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Mediterranean Conference on control and Automation (MED)

作者： Jonathan Brembeck Johann Bals Daniel Baumgartner Tobias Bellmann Caspar Bieri Tilman Bünte Jonas Mirwald Andreas Pfeiffer Ricardo Pinto de Castro Martin Otter Julian Ruggaber Christina Schreppel Jakub Tobolář Johannes Ultsch Christoph Winter Institute of System Dynamics and Control (SR) German Aerospace Center (DLR) Oberpfaffenhofen Germany

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

Safety, comfort, and responsible use of natural resources are motivating the work regarding road vehicles in the automotive research group at the DLR (German Aerospace Center) institute of system dynamics and control. The present article presents an overview of the research activities of this group, including recent results on energy management, vehicle dynamics, and intelligence. Most of this research has been experimentally validated in the ROboMObil, a modular robotic electric vehicle with a highly integrated mechatronic chassis, developed by DLR. These activities are in particular taking advantage of the opportunities offered by digitalization, automation, and electrification in order to decrease the conflict between mobility demands and its harmful collateral effects.

关键词： Vehicle dynamics Mobile robots Optimization control systems Artificial intelligence

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Incremental Nonlinear Dynamic Inversion Flight control for the DLR Reusability Flight Experiment ReFEx

Incremental Nonlinear Dynamic Inversion Flight Control for t...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Gäßler, Björn Robens, Johannes German Aerospace Center Institute for System Dynamics and Control Space Systems Department DLR German Aerospace Center Institute of System Dynamics and Control OberpfaffenhofenD-82234 Germany

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

The Reusability Flight Experiment (ReFEx) is a technology demonstrator developed by the German Aerospace Center (DLR) for a launch vehicle with vertical takeoff and horizontal landing capabilities. Its objective is to verify key technologies critical to the reusability of a launch vehicle’s first stage and boosters. During atmospheric flight, the vehicle’s trajectory spans a wide range of Mach numbers and angles of attack. The vehicle encounters substantial shifts in dynamic pressure and highly nonlinear aerodynamic effects. These include sign changes in the control derivatives and singularities, where the lateral motion may become uncontrollable. The aerodynamic control surfaces, which are applied to control the vehicle’s attitude, exhibit strong cross-coupling and varying effectiveness. Given the uncertainties in the vehicle’s mechanical properties and aerodynamic data, a reliable control design capable of handling the uncertainties and disturbances is essential. The flight controller presented in this paper addresses these challenges by combining a cascaded control architecture based on nonlinear dynamic inversion (NDI) with an incremental NDI approach for control allocation. For fast guidance reference signal tracking the presented controller employs feed-forward control while uncertainties, disturbances and model mismatches are compensated by linear feedback controllers. A control allocation based on a damped-least squares optimization approach determines aerodynamic control surface deflections and prevents excessive control actions in the vicinity of singularities. Simulation results and Monte Carlo campaigns validate the selected control approach and demonstrate that the proposed flight controller is capable of tracking the trajectory in the presence of disturbances and uncertainties. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Angle of attack

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Inverting Cryptographic Hash Functions via Cube-and-Conquer

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Journal of Artificial Intelligence Research 2024年 81卷 359-399页

作者： Zaikin, Oleg Novosibirsk State University Novosibirsk630090 Russia Matrosov Institute for System Dynamics and Control Theory SB RAS Irkutsk664033 Russia

MD4 and MD5 are fundamental cryptographic hash functions proposed in the early 1990s. MD4 consists of 48 steps and produces a 128-bit hash given a message of arbitrary finite size. MD5 is a more secure 64-step extension of MD4. Both MD4 and MD5 are vulnerable to practical collision attacks, yet it is still not realistic to invert them, i.e., to find a message given a hash. In 2007, the 39-step version of MD4 was inverted by reducing to SAT and applying a CDCL solver along with the so-called Dobbertin’s constraints. As for MD5, in 2012 its 28-step version was inverted via a CDCL solver for one specified hash without adding any extra constraints. In this study, Cube-and-Conquer (a combination of CDCL and lookahead) is applied to invert step-reduced versions of MD4 and MD5. For this purpose, two algorithms are proposed. The first one generates inverse problems for MD4 by gradually modifying the Dobbertin’s constraints. The second algorithm tries the cubing phase of Cube-and-Conquer with different cutoff thresholds to find the one with the minimum runtime estimate of the conquer phase. This algorithm operates in two modes: (i) estimating the hardness of a given propositional Boolean formula;(ii) incomplete SAT solving of a given satisfiable propositional Boolean formula. While the first algorithm is focused on inverting step-reduced MD4, the second one is not area-specific and is therefore applicable to a variety of classes of hard SAT instances. In this study, 40-, 41-, 42-, and 43-step MD4 are inverted for the first time via the first algorithm and the estimating mode of the second algorithm. Also, 28-step MD5 is inverted for four hashes via the incomplete SAT solving mode of the second algorithm. For three hashes out of them, it is done for the first time. © 2024 The Authors.

关键词： Geometry

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On a Global Search in Bilevel Optimization Problems with a Bimatrix Game at the Lower Level 23rd

On a Global Search in Bilevel Optimization Problems with ...

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23rd International Conference on Mathematical Optimization Theory and Operations Research, MOTOR 2024

作者： Orlov, Andrei V. Matrosov Institute for System Dynamics and Control Theory of SB of RAS Irkutsk Russia

ISBN: (纸本)9783031627910

This paper addresses one class of bilevel optimization problems (BOPs) with an equilibrium at the lower level (in optimistic statement). Namely, we study BOPs with a convex quadratic optimization problem under linear constraints at the upper level and with a parametric non-normalized bimatrix game at the lower one, where we need to find a Nash equilibrium. In order to construct numerical methods for the problem in question, first, we transform the original bilevel problem into a single-level nonconvex optimization problem by replacing the lower level with its optimality conditions. Then we apply the Exact Penalization Theory and Global Search Theory (GST) to the resulting problem. According to the standard research of nonconvex problems by the GST, we construct the d.c. representations of all nonconvex functions from the original statement (into the differences of two convex functions), formulate the Global Optimality Conditions in terms of reduced penalized problem, and develop local and global search method taking into account the specific of problem in question. The main feature of the developed methods consists in the possibility of varying the penalty parameter within the methods themselves. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Numerical methods

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Modeling Agent Behavior in Interacting Microgrids 10

Modeling Agent Behavior in Interacting Microgrids

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10th International Conference on Information Technology and Nanotechnology, ITNT 2024

作者： Bychkov, Igor Feoktistov, Alexander Chekan, Mikhail Matrosov Institute For System Dynamics And Control Theory Of Sb Ras Irkutsk Russia

ISBN: (纸本)9798350372939

We propose the agent-based approach to intellectualize data processing and analysis in modeling the operations of interconnected microgrids. Microgrids are modern energy systems with a large share of environmentally friendly and resource-saving equipment. The modeling of different aspects for the organization and operation of microgrids is relevant for their structural and parametric optimization. The study of these aspects in the interaction of microgrids deserves special attention. In this case, it becomes possible to take into account the synergistic effect in the distribution and consumption of electric power. We implement the modeling process using a multi-agent system. In this regard, we describe the structure of this system, methods of its construction, and goals and processes of agent operations. In addition, we provide a model of agent behavior developed based on the basis of a finite-state control machine. The advantages of the proposed approach are demonstrated on a model example of balancing generation and consumption of electric power. © 2024 IEEE.

关键词： Balancing

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dynamics of Bipartite Logical Networks 47

Dynamics of Bipartite Logical Networks

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47th ICT and Electronics Convention, MIPRO 2024

作者： Oparin, G.A. Bogdanova, V.G. Pashinin, A.A. Matrosov Institute For System Dynamics And Control Theory Of Sb Ras Irkutsk Russia

ISBN: (纸本)9798350382495

Based on the Boolean constraints method several problems of qualitative analysis of bipartite logical networks are solved. The dynamics of the trajectories behavior of these networks is studied over a finite time interval. A method is proposed for splitting a bipartite trajectory into two independent trajectories based on deterministic block-sequential updating of the state vectors of each part. Conditions for the existence, isolation and attraction of cyclic trajectories of a given length are obtained as Boolean constraints. The solvability of such equations reduces to the well-known Boolean satisfiability problem, effectual algorithms for solving which provide dynamic analysis for systems with high dimensionality of the state vector over large discrete time intervals. The program modules implementation for building Boolean constraints and checking their feasibility in the form of microservices ensures their reuse, simplification of deployment, updating, and high scalability in the cloud environment. Multi-agent computation management in an applied microservices package provides the non-procedural problem formulation on a distributed model of the subject area, forms and executes a scheme for solving it, and automates the additional resources provision. The practical significance of the obtained results consists in providing the opportunity for a more detailed study of dynamics of the molecular features of gene regulation networks. © 2024 IEEE.

关键词： Trajectories

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On the Integrability and Stability of Stationary Solutions of the Goryachev–Sretensky Gyrostat

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Journal of Applied and Industrial Mathematics 2023年第3期17卷 557-570页

作者： Kosov, A.A. Semenov, E.I. Matrosov Institute for System Dynamics and Control Theory Siberian BranchRussian Academy of Sciences Irkutsk664033 Russia

Abstract: The equations of motion of the Goryachev–Sretensky gyrostat are studied. All stationarysolutions are found on the invariant set of the zero level of the area integral, and their stability isanalyzed. For the case where the suspension point coincides with the center of mass and theaction of a gyroscopic moment is of a special type, integration by quadratures is performed. © 2023, Pleiades Publishing, Ltd.

关键词： Equations of motion

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Rayleigh–Ritz Operator in Inverse Problems for Higher Order Multilinear Nonautonomous Evolution Equations

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Siberian Advances in Mathematics 2023年第4期33卷 329-337页

作者： Lakeyev, A.V. Linke, Yu. E. Rusanov, V.A. Matrosov Institute for System Dynamics and Control Theory Irkutsk 664033 Russian Federation

Abstract: We study solvability questions for the problem on realization of operator functions foran invariant polylinear regulator of a higher-order differential system in an infinite-dimensionalseparable Hilbert space. This is a nonstationary coefficient-operator inverse problem formultilinear evolution equations whose dynamic order is higher than one (notice thatnonautomonous hyperbolic systems belong to this class of problems). We analyze semiadditivityand continuity for a nonlinear Rayleigh–Ritz functional operator and obtain an analytic model ofan invariant polylinear regulator. This model allows us to combine two bundles of trajectorycurves induced by different invariant polylinear regulators in a differential system and obtaina family of admissible solutions of the initial differential system in terms of an invariant polylinearaction. The obtained results can be applied in the general qualitative theory of nonlinearinfinite-dimensional adaptive control systems described by higher-order multilinearnonautonomous differential systems (including neuromodelling). © 2023, Pleiades Publishing, Ltd.

关键词： functional Rayleigh–Ritz operator higher-order nonautonomous differential realization invariant polylinear regulator inverse problems for infinite-dimensional multilinear evolution equations

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On some properties of the Fredholm-type integral algebraic equations

On some properties of the Fredholm-type integral algebraic e...

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作者： Chistyakov, Viktor F. Chistyakova, Elena V. Laboratory for Differential Equations and Control Systems Institute for System Dynamics and Control Theory SB RAS Irkutsk Russia

In this paper, we study systems of Fredholm integral equations with a singular matrix multiplying the leading part. We address the solvability issues of such systems with separable kernels and, similarly to differenti... 详细信息

关键词： Fredholm integral equations

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Visual Designing Knowledge Bases for Aircraft Diagnostics Using State Transition Diagrams

Visual Designing Knowledge Bases for Aircraft Diagnostics Us...

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2024 IEEE Ural-Siberian Conference on Biomedical Engineering, Radioelectronics and Information Technology, USBEREIT 2024

作者： Yurin, Aleksandr Yu. Dorodnykh, Nikita O. Kotlov, Yuri V. Kivokurtsev, Aleksandr L. Irkutsk Russia Matrosov Institute For System Dynamics And Control Theory Irkutsk Russia Irkutsk Russia

ISBN: (纸本)9798350362893

The development of knowledge bases for classical intelligent systems based on the formalism of logical rules remains an urgent task. One of the ways to improve the efficiency of this task is through visual programming in combination with the use of widely used graphical notations, in particular state transition diagrams. The paper considers the application of these principles in the creation of software components (a virtual assistant knowledge base) to support the diagnostics and maintenance of aircraft. The main steps of the approach are described: analysis of the domain and the allocation of basic concepts and relationships;construction of state transition diagrams using the results of the analysis;creation of elements of logical rules based on the analysis of the diagrams;and debugging and testing of the obtained knowledge base structures. An illustrative example with an indication of the recommended software is given. Based on the results of the approach, it was concluded that state transition diagrams are preferable in describing cyclic processes, as well as that they can be useful for verifying decision tables. © 2024 IEEE.

关键词： Intelligent systems

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