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Practical Application of the Dynamic Output-Only Iterative Learning control Design To The Crane System*

IFAC-PapersOnLine 2022年第12期55卷 476-481页

作者： Lukasz Hladowski Krzysztof Galkowski Eric Rogers Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland Institute of Automation Electronic and Electrical Engineering University of Zielona Góra ul. prof. Z. Szafrana 2 65-516 Zielona Góra Poland Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK

Iterative learning control applies to systems that repeatedly execute the same finite duration task. The distinguishing feature of this form of control action is that all data generated on a previous execution of the task are available to compute the control action for the subsequent execution. This paper uses the linear repetitive process stability analysis and optimization techniques to design a dynamic controller that, in contrast to previous designs in the repetitive process/2D systems setting, does not require measurement of the state dynamics or observer-based estimation. Supporting experimental validation results are also given.

关键词： Iterative learning control repetitive processes output control

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Initial verification of liveness property in the control part of cyber-physical systems modelled by Petri nets

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AIP Conference Proceedings 2024年第1期3030卷

作者： Mateusz Popławski Marcin Wojnakowski Remigiusz Wiśniewski Grzegorz Bazydło Institute of Control and Computation Engineering University of Zielona Góra ul. prof. Z. Szafrana 2 65-516 Zielona Góra Poland

A novel liveness verification method of systems specified by Petri nets is proposed. The idea utilizes the initial analysis of the Petri net structure in order to detect unique sequences that influence the liveness property. Although the technique is mainly intended for cyber-physical systems, it is applicable to other Petri net-based designs, including control systems. The presented method was verified empirically with 242 benchmarks, including real-life cyber-physical systems.

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Bounded and place invariant-covered Petri nets for cyber-physical systems specification

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AIP Conference Proceedings 2024年第1期3030卷

作者： Marcin Wojnakowski Remigiusz Wiśniewski Mateusz Popławski Institute of Control and Computation Engineering University of Zielona Góra ul. prof. Z. Szafrana 2 65-516 Zielona Góra Poland

In the paper bounded and place invariant-covered Petri nets are considered for the specification of concurrent control systems, especially the control part of cyber-physical systems (CPSs). Although these terms are closely related, verification of the system usually refers to the examination of the boundedness. In this work it is shown that such an analysis might be in some cases insufficient, and additional place invariant-cover is also required. A CPS specified by a bounded, but uncovered Petri net may lead to the improper functionality of the system. The discussed issues are illustrated by a case-study example.

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Cooperative Learning with Gaussian Processes for Euler-Lagrange Systems Tracking control Under Switching Topologies

Cooperative Learning with Gaussian Processes for Euler-Lagra...

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American control Conference (ACC)

作者： Zewen Yang Songbo Dong Armin Lederer Xiaobing Dai Siyu Chen Stefan Sosnowski Georges Hattab Sandra Hirche Center for Artificial Intelligence in Public Health Research (ZKI - PH) Robert Koch Institute Berlin Germany Chair of Information-oriented Control (ITR) TUM School of Computation Information and Technology Technical University of Munich Munich Germany Department of Computer Science ETH Zurich Zurich Switzerland Walker Department of Mechanical Engineering University of Texas at Austin Austin TX USA Department of Mathematics and Computer Science Freie Universität Berlin Berlin Germany

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This work presents an innovative learning-based approach to tackle the tracking control problem of Euler-Lagrange multi-agent systems with partially unknown dynamics operating under switching communication topologies. The approach leverages a correlation-aware cooperative al-gorithm framework built upon Gaussian process regression, which adeptly captures inter-agent correlations for uncertainty predictions. A standout feature is its exceptional efficiency in deriving the aggregation weights achieved by circumventing the computationally intensive posterior variance calculations. Through Lyapunov stability analysis, the distributed control law ensures bounded tracking errors with high probability. Simulation experiments validate the protocol's efficacy in effectively managing complex scenarios, establishing it as a promising solution for robust tracking control in multi-agent systems characterized by uncertain dynamics and dynamic communication structures.

关键词： Uncertainty Protocols Correlation Decentralized control Switches Gaussian processes Topology

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Floating Oil Platform Model with Dynamic Positioning and Reference System 1

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20th Polish control Conference, PCC 2020

作者： Wieczorek, Jakub Chaber, Patryk Institute of Electronic Systems Warsaw University of Technology ul. Nowowiejska 15/19 Warsaw00-665 Poland Institute of Control and Computation Engineering Warsaw University of Technology ul. Nowowiejska 15/19 Warsaw00-665 Poland

ISBN: (数字)9783030509361

ISBN: (纸本)9783030509354

The article describes the process of construction and testing a floating offshore drilling platform model with focus on cooperation of its diverse subsystems in order to stabilise the position and control the movement of the platform. In real-life applications, advanced off-shore oil-rigs are indeed floating without any scaffolding or concrete basis, so the waves and shore current continuously disrupt their position. Since the place of drilling is fixed, those movements are able to damage or even break the drill, which leads to serious environment contamination by the emerging oil. This paper considers PID controller as a dynamic positioning system with a reference system based on image recognition. © 2020, Springer Nature Switzerland AG.

关键词： Dynamic positioning

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Fault-Tolerant Tracking control for Takagi–Sugeno Fuzzy Systems Under Actuator and Sensor Faults 20th

Fault-Tolerant Tracking Control for Takagi–Sugeno Fuzzy Sys...

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20th Polish control Conference, PCC 2020

作者： Kukurowski, Norbert Pazera, Marcin Witczak, Marcin López-Estrada, Francisco-Ronay Bravo Cruz, Teódulo Iván Institute of Control and Computation Engineering University of Zielona Góra ul. Szafrana 2 Zielona Góra65-516 Poland Tuxtla Gutiérrez Institute of Technology National Technological Institute of Mexico TURIX-Dynamics Diagnosis and Control Group Carretera Panamericana Km 1080 SN Tuxtla GutierrezChiapas29050 Mexico

ISBN: (纸本)9783030509354

The paper deals with the design of an active fault-tolerant control scheme, which is based on the actuator and sensor fault estimator. Thus, the paper starts with the development of such a fault estimation scheme capable of estimating these faults simultaneously. It is assumed that the estimator should have a desired performance. Subsequently, a new fault-tolerant control law is proposed, which is based on a parallel digital twin of the system. Thus, the goal is to control the system in such a way as to follow the states of the references digital twin irrespective of the faults. Finally, the effectiveness of the proposed approach is verified with the laboratory three-tank system. In particular, the performance of the system is tested against a set of simultaneous actuator and sensor faults, respectively. © 2020, Springer Nature Switzerland AG.

关键词： Fault tolerance

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Multivariate distribution model for financial risks management 9

Multivariate distribution model for financial risks manageme...

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9th International Conference "Information control Systems and Technologies", ICST 2020

作者： Korbicz, Jozef Bidyuk, Petro Kuznietsova, Nataliia Kroptya, Arsenii Terentiev, Oleksandr Prosiankina-Zharova, Tetyana Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland Institute for Applied System Analysis of the National Technical University of Ukraine Igor Sikorsky Kyiv Polytechnic Institute Kyiv Ukraine Institute of Telecommunications and Global Information Space National Academy of Sciences of Ukraine Kyiv Ukraine

The method for constructing joint distribution copula based models is proposed. The copula model parameters are estimated by the method of maximum likelihood which turned out to be effective according to the mean squared error criterion. The model for estimating risks of various types is proposed and constructed using copula function approach. Higher quality of the tail risk measures was achieved for the data samples selected that leads to the necessity of improvement formal description for the central part of observations. This is true when the model is used based on combined marginal distributions along with normal and generalized Pareto distributions. Results of computational experiments are also provided. Copyright © 2020 for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0). ICST-2020.

关键词： Risk analysis

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Feasible Schedule Under Faults in The Assembly System

Feasible Schedule Under Faults in The Assembly System

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Pawel Majdzik Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

This paper addresses an application of a fault-tolerant control to a cubes `packing system. The core issue concerns a control of a set of parallel manipulators which transport cubes from various points to a final storage. The main contribution of this paper is an analytical description of a set of manipulators by means of the max-plus algebra equations. The task of these manipulators is a handling of transport of cubes in accordance with a reference schedule. The proposed mathematical approach has to take into consideration both synchronization and choice issues as well as faults. In addition, diagnostics and fault-tolerant control strategy are developed and applied to the system of cubes' packing being considered. All constraints are defined and incorporated into this control strategy. The proposed approach is able to compensate or eliminate the influence of some faults, e.g., delays occurring in the manipulators or reduced velocities of transportation means. Finally, an example exhibiting effectiveness of the proposed control scheme is presented.

关键词： Manipulators Robots Task analysis Belts Transportation Algebra Synchronization

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End-to-end verifiable electronic voting scheme of blockchain based on random linear block code

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High Technology Letters 2020年第1期26卷 25-33页

作者： Liu Ting Cui Zhe Pu Hongquan Peng Xingyi Chengdu Institute of Computer Applications Chinese Academy of SciencesChengdu 610041P.R.China School of Computer and Control Engineering University of Chinese Academy of SciencesBeijing 100049P.R.China Guangxi Key Laboratory of Hybrid Computation and IC Design Analysis Nanning 530006P.R.China

Blockchain is an emerging decentralized technology of electronic *** current main consensus protocols are not flexible enough to manage the distributed blockchain nodes to achieve high efficiency of *** practical implementation,the consensus based on random linear block code(RLBC)is proposed and applied to blockchain voting *** with achieving the record correctness and consistency among all nodes,the consensus method indicates the active and inactive consensus *** ability can assist the management of consensus nodes and restrain the generating of chain *** achieve end-to-end verifiability,cast-or-audit and randomized partial checking(RPC)are used in the proposed *** voter can verify the high probability of correctness in ballot encryption and *** experiments illustrate that the efficiency of proposed consensus is suitable for *** proposed electronic voting scheme is adapted to practical implementation of voting.

关键词： random linear block code(RLBC) electronic voting(e-voting) blockchain consensus end-to-end verifiable

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Estimating motor symptom presence and severity in Parkinson's disease from wrist accelerometer time series using ROCKET and InceptionTime

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Scientific reports 2025年第1期15卷 19140页

作者： Cedric Donié Neha Das Satoshi Endo Sandra Hirche TUM School of Computation Information and Technology Department of Computer Engineering Chair of Information-oriented Control Technical University of Munich Munich Germany. cedric.donie@tum.de. TUM School of Computation Information and Technology Department of Computer Engineering Chair of Information-oriented Control Technical University of Munich Munich Germany. Munich Institute of Robotics and Machine Intelligence (MIRMI) Munich Germany. Munich Data Science Institute (MDSI) Munich Germany.

Parkinson's disease (PD) is a neurodegenerative condition characterized by frequently changing motor symptoms, necessitating continuous symptom monitoring for more targeted treatment. Classical time series classification and deep learning techniques have demonstrated limited efficacy in monitoring PD symptoms using wearable accelerometer data due to complex PD movement patterns and the small size of available datasets. We investigate InceptionTime and RandOm Convolutional KErnel Transform (ROCKET) as they are promising for PD symptom monitoring. InceptionTime's high learning capacity is well-suited to modeling complex movement patterns, while ROCKET is suited to small datasets. With random search methodology, we identify the highest-scoring InceptionTime architecture and compare its performance to ROCKET with a ridge classifier and a multi-layer perceptron on wrist motion data from PD patients. Our findings indicate that all approaches can learn to estimate tremor severity and bradykinesia presence with moderate performance but encounter challenges in detecting dyskinesia. Among the presented approaches, ROCKET demonstrates higher scores in identifying dyskinesia, whereas InceptionTime exhibits slightly better performance in tremor and bradykinesia estimation. Notably, both methods outperform the multi-layer perceptron. In conclusion, InceptionTime can classify complex wrist motion time series and holds potential for continuous symptom monitoring in PD with further development.

关键词： Accelerometer Deep learning IMU InceptionTime Machine learning Parkinson’s disease ROCKET Time series classification

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