paper investigates the prescribed-time smooth control problem for a class of uncertain nonholonomic systems. With a novel smooth time-varying state transformation, the uncertain chained nonholonomic system is reformulated as an uncertain linear time-varying system. By fully utilizing the properties of a class of parametric Lyapunov equations and constructing time-varying Lyapunov-like functions, smooth timevarying high-gain state and output feedback controllers are designed. The states and controllers are proven to converge to zero at any prescribed time. The proposed smooth time-varying method combines the advantage of a time-varying high-gain function, which enhances control performance, and a smooth time-varying function that can drive the states to zero at the prescribed time. The effectiveness of the proposed methods is verified by a numerical example. Copyright © 2024, The Authors. All rights reserved.

关键词： Lyapunov functions

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Data-Driven control of Distributed Event-Triggered Network Systems

arXiv

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arXiv 2022年

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

The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems (a.k.a. network systems). To this end, we start by putting forth a novel distributed event-triggering transmission strategy based on periodic sampling, under which a model-based stability criterion for the closed-loop network system is derived, by leveraging a discrete-time looped-functional approach. Marrying the model-based criterion with a data-driven system representation recently developed in the literature, a purely data-driven stability criterion expressed in the form of linear matrix inequalities (LMIs) is established. Meanwhile, the data-driven stability criterion suggests a means for co-designing the event-triggering coefficient matrix and the feedback control gain matrix using only some offline collected state-input data. Finally, numerical results corroborate the efficacy of the proposed distributed data-driven ETS in cutting off data transmissions and the co-design procedure. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear matrix inequalities

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Immobilizing ultrafine bimetallic PtAg alloy onto uniform MnO_(2) microsphere as a highly active catalyst for CO oxidation

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Chinese Chemical Letters 2021年第6期32卷 2057-2060页

作者： Shengpeng Mo Peng Peng Yinchang Pei Taiming Shen Qinglin Xie Mingli Fu Yunfa Chen Daiqi Ye College of Environment Science and Engineering Guilin University of TechnologyGuilin 541004China School of Environment and Energy South China University of TechnologyGuangzhou 510006China Guangxi Key Laboratory of Theory and Technology for Environmental Pollution Control Guilin University of TechnologyGuilin 541004China State Key Laboratory of Multi-Phase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China

Herein,a facile glycol reduction route is successful employed to synthesize bimetallic Pt Ag alloys with homogeneous distribution of sizes and *** studies reveal that the ultrafine Pt Ag alloys with well-defined sizes from around 3.3 nm to 5.8 nm are immobilized onto MnO_(2)microsphere,which remarkably enhances the catalytic performances for CO ***,quasi in-situ X-ray photoelectron spectroscopy(XPS)result reveals that both Mn and Pt ions on the surface of catalysts would realize alternating reduction-oxidation by CO and O_(2)molecules,and the oxygen vacancy sites could be replenished and excited by gas-phase O_(2).

关键词： Bimetallic alloys PtAg NPs MnO_(2) Quasi in-situ XPS CO oxidation

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Safe Exploration and Escape Local Minima with Model Predictive control under Partially Unknown Constraints

arXiv

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arXiv 2022年

作者： Soloperto, Raffaele Mesbah, Ali Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 Stuttgart70569 Germany Department of Chemical and Biomolecular Engineering University of California BerkeleyCA94720 United States

In this paper, we propose a novel model predictive control (MPC) framework for output tracking that deals with partially unknown constraints. The MPC scheme optimizes over a learning and a backup trajectory. The learning trajectory aims to explore unknown and potentially unsafe areas, if and only if this might lead to a potential performance improvement. On the contrary, the backup trajectory lies in the known space, and is intended to ensure safety and convergence. The cost function for the learning trajectory is divided into a tracking and an offset cost, while the cost function for the backup trajectory is only marginally considered and only penalizes the offset cost. We show that the proposed MPC scheme is not only able to safely explore the unknown constraints, but also escape from local minima that may arise from the presence of obstacles. Moreover, we provide formal guarantees for convergence and recursive feasibility of the MPC scheme, as well as closed-loop constraint satisfaction. Finally, the proposed MPC scheme is demonstrated in simulations using an example of autonomous vehicle driving in a partially unknown environment where unknown obstacles are present. Copyright © 2022, The Authors. All rights reserved.

关键词： Model predictive control

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Study on 6D Pose Estimation System of Occlusion Targets for the Spherical Amphibious Robot based on Neural Network 20

Study on 6D Pose Estimation System of Occlusion Targets for ...

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

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

ISBN: (纸本)9798350320831

The amphibious robot needs to accurately estimate the 6D pose of the target in tasks such as target tracking, docking with the recovery module, and target grasping. The current research on target 6D pose estimation is mainly applied to unoccluded targets, but when the target is occluded, the target's pose cannot be accurately identified. Compared with other algorithms, the PVNet algorithm shows better robustness when target is occluded, but the accuracy is still low. To improve the accuracy of the PVNet algorithm, this paper adds the confidence score prediction of the prediction vector at the last layer of the PVNet network, and designs a vector confidence score loss function to train the network. Before generating the hypothetical keypoints, the pixels whose confidence score is lower than the set threshold are screened out, so that the generated hypothetical 2D keypoints are closer to the true 2D keypoints. Finally, the method in this paper is compared with the Tekin, PoseCNN, Oberweger and Pvnet algorithm, and demonstrate the superiority of the proposed method. © 2023 IEEE.

关键词： Semantics

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