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Exploiting Equivariance in the Design of Tracking controllers for Euler-Poincare systems on Matrix Lie Groups ⁎

IFAC-PapersOnLine 2024年第6期58卷 333-338页

作者： Matthew Hampsey Pieter van Goor Ravi Banavar Robert Mahony Systems Theory and Robotics Group School of Engineering Australian National University Australia Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

The trajectory tracking problem is a fundamental control task in the study of mechanical systems. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system, however, symmetries for the full cotangent bundle are not commonly used in geometric control theory. In this paper, we propose a group structure on the cotangent bundle of a Lie group and leverage this to define momentum and configuration errors for trajectory tracking, drawing on recent work on equivariant observer design. We show that this error definition leads to error dynamics that are themselves “Euler-Poincare like” and use these to derive simple, almost global trajectory tracking control for fully-actuated Euler-Poincare systems on a Lie group state space.

关键词： Non-Linear control systems control Design Tracking Mechatronic systems

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EXPLOITING EQUIVARIANCE IN THE DESIGN OF TRACKING controlLERS FOR EULER-POINCARE systems ON MATRIX LIE GROUPS

arXiv

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arXiv 2024年

作者： Hampsey, Matthew Banavar, Ravi van Goor, Pieter Mahony, Robert Systems Theory and Robotics Group Australian National University ACT2601 Australia Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the heart of observer design and recent advances in the study of equivariant systems have provided a template for global error construction that exploits the symmetry structure of a group action if such a structure exists. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system and symmetries for the full cotangent bundle are not commonly used in geometric control theory. In this paper, we propose a group structure on the cotangent bundle of a Lie-group and leverage this to define momentum and configuration errors for trajectory tracking drawing on recent work on equivariant observer design. We show that this error definition leads to error dynamics that are themselves "Euler-Poincare like" and use these to derive simple, almost global trajectory tracking control for fully-actuated Euler-Poincare systems on a Lie-group state space. Copyright © 2024, The Authors. All rights reserved.

关键词： Lie groups

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Rupture of a surfactant-laden draining thin film

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Physical Review Fluids 2024年第7期9卷 074004-074004页

作者： Atul S. Vivek Ranabir Dey Harish N. Dixit Control Actuation Systems Group Vikram Sarabhai Space Center Indian Space Research Organisation Thiruvananthapuram 695022 India Department of Mechanical and Aerospace Engineering Indian Institute of Technology Hyderabad Kandi Sangareddy Telangana 502285 India Centre for Interdisciplinary Programs Indian Institute of Technology Hyderabad Kandi Sangareddy Telangana 502285 India

Surfactant-laden thin liquid films overlaid on solid substrates are encountered in a variety of industrial and biological settings. As these films reach submicron thickness, they tend to become unstable owing to the influence of long-range dispersion forces. In the current study, we investigate how gravitational drainage affects the stability attributes of such thin liquid films. Using scaling arguments, we demonstrate that gravity and dispersion forces can exert their influence simultaneously over a wide range of film thicknesses. In the lubrication limit, we carry out linear stability analysis and nonlinear simulations to understand the evolution of draining thin films. Linear stability indicates the existence of two unstable modes and two cutoff wave numbers, as opposed to a single unstable mode and a unique cutoff wave number observed in stationary films. It is also found that surfactant-laden flowing films are more stable than stationary films with surfactants as well as draining films with clean interfaces. The origin of stabilization is identified as the enhanced surfactant perturbations generated due to drainage. We demonstrate that films exhibiting intermediate levels of surfactant activity and significant drainage exhibit the lowest rates of disturbance growth, leading to extending the time of rupture.

关键词： Instability of free-surface flows Lubrication theory Thin fluid films Van der Waals interaction

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Conceptual Design of a Robotic Vehicle Refuelling System

Conceptual Design of a Robotic Vehicle Refuelling System

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2021 International Symposium of Asian control Association on Intelligent Robotics and Industrial Automation, IRIA 2021

作者： Acharya, Pratik Sinha, Arpita Guha, Anirban Indian Institute of Technology Bombay Centre of Excellence in Oil Gas Energy Mumbai India Indian Institute of Technology Bombay Interdisciplinary program in Systems Control Engineering Mumbai India Indian Institute of Technology Bombay Department of Mechanical Engineering Mumbai India

ISBN: (纸本)9781665433235

Robotics has been hailed as a solution for repetitive, tedious, and dangerous physical activities. One such activity which has a need for robotics is Vehicle Refuelling. Automatic Vehicle Refuelling systems have been developed by a few organisations and have also been described in patent and research literature. Most of these systems require radical changes in the design of the fuel tank of the vehicle or changes in the already existing refuelling station infrastructure. These challenges, along with technological barriers, made the adoption of such systems rare and difficult. In this paper we present two conceptual designs which do not have these limitations. Being a critical operation, we have designed for an independent safety check to preclude fuel spillage. An inbuilt option to shift to manual operation makes it an attractive candidate for implementation in existing fuel pumps. © 2021 IEEE.

关键词： Conceptual design

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Rupture of a surfactant-laden draining thin film

arXiv

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arXiv 2023年

作者： Vivek, Atul S. Dey, Ranabir Dixit, Harish N. Control Actuation Systems Group Vikram Sarabhai Space Center Indian Space Research Organisation India Department of Mechanical & Aerospace Engineering Indian Institute of Technology Hyderabad India Polymers & Biosystems Engineering Center for Interdisciplinary Programs Indian Institute of Technology Hyderabad India

Surfactant-laden thin liquid films overlaid on solid substrates are encountered in a variety of industrial and biological settings. As these films reach submicron thickness, they tend to become unstable owing to the influence of long-range dispersion forces. In the current study, we investigate how gravitational drainage affects the stability attributes of such thin liquid films. Using scaling arguments, we demonstrate that gravity and dispersion forces can exert their influence simultaneously over a wide range of film thicknesses. In the lubrication limit, we carry out linear stability analysis and nonlinear simulations to understand the evolution of draining thin films. Linear stability indicates the existence of two unstable modes and two cut-off wavenumbers, as opposed to a single unstable mode and a unique cut-off wavenumber observed in stationary films. It is also found that surfactant-laden flowing films are more stable than stationary films with surfactants as well as draining films with clean interfaces. The origin of stabilization is identified as the enhanced surfactant perturbations generated due to drainage. We demonstrate that films exhibiting intermediate levels of surfactant activity and significant drainage exhibit the lowest rates of disturbance growth, leading to extending the time of rupture. © 2023, CC BY-NC-SA.

关键词： Surface active agents

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Data-driven Model Predictive control of Nanoparticle Production in Modular Reactors

Data-driven Model Predictive Control of Nanoparticle Product...

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European control Conference (ECC)

作者： Rohan Saswade Ganapavarapu Sai Tarun Nirav Bhatt Sridharakumar Narasimhan Department of Biotechnology and is a student of Interdisciplinary Dual Degree Programme in Cyber-Physical Systems Indian Institute of Technology Madras Chennai India Department of Chemical Engineering’ Indian Institute of Technology Madras Chennai India Department of Data Science and Artificial Intelligence and Biotechnology and Robert Bosch Centre for Data Science and Artificial Intelligence Indian Institute of Technology Madras Chennai India Department of Chemical Engineering and Robert Bosch Centre for Data Science and Artificial Intelligence Indian Institute of Technology Madras Chennai India

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Microreactors are an essential part of modular chemical systems involved in the on-demand production of chemicals such as nanomaterials, pharmaceuticals, specialty chemicals, etc. Model-based nonlinear predictive control of microreactors is a challenging task due to the high online computational cost associated with developing and maintaining high-order first-principles nonlinear models. In this work, we propose a nonlinear data-driven model predictive control (NMPC) scheme for nanoparticle production in microreactors. In this paper, a non-linear Auto Regressive Exogenous Neural Network model (NARX-NN) is developed with the flow rates of the reactants as inputs and the peak value of the absorbance spectra (an indirect measure of the average size of nanoparticles) as output by performing a set of experiments in Corning Advanced-Flow TM Reactors (AFR). Typically, producing a new desired average size nanoparticle on-demand is done by manual changes in the flow rates of reactants. In this work, a nonlinear model predictive controller using the identified NARX-NN model is formulated to track a change in the set point, the peak value of the spectra. The formulated controller with the identified NARX-NN model is demonstrated via the simulation studies. It is shown that the proposed NMPC with the NARX-NN model performs well in different scenarios of silver nanoparticle production.

关键词： Silver Computational modeling Production Predictive models Size measurement Inductors Task analysis

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Backstepping-Induced Terminal Sliding Mode control with Strict Lyapunov Function

Backstepping-Induced Terminal Sliding Mode Control with Stri...

引用

control technology and Applications (CCTA),

作者： Lars Watermann Johann Reger Bijnan Bandyopadhyay Control Engineering Group Technische Universität Ilmenau P.O. Box 10056598684 Ilmenau Germany Interdisciplinary Program in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9781728171401

ISBN: (纸本)9781728171418

In this paper a different view on the classical Terminal Sliding Mode (TSM) control is presented. The backstepping procedure is used to synthesize a new TSM-like control law for the second and third order integrator chain. A strict Lyapunov function (LF) for the entire closed loop dynamics is given naturally by design. Further, it is shown, under a certain choice of parameters, that the LF is valid for the classical TSM control law, as well. Finite-time convergence of all states to the origin is proven for both control algorithms using this LF. Finally, the new TSM-like control law is validated in simulations for the third order case.

关键词： Convergence Backstepping Lyapunov methods Sliding mode control Closed loop systems control engineering Manifolds

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On Stability of Event-Triggered systems with Sliding Mode control 15

On Stability of Event-Triggered Systems with Sliding Mode Co...

引用

15th International Workshop on Variable Structure systems, VSS 2018

作者： Behera, Abhisek K. Bandyopadhyay, Bijnan Department of Electrical and Computer Engineering Seoul National University ASRI Seoul08826 Korea Republic of Indian Institute of Technology Bombay Interdisciplinary Program in Systems and Control Engineering Mumbai400 076 India

ISBN: (纸本)9781538664391

In this paper, we investigate the stability of a controlled system in the event-triggering framework. By designing the triggering scheme, the control signals are updated when it is demanded subject to some satisfactory system performance. However, the stability of the system is not yet fully investigated with respect to the triggering conditions. So, the main purpose of the paper is to analyse the stability of the system with respect to the proposed triggering scheme. In this paper, sliding mode control (SMC) is used to design the event-triggered control. Our analysis proposes a new notion called bounded event property for the event which guarantees the triggering instants are generated in finite-time for all possible values of the triggering parameter. It is shown that the event-triggered SMC ensures possess the bounded event property and moreover the proposed triggering mechanism also guarantees the stability of the closed loop system stability. © 2018 IEEE.

关键词： Sliding mode control

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Reconfigurable formations of quadrotors on Lissajous curves for surveillance applications

arXiv

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arXiv 2018年

作者： Borkar, Aseem V. Hangal, Swaroop Arya, Hemendra Sinha, Arpita Vachhani, Leena Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai400076 India Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai400076 India

This paper proposes trajectory planning strategies for online reconfiguration of a multi-agent formation on a Lissajous curve. In our earlier work [2], a multi-agent formation with constant parametric speed was proposed in order to address multiple objectives such as repeated collision-free surveillance and guaranteed sensor coverage of the area with ability for rogue target detection and trapping. This work addresses the issue of formation reconfiguration within this context. In particular, smooth parametric trajectories are designed for the purpose using calculus of variations. These trajectories have been employed in conjunction with a simple local cooperation scheme so as to achieve collision-free reconfiguration between different Lissajous curves. A detailed theoretical analysis of the proposed scheme is provided. These surveillance and reconfiguration strategies have also been validated through simulations in MATLAB® for agents performing parametric motion along the curves, and by Software-In-The-Loop simulation for quadrotors. In addition, they are validated experimentally with a team of quadrotors flying in a motion capture environment. Copyright © 2018, The Authors. All rights reserved.

关键词： Monitoring

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Opportunities and challenges for monitoring terrestrial biodiversity in the robotics age

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Nature Ecology and Evolution 2025年第6期9卷 1031-1042页

作者： Pringle, Stephen Dallimer, Martin Goddard, Mark A. Le Goff, Léni K. Hart, Emma Langdale, Simon J. Fisher, Jessica C. Abad, Sara-Adela Ancrenaz, Marc Angeoletto, Fabio Auat Cheein, Fernando Austen, Gail E. Bailey, Joseph J. Baldock, Katherine C. R. Banin, Lindsay F. Banks-Leite, Cristina Barau, Aliyu S. Bashyal, Reshu Bates, Adam J. Bicknell, Jake E. Bielby, Jon Bosilj, Petra Bush, Emma R. Butler, Simon J. Carpenter, Dan Clements, Christopher F. Cully, Antoine Davies, Kendi F. Deere, Nicolas J. Dodd, Michael Drinkwater, Rosie Driscoll, Don A. Dutilleux, Guillaume Dyrmann, Mads Edwards, David P. Farhadinia, Mohammad S. Faruk, Aisyah Field, Richard Fletcher, Robert J. Foster, Chris W. Fox, Richard Francksen, Richard M. Franco, Aldina M. A. Gainsbury, Alison M. Gardner, Charlie J. Giorgi, Ioanna Griffiths, Richard A. Hamaza, Salua Hanheide, Marc Hayward, Matt W. Hedblom, Marcus Helgason, Thorunn Heon, Sui P. Hughes, Kevin A. Hunt, Edmund R. Ingram, Daniel J. Jackson-Mills, George Jowett, Kelly Keitt, Timothy H. Kloepper, Laura N. Kramer-Schadt, Stephanie Labisko, Jim Labrosse, Frédéric Lawson, Jenna Lecomte, Nicolas de Lima, Ricardo F. Littlewood, Nick A. Marshall, Harry H. Masala, Giovanni L. Maskell, Lindsay C. Matechou, Eleni Mazzolai, Barbara McConnell, Alistair Melbourne, Brett A. Miriyev, Aslan Nana, Eric Djomo Ossola, Alessandro Papworth, Sarah Parr, Catherine L. Payo-Payo, Ana Perry, Gad Pettorelli, Nathalie Pillay, Rajeev Potts, Simon G. Prendergast-Miller, Miranda T. Qie, Lan Rolley-Parnell, Persie Rossiter, Stephen J. Rowcliffe, Marcus Rumble, Heather Sadler, Jon P. Sandom, Christopher J. Sanyal, Asiem Schrodt, Franziska Sethi, Sarab S. Shabrani, Adi Siddall, Robert Smith, Simón C. Snep, Robbert P. H. Soulsbury, Carl D. Stanley, Margaret C. Stephens, Philip A. Stephenson, P.J. Struebig, Matthew J. Studley, Matthew Svátek, Martin Tang, Gilbert Taylor, Nicholas K. Umbers, Kate D. L. Ward, Robert J. White, Patrick J. C. Whittingham, Mark J. Wich, Serge Williams, Christopher D. Yakubu, Ibrahim B. Yoh, Natalie Durrell Institute of Conservation and Ecology (DICE) School of Natural Sciences University of Kent Canterbury United Kingdom Centre for Environmental Policy Imperial College London London United Kingdom Department of Geography and Environmental Sciences Northumbria University Newcastle upon Tyne United Kingdom School of Computing Engineering and the Built Environment Edinburgh Napier University Edinburgh United Kingdom Synthotech Ltd Milner Court Hornbeam Square Harrogate United Kingdom Mechanical Engineering Department University College London London United Kingdom HUTAN SWD Kota Kinabalu Malaysia Programa de Pós-Graduação em Gestão e Tecnologia Ambiental da Universidade Federal de Rondonópolis Rondonópolis Brazil Department of Engineering Harper Adams University Newport United Kingdom Applied Ecology Research Group School of Life Sciences Anglia Ruskin University Cambridge United Kingdom Centre for Ecology and Hydrology Penicuik United Kingdom Department of Life Sciences Imperial College London Silwood Park Campus Ascot United Kingdom Department of Urban and Regional Planning Faculty of Earth and Environmental Sciences Bayero University Kano Nigeria Greenhood Nepal Kathmandu Nepal Animal Rural & Environmental Sciences Nottingham Trent University Nottinghamshire United Kingdom School of Biological and Environmental Sciences Liverpool John Moores University Liverpool United Kingdom Lincoln Centre for Autonomous Systems University of Lincoln Lincoln United Kingdom Royal Botanic Garden Edinburgh Edinburgh United Kingdom School of Biological Sciences University of East Anglia Norwich Research Park Norwich United Kingdom Digital Ecology Limited Bristol United Kingdom School of Biological Sciences University of Bristol Bristol United Kingdom Department of Computing Imperial College London London United Kingdom Department of Ecology and Evolutionary Biology University of Colorado Boulder CO United States Faculty of Science Technology Engineering

With biodiversity loss escalating globally, a step change is needed in our capacity to accurately monitor species populations across ecosystems. Robotic and autonomous systems (RAS) offer technological solutions that may substantially advance terrestrial biodiversity monitoring, but this potential is yet to be considered systematically. We used a modified Delphi technique to synthesize knowledge from 98 biodiversity experts and 31 RAS experts, who identified the major methodological barriers that currently hinder monitoring, and explored the opportunities and challenges that RAS offer in overcoming these barriers. Biodiversity experts identified four barrier categories: site access, species and individual identification, data handling and storage, and power and network availability. Robotics experts highlighted technologies that could overcome these barriers and identified the developments needed to facilitate RAS-based autonomous biodiversity monitoring. Some existing RAS could be optimized relatively easily to survey species but would require development to be suitable for monitoring of more ‘difficult’ taxa and robust enough to work under uncontrolled conditions within ecosystems. Other nascent technologies (for instance, new sensors and biodegradable robots) need accelerated research. Overall, it was felt that RAS could lead to major progress in monitoring of terrestrial biodiversity by supplementing rather than supplanting existing methods. Transdisciplinarity needs to be fostered between biodiversity and RAS experts so that future ideas and technologies can be codeveloped effectively. © The Author(s) 2025.

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