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arXiv 2025年

作者： Teichrib, Dieter Darup, Moritz Schulze Control and Cyber-physical Systems Group Faculty of Mechanical Engineering TU Dortmund University Germany

We present a method for representing the closed-loop dynamics of piecewise affine (PWA) systems with bounded additive disturbances and neural network-based controllers as mixed-integer (MI) linear constraints. We show that such representations enable the computation of robustly positively invariant (RPI) sets for the specified system class by solving MI linear programs. These RPI sets can subsequently be used to certify stability and constraint satisfaction. Furthermore, the approach allows to handle nonlinear systems based on suitable PWA approximations and corresponding error bounds, which can be interpreted as the bounded disturbances from above. © 2025, CC BY-NC-ND.

关键词： Mixed-integer linear programming

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Dynamic modeling and simulation of blade-casing system with rubbing considering time-varying stiffness and mass of casing

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Applied Mathematics and Mechanics(English Edition) 2025年第5期46卷 849-868页

作者： Hui MA Hong GUAN Lin QU Xumin GUO Qinqin MU Yao ZENG Yanyan CHEN School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of ChinaNortheastern UniversityShenyang 110819China Sunny Optical Technology(Group)Co.Ltd. Ningbo 315400Zhejiang ProvinceChina Aircraft Strength Institute of China Xi’an 710065China AECC Sichuan Gas Turbine Research Institute Chengdu 610500China

As a common fault of the aero-engine,the blade-casing rubbing(BCR)has the potential to cause catastrophic *** this paper,to investigate the dynamic responses and wear characteristics of the system,the laminated shell element is used to establish the finite element model(FEM)of a flexibly coated casing *** the shell element,the blade is modeled,and the surface stress of the blade is *** stress-solving method of the blade is validated through comparisons with the measured time-domain waveform of the ***,a dynamic model of a blade-flexibly coated casing system with rubbing is proposed,accounting for the time-varying mass and stiffness of the casing caused by coating *** effects of the proposed flexible casing model are compared with those of a rigid casing model,and the stress changes induced by rubbing are *** results show that the natural characteristics of the coated casing decrease due to the coating *** flexibly coated casing model is found to be more suitable for studying casing ***,the stress changes caused by rubbing are slight,and the change in the stress maximum is approximately 5%under the influence of the abrasive coating.

关键词： dynamic modeling flexibly coated casing rubbing coating wear nonlinear vibration

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Discontinuous Galerkin Finite Element Methods for Linear Port-Hamiltonian Dynamical systems

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Journal of Scientific Computing 2025年第1期104卷 1-47页

作者： Cheng, Xiaoyu van der Vegt, J.J.W. Xu, Yan Zwart, H.J. School of Mathematics University of Science and Technology of China Anhui Hefei 230026 China Department of Applied Mathematics Mathematics of Computational Science Group University of Twente P.O. Box 217 Enschede 7500 AE Netherlands Department of Applied Mathematics Mathematics of Systems Theory Group University of Twente P.O. Box 217 Enschede 7500 AE Netherlands Department of Mechanical Engineering Dynamics and Control Group Eindhoven University of Technology P.O. Box 513 Eindhoven 5600 MB Netherlands

In this paper, we present discontinuous Galerkin (DG) finite element discretizations for a class of linear hyperbolic port-Hamiltonian dynamical systems. The key point in constructing a port-Hamiltonian system is a Stokes-Dirac structure. Instead of following the traditional approach of defining the strong form of the Dirac structure, we define a Dirac structure in weak form, specifically in the input-state-output form. This is implemented within broken Sobolev spaces on a tessellation with polyhedral elements. After that, we state the weak port-Hamiltonian formulation and prove that it relates to a Poisson bracket. In our work, a crucial aspect of constructing the above-mentioned Dirac structure is that we provide a conservative relation between the boundary ports. Next, we state DG discretizations of the port-Hamiltonian system by using the weak form of the Dirac structure and broken polynomial spaces of differential forms, and we provide a priori error estimates for the structure-preserving port-Hamiltonian discontinuous Galerkin (PHDG) discretizations. The accuracy and capability of the methods developed in this paper are demonstrated by presenting several numerical experiments. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Dirac structure Discontinuous Galerkin methods Exterior calculus Port-Hamiltonian systems

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Dynamic Collision Avoidance Using Velocity Obstacle-Based control Barrier Functions

arXiv

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arXiv 2025年

作者： Huang, Jihao Zeng, Jun Chi, Xuemin Sreenath, Koushil Liu, Zhitao Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Institute of Intelligence Science and Engineering Shenzhen Polytechnic University Shenzhen China Hybrid Robotics Group The Department of Mechanical Engineering UC Berkeley United States

Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions (CLFs) and control barrier functions (CBFs), leading to invalid controllers. Existing methods often rely on state-feedback-based CLFs and high-order CBFs (HOCBFs), which are computationally expensive to construct and fail to maintain effectiveness in dynamic environments with fast-moving, nearby obstacles. To address these challenges, we propose constructing velocity obstacle-based CBFs (VOCBFs) in the velocity space to enhance dynamic collision avoidance capabilities, instead of relying on distance-based CBFs that require the introduction of HOCBFs. Additionally, by extending VOCBFs using variants of VO, we enable reactive collision avoidance between robots. We formulate a safety-critical controller for acceleration-controlled unicycle robots as a mixed-integer quadratic programming (MIQP), integrating state-feedback-based CLFs for navigation and VOCBFs for collision avoidance. To enhance the efficiency of solving the MIQP, we split the MIQP into multiple sub-optimization problems and employ a decision network to reduce computational costs. Numerical simulations demonstrate that our approach effectively guides the robot to its target while avoiding collisions. Compared to HOCBFs, VOCBFs exhibit significantly improved dynamic obstacle avoidance performance, especially when obstacles are fast-moving and close to the robot. Furthermore, we extend our method to distributed multi-robot systems. Copyright © 2025, The Authors. All rights reserved.

关键词： State feedback

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Influence of inspiratory resistors on tracheal pressure during ventilation with decelerating flow

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Intensive Care Medicine – Paediatric and Neonatal 2025年第1期3卷 1-10页

作者： Werder, David Stankovic, Nikola Zander, Mark Oliver Serfözö, Peter Erb, Thomas Otto Hammer, Jürg Schmid Daners, Marianne Institute for Dynamic Systems and Control Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland Department of Anesthesiology University Children’S Hospital Basel University of Basel Basel Switzerland Product Development Group Zurich Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland Emergency Department Lausanne University Hospital Lausanne Switzerland Department of Pulmonology and Critical Care University Children’S Hospital Basel University of Basel Basel Switzerland

Understanding driving pressure is of general interest in lung mechanics, especially in ventilated neonatal and pediatric patients. The aim of this study was to investigate the effects of endotracheal tube size (ETT) and bi-directional linear flow resistors mimicking different degrees of tube and airway obstruction on tracheal pressure (Ptr) during ventilation with decelerating flow. A mechanical lung simulator with unchanged respiratory mechanics like the mimicked compliance and resistance, three ETTs (inner diameters of 7.5 mm, 5.5 mm, and 3.5 mm), and four different linear flow resistors were alternatively connected to a commercial ventilator operating in pressure-controlled mode. Four resistors mimicking various degrees of ETT obstructions were placed consecutively between the Y-piece and the ETT. Varying sequentially ETT size, resistance, and ventilator settings resulted in 90 sets of measurements. Data acquisition, signal processing, and data analysis were performed using Python. The results clarify that decreasing ETT sizes and increasing flow resistances cause an increase in the time necessary to reach zero-flow conditions both during in- and expiration. This results in a decrease of Ptr at the end of inspiration and an increase of Ptr at the end of expiration, if inspiratory and expiratory times remain unchanged. The degree to which peak inspiratory pressure overestimates Ptr (or plateau pressure) in decelerating flow can be substantial and increases with increasing flow resistance. This highlights the importance of measuring plateau pressure or Ptr to understand pressure dynamics delivered to the lung.

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Safety and Optimality in Learning-Based control At Low Computational Cost

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IEEE Transactions on Automatic control 2025年

作者： Baumann, Dominik Kowalczyk, Krzysztof Rojas, Cristian R. Tiels, Koen Wachel, Pawel Aalto University Cyber-physical Systems Group Espoo Finland Uppsala University Department of Information Technology Uppsala Sweden Wroc Law University of Science and Technology Department of Control Systems and Mechatronics Wroclaw Poland Kth Royal Institute of Technology Division of Decision and Control Systems Stockholm Sweden Eindhoven University of Technology Department of Mechanical Engineering Eindhoven Netherlands

Applying machine learning methods to physical systems that are supposed to act in the real world requires providing safety guarantees. However, methods that include such guarantees often come at a high computational cost, making them inapplicable to large datasets and embedded devices with low computational power. In this paper, we propose Colsafe, a computationally lightweight safe learning algorithm whose computational complexity grows sublinearly with the number of data points. We derive both safety and optimality guarantees and showcase the effectiveness of our algorithm on a seven-degrees-of-freedom robot arm. © 1963-2012 IEEE.

关键词： Learning-based control nadaraya-watson estimator safe learning

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Fault diagnosis method for ship power-system DC–DC converter using augmented WPD and multi-branch CNN-BiLSTM network

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Journal of the Franklin Institute 2025年第9期362卷

作者： Ren, Yuanjie Zhang, Lanyong Shi, Peng Peng, Huimin College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin150001 China School of Electrical and Mechanical Engineering The University of Adelaide SA5000 Australia State Key Laboratory of Smart Grid Protection and Control Nari Group Corporation Jiangsu Nanjing211106 China

Direct current (DC) –DC converters are indispensable energy conversion devices in medium-voltage DC power systems of ships. Herein, the fault diagnosis problem of bidirectional DC–DC converters is investigated. Considering that the fault diagnosis of bidirectional DC–DC converters requires the effective combination of information from multiple diagnostic signals and differences in characteristic data in different time scales, a parallel stacking of multiple branches based on enhanced wavelet packet decomposition technology is proposed as a hybrid model of a convolutional neural network and bidirectional long short-term memory network. First, a multi-input method is used to extract effective features in the sequence data. Second, a multi-model fusion processing framework is used to perform fault diagnosis analysis on the DC–DC converter. Finally, the squeeze and excitation attention mechanism is used to weight all types of fault features and adaptively obtain them. The important weights of the classification feature maps learned by different branches generate fault classification results. Experimental results reveal that the proposed method can extract highly discriminative features from raw data and exhibits robustness in noisy environments. © 2025 The Franklin Institute

关键词： Convolutional neural networks

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Towards explainable data-driven predictive control with regularizations

arXiv

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arXiv 2025年

作者： Klädtke, Manuel Darup, Moritz Schulze Control and Cyberphysical Systems Group Faculty of Mechanical Engineering TU Dortmund University Germany

Data-driven predictive control (DPC), using linear combinations of recorded trajectory data, has recently emerged as a popular alternative to traditional model predictive control (MPC). Without an explicitly enforced prediction model, the effects of commonly used regularization terms—and the resulting predictions—can be opaque. This opacity may lead to practical challenges, such as reliance on empirical tuning of regularization parameters based on closed-loop performance, and potentially misleading heuristic interpretations of norm-based regularizations. However, by examining the structure of the underlying optimal control problem (OCP), more precise and insightful interpretations of regularization effects can be derived. In this paper, we demonstrate how to analyze the predictive behavior of DPC through implicit predictors and the trajectory-specific effects of quadratic regularization. We further extend these results to cover typical DPC modifications, including DPC for affine systems, offset regularizations, slack variables, and terminal constraints. Additionally, we provide a simple but general result on (recursive) feasibility in DPC. This work aims to enhance the explainability and reliability of DPC by providing a deeper understanding of these regularization mechanisms. © 2025, CC BY-NC-ND.

关键词： Predictive control systems

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A moving horizon estimator for aquifer thermal energy storages

arXiv

引用

arXiv 2025年

作者： van Randenborgh, Johannes Darup, Moritz Schulze Control and Cyberphysical Systems Group Germany Faculty of Mechanical Engineering TU Dortmund University Germany

Aquifer thermal energy storages (ATES) represent groundwater saturated aquifers that store thermal energy in the form of heated or cooled groundwater. Combining two ATES, one can harness excess thermal energy from summer (heat) and winter (cold) to support the building’s heating, ventilation, and air conditioning (HVAC) technology. In general, a dynamic operation of ATES throughout the year is beneficial to avoid using fossil fuel-based HVAC technology and maximize the "green use" of ATES. Model predictive control (MPC) with an appropriate system model may become a crucial control approach for ATES systems. Consequently, the MPC model should reflect spatial temperature profiles around ATES’ boreholes to predict extracted groundwater temperatures accurately. However, meaningful predictions require the estimation of the current state of the system, as measurements are usually only at the borehole of the ATES. In control, this is often realized by model-based observers. Still, observing the state of an ATES system is non-trivial, since the model is typically hybrid. We show how to exploit the specific structure of the hybrid ATES model and design an easy-to-solve moving horizon estimator based on a quadratic program. © 2025, CC BY-NC-ND.

关键词： Quadratic programming

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NORMALIZED COPRIME FACTORIZATIONS FOR systems IN GENERALIZED STATE-SPACE FORM

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IEEE TRANSACTIONS ON AUTOMATIC control 1993年第2期38卷 348-350页

作者： BONGERS, PMM BOSGRA, OH Mechanical Engineering Systems and Control Group Delft University of Technnology Delft Netherlands

This note presents a state-space algorithm for the calculation of a normalized coprime factorization of continuous-time generalized dynamical systems. It will be shown that two Riccati equations have to be solved to o... 详细信息

关键词： Riccati equations Transfer functions Polynomials control design Robust control Reduced order systems Linear systems MIMO Virtual manufacturing mechanical engineering

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