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Robust Event-Triggered MPC for Constrained Linear Discrete-Time systems with Guaranteed Average Sampling Rate

IFAC-PapersOnLine 2015年第23期48卷 117-122页

作者： Brunner, Florian D. Heemels, W.P.M.H. Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 Stuttgart70569 Germany Control System Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands

We propose a robust event-triggered model predictive control (MPC) scheme for linear time-invariant discrete-time systems subject to bounded additive stochastic disturbances and hard constraints on the input and state. For given probability distributions of the disturbances acting on the system, we design event conditions such that the average frequency of communication between the controller and the actuator in the closed-loop system attains a given value. We employ Tube MPC methods to guarantee robust constraint satisfaction and a robust asymptotic bound on the system state. Moreover, we show that based on a given periodically updated Tube MPC scheme, an appropriate event-triggered MPC scheme can be designed, with the same guarantees on constraints and region of attraction, but with a reduced number of average communications. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Discrete time control systems Closed loop systems Digital control systems Linear control systems Model predictive control Predictive control systems Probability distributions Robustness (control systems) Stochastic models Stochastic systems Constraint Satisfaction Discrete time systems Event triggered controls Linear discrete time systems Linear time invariant Predictive control Region of attraction Stochastic disturbances

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Estimation of fingertip force from surface EMG a multivariate Bayesian mixture of experts approach 8

Estimation of fingertip force from surface EMG a multivariat...

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8th International Conference on Bio-Inspired systems and Signal Processing, BIOSIGNALS 2015

作者： Baldacchino, Tara Jacobs, William Anderson, Sean R. Worden, Keith Rowson, Jennifer Dynamics Research Group Department of Mechanical Engineering University of Sheffield Sheffield United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9789897580697

Improving the dexterity of active prostheses is a major research area amalgamating machine learning algorithms and biosignals. A recent research niche has emerged from this-providing proportional control to a prosthetic hand by modelling the force applied at the fingertips using surface electromyography (sEMG). The publicly released NinaPro database contains sEMG recording for 6 degree-of-freedom force activations for 40 intact subjects. In this preliminary study the authors successfully perform multivariate force regression using Bayesian mixture of experts (MoE). The accuracy of the model is compared to the benchmark set by the authors of NinaPro;comparable performance is achieved, however in this work a lower dimensional feature extraction representation obtains the best modelling accuracies, hence reducing training time. Inherent to the Bayesian framework is the inclusion of uncertainty in the model structure, providing a natural step in obtaining confidence bounds on the predictions. The MoE model used in this paper provides a powerful method for modelling force regression with application to actively controlling prosthetic and robotic arms for rehabilitation purposes, resulting in highly refined movements.

关键词： Learning algorithms

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A Two-Step Fault Diagnosis Framework for Rolling Element Bearings with Imbalanced Data

A Two-Step Fault Diagnosis Framework for Rolling Element Bea...

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International Conference on Ubiquitous Robots and Ambient Intelligence

作者： Yuan Lan Weiwei Zong Xiaojian Ding Xiaoyan Xiong Xiaohang Han Jiahai Huang Bing Ma Key Laboratory of Ministry of Education in Advance Transducers and Intelligent Control System Institute of Mechatronics Engineering under School of Mechanical Engineering Taiyuan University of Technology Department of Computer Science Wayne State University Science and Technology on Information Systems Engineering Laboratory The Second Research Institute of China Electronic Technology Group Corporation

ISBN: (纸本)9781509008223

Rolling element bearings constitute the key parts on rotating machinery and their fault diagnosis are of great importance. In this paper, a novel Two-Step fault diagnosis framework is proposed to diagnose the status of rolling element bearings with imbalanced data. The Wavelet Packet Transform (WPT) is used to determine the feature vectors. 16-dimensional wavelet packet node energies were extracted from the original datasets as the feature vectors prepared to input to the classifiers. Next, our proposed framework consists of two steps for the fault diagnosis, where Step One makes use of Weighted Extreme Learning Machine (weighted ELM) in an effort to classify the normal or abnormal categories, and Step Two further diagnoses the underlying anomaly in details. The effectiveness of our proposed approach is testified on the raw data collected from the rolling element bearing experiments conducted in our Institute, and the empirical results showed that our approach is really fast and can achieve the diagnosis accuracies more than 95%.

关键词： Two-Step fault diagnosis framework Weighed ELM ELM Bearing fault diagnosis

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A Two-Step Fault Diagnosis Framework for Rolling Element Bearings with Imbalanced Data

A Two-Step Fault Diagnosis Framework for Rolling Element Bea...

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2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Yuan Lan Weiwei Zong Xiaojian Ding Xiaoyan Xiong Xiaohang Han Jiahai Huang Bing Ma Key Laboratory of Ministry of Education in Advance Transducers and Intelligent Control System Institute of Mechatronics Engineering under School of Mechanical EngineeringTaiyuan University of Technology Department of Computer Science Wayne State University Science and Technology on Information Systems Engineering Laboratory The Second Research Institute of China Electronic Technology Group Corporation

Rolling element bearings constitute the key parts on rotating machinery and their fault diagnosis are of great importance. In this paper, a novel Two-Step fault diagnosis framework is proposed to diagnose the status of rolling element bearings with imbalanced data. The Wavelet Packet Transform(WPT) is used to determine the feature vectors. 16-dimensional wavelet packet node energies were extracted from the original datasets as the feature vectors prepared to input to the ***, our proposed framework consists of two steps for the fault diagnosis, where Step One makes use of Weighted Extreme Learning Machine(weighted ELM) in an effort to classify the normal or abnormal categories, and Step Two further diagnoses the underlying anomaly in details. The effectiveness of our proposed approach is testified on the raw data collected from the rolling element bearing experiments conducted in our Institute,and the empirical results showed that our approach is really fast and can achieve the diagnosis accuracies more than 95%.

关键词： Two-Step fault diagnosis framework Weighed ELM ELM Bearing fault diagnosis

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Communication scheduling in robust self-triggered MPC for linear discrete-time systems 5

Communication scheduling in robust self-triggered MPC for li...

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5th IFAC Workshop on Distributed Estimation and control in Networked systems, NecSys 2015

作者： Brunner, Florian D. Gommans, T.M.P. Heemels, W.P.M.H. Allgöwer, Prank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 Stuttgart70569 Germany Control System Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands

We consider a networked control system consisting of a physical plant, an actuator, a sensor, and a controller that is connected to the actuator and sensor via a communication network. The plant is described by a linear discrete-time system subject to additive disturbances. In order to reduce the required number of communications in the system, we propose a robust self-triggered model predictive controller based on rollout techniques that robustly asymptotically stabilizes a certain periodic sequence of sets in the state space while guaranteeing robust satisfaction of hard state and input constraints. At periodically occurring scheduling times, the self-triggered model predictive control algorithm determines the times at which the control input and plant measurement are updated in the time span until the next scheduling time. We establish a certain upper bound on the average sampling rate in the closed-loop system. Moreover, we show how increasing the asymptotic bound on the system state, which is a design parameter in the control scheme, can be used to further reduce the average number of communications in the system. © 2015, IF AC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Closed loop systems

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Energy efficient renovation of heritage residential buildings using modelica simulations 14

Energy efficient renovation of heritage residential building...

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14th Conference of International Building Performance Simulation Association, BS 2015

作者： Elisa, Van Kenhove Arnout, Aertgeerts Jelle, Laverge Arnold, Janssens Research Group Building Physics Department of Architecture and Urban Planning Ghent University Construction and Climate Control Belgium Research Group Simulation of Thermal Systems Department of Mechanical Engineering Leuven Belgium

Historic homesteads can be found on a large scale in Europe and particularly in Flanders. In Flanders there are hundreds of homesteads in desperate need of renovation. Within the framework of the Europe 2020 objectives both CO2 emission and energy use need to be reduced with 20% by 2020. Unlike for the average residential building renovation, focus lies on synergy between respect to heritage and achieving an optimal energetic effectiveness. The object of this research is a case study homestead in Bruges, named the Schipjes. The first step in energy efficient renovation is to lower energy use by optimizing the building physics, therefore dynamic simulations in Modelica are performed to evaluate primary energy demand, especially for heating, and thermal comfort. The second step is the choice of the most energy efficient technical installations for a district heating system as will be used for Schipjes. Five different scenarios or combinations of heat production and distribution systems are developed as input options for future research simulations and energetic equations in Modelica.

关键词： Energy efficiency

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Asymptotically exact direct data-driven multivariable controller tuning

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IFAC-PapersOnLine 2015年第28期48卷 1349-1354页

作者： Formentin, Simone Bisoffi, Andrea Oomen, Tom Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano via G. Ponzio 34/5 Milano20133 Italy Department of Industrial Engineering University of Trento Via Sommarive 9 Trento38123 Italy Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Eindhoven Netherlands

In this paper, a data-driven controller design method for multivariable systems is introduced and analyzed. The proposed technique is direct, as it is entirely based on experimental data and does not rely on a physical description of the system, and non-iterative, as it does not require controller adjustments based on additional experiments. Compared to the state-of-theart non-iterative technique, i.e. MIMO VRFT, the proposed approach is asymptotically exact, in that it guarantees that the desired closed-loop dynamics is matched when the number of data tends to infinity. The performance of the proposed approach is illustrated and compared with MIMO VRFT on a benchmark simulation example. © 2015

关键词： Iterative methods Benchmarking controllers Convex optimization Multivariable systems Additional experiments Closed loop dynamic controller design method Data driven control Multivariable controller Non iterative techniques Number of datum Simulation example

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Frequency-domain analysis of real-time and networked control systems with stochastic delays and data drops

Frequency-domain analysis of real-time and networked control...

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European control Conference (ECC)

作者： D. Antunes W. Geelen W. P. M. H. Heemels Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology the Netherlands

We present a novel frequency-domain analysis framework for a closed-loop model capturing a wide range of real-time and networked control systems with stochastic delays and packet drops. Our results allow for inferring the mean and variance of the output response to deterministic inputs, based on a new frequency response plot. We illustrate the usefulness of our results in the context of real-time control systems with input-to-output delays resulting from the use of a shared processor.

关键词： Delays Real-time systems Networked control systems Adaptation models Frequency-domain analysis Stochastic processes Analytical models

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Performance trade-offs in disturbance feedforward compensation of active hard-mounted vibration isolators

Performance trade-offs in disturbance feedforward compensati...

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American control Conference

作者： Michiel A. Beijen Marcel F. Heertjes Hans Butler Maarten Steinbuch Department of Mechanical Engineering Group of Control Systems Technology Eindhoven University of Technology 5600 MB Eindhoven The Netherlands Department of Electrical Engineering Group of Control Systems Eindhoven University of Technology 5600 MB Eindhoven The Netherlands

ISBN: (纸本)9781479917730

With disturbance feedforward compensation (DFC), input disturbances are measured and compensated to cancel the effect of the disturbance. Perfect cancellation is not possible in practice due to the causal nature of DFC, in which the compensation generally comes too late. Therefore, non-perfect plant inversion, controller discretization and sensor dynamics lead to a non-zero residual error. The properties of this residual error are described in the frequency domain using a theoretical framework that is closely related to the design constraints known from filtering theory. It is shown that, like in feedback control systems, performance limitations of DFC systems are described by a waterbed effect. An experimental validation is included to demonstrate the properties of the residual error on an active hard-mounted vibration isolation setup.

关键词： feedforward compensation VIBRATION ISOLATORS Residuals DFC design constraints filtering theory disturbance

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Communication Scheduling in Robust Self-Triggered MPC for Linear Discrete-Time systems ∗

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IFAC-PapersOnLine 2015年第22期48卷 132-137页

作者： Florian D. Brunner T.M.P. Gommans W.P.M.H. Heemels Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70569 Stuttgart Germany Control System Technology Group Department of Mechanical Engineering Eindhoven University of Technology The Netherlands

关键词： predictive control self-triggered control robustness

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