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designing a Trajectory control System for Wheelchairs with a Combination of Automatic and Manual Steering Methods

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Periodica Polytechnica Transportation engineering 2024年第4期52卷 412-422页

作者： Vu, Van Tan Nguyen, Quang Thinh Nakagawa, Chihiro Nguyen, Trung Nguyen Le, Thanh Long Nguyen, Van Vinh Hoang, Thi Lan Anh Do, Trong Tu Mihály, András Gáspár, Péter Department of Automotive Mechanical Engineering Faculty of Mechanical Engineering University of Transport and Communications Building A6 no. 3 Cau Giay Street Lang Thuong Ward Dong Da District Hanoi100000 Viet Nam Japan Technology Solution Joint Stock Company 9 Dau Ma Street Section 2 Thi Cau Ward Bac Ninh Bac Ninh222000 Viet Nam School of Engineering Osaka Metropolitan University 1-1 Gakuen-cho Nakaku Sakai Osaka599-8531 Japan Emergency abdominal surgery Department Viet Duc University Hospital no. 40 Trang Thi Street Hanoi100000 Viet Nam Mechanical and Power Engineering Faculty Electric Power University no. 235 Hoang Quoc Viet Street Co Nhue Ward Bac Tu Liem District Hanoi100000 Viet Nam Systems and Control Laboratory Institute for Computer Science and Control Hungarian Research Network Kende u. 13-17 Budapest1111 Hungary

A wheelchair is a specialized form of Personal Mobility Vehicle (PMV) designed to help people with disabilities move safely to their desired locations. Unlike conventional PMVs, wheelchairs for people with disabilities are challenging to manually control in environments with heavy traffic. This study focuses on designing and feasibility testing of control systems for PMVs to meet safety and efficiency standards, even in complex environments. First, a control structure model for PMVs is proposed. This is followed by the application of a combination of First In First Out (FIFO) and Dijkstra traffic control methods to determine effective trajectories for PMVs. The proposed control system is then tested on the campus of the University of Transport and Communications. Simulation results show that when comparing the travel time of 10 PMVs, the order execution time for each PMV remains stable (within 10%) for up to 20 PMVs. However, when the number of PMVs increases to 25, 30, 35, and 40 vehicles, the order execution time increases by 35%, 55%, 103%, and 119%, respectively. These results demonstrate that the system can control a large number of PMVs, ensuring safety, flexibility, and efficiency. © 2024 Budapest University of Technology and Economics. All rights reserved.

关键词： Travel time

A Frequency-Domain Approach for Enhanced Performance and Task Flexibility in Finite-Time ILC

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arXiv 2024年

作者： van Haren, Max Tsurumoto, Kentaro Mae, Masahiro Blanken, Lennart Ohnishi, Wataru Oomen, Tom Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Department of Electrical Engineering and Information Systems The University of Tokyo Tokyo Japan Sioux Technologies Eindhoven Netherlands Delft Center for Systems and Control Delft University of Technology Delft Netherlands

Iterative learning control (ILC) is capable of improving the tracking performance of repetitive control systems by utilizing data from past iterations. The aim of this paper is to achieve both task flexibility, which is often achieved by ILC with basis functions, and the performance of frequency-domain ILC, with an intuitive design procedure. The cost function of norm-optimal ILC is determined that recovers frequency-domain ILC, and consequently, the feedforward signal is parameterized in terms of basis functions and frequency-domain ILC. The resulting method has the performance and design procedure of frequency-domain ILC and the task flexibility of basis functions ILC, and are complimentary to each other. Validation on a benchmark example confirms the capabilities of the framework. © 2024, CC BY-NC-ND.

关键词： Cost functions

Iterative Robust Experiment design for MIMO System Identification via the S-Lemma

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Iterative Robust Experiment Design for MIMO System Identific...

control Technology and Applications (CCTA),

作者： Nic Dirkx Koen Tiels Tom Oomen ASML Veldhoven The Netherlands Dept. of Mechanical Engineering Control Systems Technology Eindhoven University of Technology Eindhoven The Netherlands Department of Mechanical Engineering Control Systems Technology Section Eindhoven University of Technology Eindhoven The Netherlands Delft Center for Systems and Control Delft University of Technology Delft The Netherlands

Optimal input design plays an important role in system identification for complex and multivariable systems. A known paradox in input design is that the optimal inputs depend on the true but unknown system. The aim of this paper is to design inputs for multivariable systems that are robust to all system variations within a given continuous uncertainty set. In the presented approach, the robust design problem is cast as an infinite-dimensional min-max optimization problem, and tackled via the S-lemma in an iterative approximation scheme. Experimental results from a multivariable motion system show that the algorithm enables significant robustness improvements.

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Entropy for incremental stability of nonlinear systems under disturbances

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arXiv 2022年

作者： Chong, Michelle S. The Control Systems Technology section The Department of Mechanical Engineering Eindhoven University of Technology Netherlands

Entropy notions for Ε-incremental practical stability and incremental stability of deterministic nonlinear systems under disturbances are introduced. The entropy notions are constructed via a set of points in state space which induces the desired stability properties, called an approximating set. We provide conditions on the system which ensures that the approximating set is finite. Lower and upper bounds for the two estimation entropies are computed. The construction of the finite approximating sets induces a robust state estimation algorithm for systems under disturbances using quantized and time-samples measurements. © 2022, CC BY-SA.

关键词： Entropy

controller confidentiality for nonlinear systems under sensor attacks

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arXiv 2022年

作者： Chong, Michelle S. The Control Systems Technology section The Department of Mechanical Engineering Eindhoven University of Technology Netherlands

controller confidentiality under sensor attacks refers to whether the internal states of the controller can be estimated when the adversary knows the model of the plant and controller, while only having access to sensors, but not the actuators. We show that the controller's state can be estimated accurately when the nonlinear closed-loop system is detectable. In the absence of detectability, controller confidentiality can still be breached with a periodic probing scheme via the sensors under a robust observability assumption, which allows for the controller's state to be estimated with arbitrary accuracy during the probing period, and with bounded error during the non-probing period. Further, stealth can be maintained by choosing an appropriate probing duration. This study shows that the controller confidentiality for nonlinear systems can be breached by balancing the estimation precision and the stealthiness of the adversary. © 2022, CC BY-SA.

关键词： controllers

Consistency analysis of refined instrumental variable methods for continuous-time system identification in closed-loop

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arXiv 2024年

作者： González, Rodrigo A. Pan, Siqi Rojas, Cristian R. Welsh, James S. Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands School of Engineering University of Newcastle Callaghan2308 NSW Australia Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm10044 Sweden

Refined instrumental variable methods have been broadly used for identification of continuous-time systems in both open and closed-loop settings. However, the theoretical properties of these methods are still yet to be fully understood when operating in closed-loop. In this paper, we address the consistency of the simplified refined instrumental variable method for continuous-time systems (SRIVC) and its closed-loop variant CLSRIVC when they are applied on data that is generated from a feedback loop. In particular, we consider feedback loops consisting of continuous-time controllers, as well as the discrete-time control case. This paper proves that the SRIVC and CLSRIVC estimators are not generically consistent when there is a continuous-time controller in the loop, and that generic consistency can be achieved when the controller is implemented in discrete-time. Numerical simulations are presented to support the theoretical results. © 2024, CC BY-NC-ND.

关键词： Continuous time systems

Machine Learning for Analyzing Concrete Cover Separation in Externally Bonded FRP RC Beams

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Procedia Structural Integrity 2024年 64卷 1524-1531页

作者： Manish Prasad Cristina Barris Mehdi Aghabagloo Beatriz López Ricardo Perera Marta Baena Analysis and Advanced Materials for Structural Design AMADE University of Girona Girona 17003 Spain Control Engineering and Intelligent Systems EXIT University of Girona Girona 17003 Spain Department of Mechanical Engineering Technical University of Madrid 28006 Madrid Spain

Strengthening of concrete structures with Externally Bonded (EB) Fiber Reinforced Polymer (FRP) is one the most cost effective, efficient, and sustainable rehabilitation techniques. However, usually the ultimate tensile strength of the FRP cannot be achieved due to the premature debonding of the FRP or delamination of the concrete cover. In this last case, known as concrete cover separation (CCS), high stress concentration at the free end of FRP laminate, in combination with the shear stress at that section, cause the initiation of a shear crack that, if not controlled by the shear reinforcement, propagates in concrete just below internal reinforcement. Various analytical and empirical models have been developed to predict this phenomenon but none of them could give a failure load with reasonable accuracy. On the other hand, Machine Learning (ML) has been proved very effective in predicting behaviors that are difficult to quantify using mechanics. This paper explores ML algorithms to predict the failure load of flexural elements that undergo CCS. To this end, a database has been collected that comprises 140 four-point bending tests on beams reinforced with EB CFRP that failed by CCS. K-nearest neighbor (KNN), support vector machine (SVM), random forest (RF) and extreme gradient boosting (XGBOOST) algorithms have been applied and then ranked based on their R-squared score. R-squared scores obtained from ML are the highest compared to the analytical models described in this paper. Moreover, the mean values and standard deviation of the ratio of experimental failure load and that of calculated by the ML model are the lowest compared to the analytical models. The predictions from the ML models are found more aligned with the experimental results than the analytical models. KNN is chosen as the best ML algorithm for the prediction of failure load with an R-squared score of 0.97.

关键词： Fiber Reinforced Polymer Concrete cover separation Machine Learning

Model Predictive control for Lane Merging Automation with Recursive Feasibility Guarantees

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IFAC-PapersOnLine 2023年第2期56卷 4858-4864页

作者： M.E. Geurts A. Katriniok E. Silvas W.P.M.H. Heemels Department of Mechanical Engineering Control Systems Technology Section Eindhoven University of Technology The Netherlands Ford Research & Innovation Center (RIC) Aachen Germany Department of Integrated Vehicle Safety TNO Helmond The Netherlands

In order to make the complex driving task of merging safer, in this paper we consider the automated merging of an autonomous vehicle into a mixed-traffic flow scenario (i.e., traffic including autonomous and manually driven vehicles). In particular, we propose a novel MPC-based algorithm to perform a merging procedure from a double lane into a single lane and continue with (adaptive) cruise control ((A)CC) functionality after the merge. The proposed MPC balances fast progress along the path with comfort, while obeying safety and maximum allowed velocity bounds. Recursive feasibility, leading to safety and proper behavior, is guaranteed by the design of a proper terminal set, extending existing ones in the literature. The on-line MPC problem is translated into a mixed integer quadratic program (MIQP) that can be solved for global optimality. Through numerical simulations we demonstrate the behavior and effectiveness of the proposed MPC merging scheme.

关键词： Autonomous vehicles Predictive control Trajectory Tracking and Path Following Nonlinear and optimal automotive control Safety

Beyond Nyquist in Frequency Response Function Identification: Applied to Slow-Sampled systems

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arXiv 2023年

作者： van Haren, Max Mirkin, Leonid Blanken, Lennart Oomen, Tom Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Faculty of Mechanical Engineering Technion—IIT Haifa3200003 Israel Sioux Technologies Eindhoven Netherlands Delft Center for Systems and Control Delft University of Technology Delft Netherlands

Fast-sampled models are essential for control design, e.g., to address intersample behavior. The aim of this paper is to develop a non-parametric identification technique for fast-sampled models of systems that have relevant dynamics and actuation above the Nyquist frequency of the sensor, such as vision-in-the-loop systems. The developed method assumes smoothness of the frequency response function, which allows to disentangle aliased components through local models over multiple frequency bands. The method identifies fast-sampled models of slowly-sampled systems accurately in a single identification experiment. Finally, an experimental example demonstrates the effectiveness of the technique. Copyright © 2023, The Authors. All rights reserved.

关键词： Frequency response