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arXiv 2018年

作者： Duan, Xiaoming George, Mishel Bullo, Francesco Mechanical Engineering Department Center of Control Dynamical Systems and Computation UC Santa BarbaraCA93106-5070 United States

Motivated by robotic surveillance applications, this paper studies the novel problem of maximizing the return time entropy of a Markov chain, subject to a graph topology with travel times and stationary distribution. The return time entropy is the weighted average, over all graph nodes, of the entropy of the first return times of the Markov chain;this objective function is a function series that does not admit in general a closed form. The paper features theoretical and computational contributions. First, we obtain a discrete-time delayed linear system for the return time probability distribution and establish its convergence properties. We show that the objective function is continuous over a compact set and therefore admits a global maximum;a unique globally-optimal solution is known only for complete graphs with unitary travel times. We then establish upper and lower bounds between the return time entropy and the well-known entropy rate of the Markov chain. To compute the optimal Markov chain numerically, we establish the asymptotic equality between entropy, conditional entropy and truncated entropy, and propose an iteration to compute the gradient of the truncated entropy. Finally, we apply these results to the robotic surveillance problem. Our numerical results show that, for a model of rational intruder over prototypical graph topologies and test cases, the maximum return time entropy chain performs better than several existing Markov chains. Copyright © 2018, The Authors. All rights reserved.

关键词： Linear systems

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Correction to: Sensitivity enriched multi-criterion decision making process for novel railway switches and crossings − a case study

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European Transport Research Review 2021年第1期13卷 1-1页

作者： Boghani, Hitesh C. Ambur, Ramakrishnan Blumenfeld, Marcelo Saade, Louis Goodall, Roger M. Ward, Christopher P. Plášek, Otto Gofton, Neil Morata, Miquel Roberts, Clive Dixon, Roger Transport Safety Research Centre School of Design and Creative Arts Loughborough University Loughborough UK Birmingham Centre for Railway Research and Education Department of Electronic Electrical and Systems Engineering University of Birmingham Birmingham UK Control Systems Group Wolfson School of Mechanical Electrical and Manufacturing Engineering Loughborough University Loughborough UK Faculty of Civil Engineering Institute of Railway Structures and Constructions Brno University of Technology Brno Czech Republic RSSB The Helicon London UK COMSA Barcelona Spain

An amendment to this paper has been published and can be accessed via the original article.

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Synchronization of networked oscillators under nonlinear integral coupling

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IFAC-PapersOnLine 2018年第33期51卷 56-61页

作者： Pavlov, Alexey Proskurnikov, Anton V. Steur, Erik de Wouw, Nathan van Norwegian University of Science and Technology Dept. Geoscience and Petroleum Trondheim Norway ITMO University St. Petersburg Russia Delft University of Technology Delft Center for Systems and Control Delft Netherlands Institute for Problems in Mechanical Engineering Russian Academy of Sciences St. Petersburg Russia Eindhoven University of Technology Dept. Mechanical Engineering Eindhoven Netherlands University of Minnesota Dept. Civil Environmental and Geo-Engineering MinneapolisMN United States

In this paper, we consider synchronization of dynamical systems interconnected via nonlinear integral coupling. Integral coupling allows one to achieve synchronization with lower interaction levels (coupling gains) than with linear coupling. Previous results on this topic were obtained for synchronization of several systems with all-to-all interconnections. In this paper, we relax the requirement of all-to-all interconnections and provide two results on exponential synchronization under nonlinear integral coupling for networks with topologies different from all-to-all interconnections. In particular, we provide a high-gain result for an arbitrary interconnection topology and a non-high-gain method for analysis of synchronization for specific topologies. The results are illustrated by simulations of Hindmarsh-Rose neuron oscillators. © 2018

关键词： Synchronization

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Towards a DESTEST: A district energy simulation test developed in IBPSA project 1 16

Towards a DESTEST: A district energy simulation test develop...

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16th International Conference of the International Building Performance Simulation Association, Building Simulation 2019

作者： Saelens, Dirk De Jaeger, Ina Bünning, Felix Mans, Michael Vandermeulen, Annelies Van Der Heijde, Bram Garreau, Enora MacCarini, Alessandro Rønneseth, Øystein Sartori, Igor Helsen, Lieve KU Leuven Department of Civil Engineering Building Physics Section Leuven Belgium EnergyVille Genk Belgium VITO Mol Belgium Empa Urban Energy Systems Automatic Control Laboratory ETH Zürich Switzerland RWTH Aachen University E.ON Energy Research Center Institute for Energy Efficient Buildings and Indoor Climate Germany KU Leuven Department of Mechanical Engineering Applied Mechanics and Energy Conversion Section Leuven Belgium CSTB MINES ParisTech France Aalborg University Danish Building Research Institute Denmark SINTEF Norway

ISBN: (纸本)9781713809418

This paper presents the first steps towards a District Energy Simulation Test (DESTEST), which is part of IBPSA Project 1. The goal is to develop a test sequel for district energy simulations, inspired by principles of the BESTEST. It aims at providing a means to validate District Energy System models. The description of the DESTEST cases and the simulation results of extensively verified models will be available as a reference for verification. By presenting the research plan, goal and first results, the district energy simulation community is informed about the project's intentions, offering a chance for feedback and collaboration. © 2019 Building Simulation Conference Proceedings. All rights reserved.

关键词： Circuit simulation

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Solving Lur'e equations through zeroing neural networks

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Information Sciences 2025年 718卷

作者： Yu He Xiaojuan Wang Yafei Tie Huanqi Yang Theodore E. Simos Spyridon D. Mourtas Vasilios N. Katsikis School of Computer Science and Artificial Intelligence Huanghuai University Zhumadian 463000 China Henan International Joint Laboratory of Behavior Optimization Control for Smart Robots Henan 463000 China Henan Key Laboratory of Smart Lighting Zhumadian 46300 China Hangzhou Dianzi University School of Mechanical Engineering Er Hao Da Jie 1158 Xiasha Hangzhou 310018 China Center for Applied Mathematics and Bioinformatics Gulf University for Science and Technology West Mishref 32093 Kuwait Section of Mathematics Dept. of Civil Engineering Democritus Univ. of Thrace Xanthi 67100 Greece Department of Economics Division of Mathematics-Informatics and Statistics-Econometrics National and Kapodistrian University of Athens Sofokleous 1 Street 10559 Athens Greece Laboratory “Hybrid Methods of Modelling and Optimization in Complex Systems” Siberian Federal University Prosp. Svobodny 79 660041 Krasnoyarsk Russia

Solving Lur'e equations plays a critical role in addressing linear-quadratic optimal control (LQOC) problems, especially in cases where the control cost matrices are singular. This paper introduces, for the first time, two novel zeroing neural network (ZNN) models—ZNNLE and ZNNLE-LQOC—specifically designed to solve the Lur'e equation system and the LQOC problem, respectively. The proposed models extend the applicability of the ZNN methodology to these challenging scenarios by offering robust and efficient solutions to time-varying matrix equations. Theoretical analyses confirm the validity of both models, while numerical simulations and practical applications demonstrate their effectiveness. Moreover, a comparative study with an enhanced alternating-direction implicit (ADI) method highlights the superior performance of the ZNNLE-LQOC model in solving LQOC problems.

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Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage∗

arXiv

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arXiv 2018年

作者： Ma, Wen-Loong Or, Yizhar Ames, Aaron D. Mechanical Engineering California Institute of Technology PasadenaCA United States faculty of Mechanical Engineering Technion - Israel Institute of Technology Haifa Israel faculty of Mechanical Engineering and Control + Dynamical Systems California Institute of Technology PasadenaCA United States

Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot’s stance foot always makes no-slip contact with the ground, including at impacts. This assumption breaks down on slippery low-friction surfaces, as commonly encountered in outdoor terrains, leading to failure and loss of stability. In this work, we extend the theoretical analysis and trajectory optimization to account for stick-slip transitions at point foot contact using Coulomb’s friction law. Using AMBER-3M planar biped robot as an experimental platform, we demonstrate for the first time a slippery walking gait which can be stabilized successfully both on a lubricated surface and on a rough no-slip surface. We also study the influence of foot slippage on reducing the mechanical cost of transport, and compare energy efficiency in both numerical simulations and experimental measurements. Copyright © 2018, The Authors. All rights reserved.

关键词： Stick-slip

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Model Order Reduction for Managed Pressure Drilling systems based on a Model with Local Nonlinearities

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IFAC-PapersOnLine 2018年第8期51卷 50-55页

作者： Lordejani, S. Naderi Besselink, B. Abbasi, M.H. Kaasa, G.-O. Schilders, W.H.A. van de Wouw, N. Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Johann Bernoulli Institute for Mathematics and Computer Science University of Groningen Groningen Netherlands Department of Mathematics and Computer Science Eindhoven University of Technology Netherlands Kelda Drilling Controls Porsgrunn Norway Department of Civil Environmental & Geo-Engineering University of Minnesota Minneapolis United States Delft Center for Systems and Control Delft University of Technology Delft Netherlands

Automated Managed Pressure Drilling (MPD) is a method for fast and accurate pressure control in drilling operations. The achievable performance of automated MPD is limited, firstly, by the control system and, secondly, by the hydraulics model based on which this control system is designed. Hence, an accurate hydraulics model is needed that, at the same time, is simple enough to allow for the use of high performance controller design methods. This paper presents an approach for nonlinear Model Order Reduction (MOR) for MPD systems. For a single-phase flow MPD system, a nonlinear model is derived that can be decomposed into a feedback interconnection of a high-order linear subsystem and low-order nonlinear subsystem. This structure, under certain conditions, allows for a nonlinear MOR procedure that preserves key system properties such as stability and provides a computable error bound. The effectiveness of this MOR method for MPD systems is illustrated through simulations. © 2018

关键词： controllers Automation control engineering control systems Hydraulics Infill drilling Models Nonlinear systems Achievable performance Computable error bounds Feedback interconnection High performance controllers Managed Pressure Drilling Managed pressure drillings Model order reduction Nonlinear subsystems

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The meeting time of multiple random walks

arXiv

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arXiv 2018年

作者： George, Mishel Patel, Rushabh Bullo, Francesco Mechanical Engineering University of California Santa BarbaraCA93106-5070 Northrop Grumman Aerospace Systems Redondo BeachCA Center for Control Dynamical Systems and Computation University of California Santa BarbaraCA93106-5070

This article rigorously analyzes the meeting time between pursuers and evaders performing random walks on digraphs. There exist several bounds on the expected meeting time between random walkers on graphs in the literature, however, closed-form expressions are limited in scope. By utilizing the notion that multiple random walks on a common graph can be understood as a single random walk on the Kronecker product graph, we are able to provide the first analytic expression for the meeting time in terms of the transition matrices of the random walkers when modeled by either discrete-time Markov chains or continuous-time Markov chains. We further extend the results to the case of multiple pursuers and multiple evaders performing independent random walks. We present various sufficient conditions for pairs (or tuples) of transition matrices that satisfy certain conditions on the absorbing classes for which finite meeting times are guaranteed to *** Codes 60J10, 05C81, 05C50 Copyright © 2018, The Authors. All rights reserved.

关键词： Continuous time systems

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Footstep and motion planning in semi-unstructured environments using randomized possibility graphs

Footstep and motion planning in semi-unstructured environmen...

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2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Grey, Michael X. Ames, Aaron D. Liu, C. Karen School of Interactive Computing Georgia Institute of Technology AtlantaGA30332 United States Mechanical and Civil Engineering and Control and Dynamical Systems California Institute of Technology PasadenaCA91125 United States

ISBN: (纸本)9781509046331

Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a discrete set of predetermined footstep actions;they are unable to utilize the continuum of whole body motion that is truly available to the robot platform. Existing motion planners that can utilize whole body motion tend to struggle with the complexity of large-scale problems. We introduce a planning method, called the 'Randomized Possibility Graph', which uses high-level approximations of constraint manifolds to rapidly explore the 'possibility' of actions, thereby allowing lower-level motion planners to be utilized more efficiently. We demonstrate simulations of the method working in a variety of semi-unstructured environments. In this context, 'semi-unstructured' means the walkable terrain is flat and even, but there are arbitrary 3D obstacles throughout the environment which may need to be stepped over or maneuvered around using whole body motions. © 2017 IEEE.

关键词： Motion planning

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Hybrid model formulation and stability analysis of a PID-controlled motion system with Coulomb friction ⁎

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IFAC-PapersOnLine 2019年第16期52卷 84-89页

作者： A. Bisoffi R. Beerens L. Zaccarian W.P.M.H. Heemels H. Nijmeijer N. van de Wouw KTH Royal Institute of Technology Division of Decision and Control Systems SE-10044 Stockholm Sweden Eindhoven University of Technology Dept. Mechanical Engineering P.O. Box 513 5600 MB Eindhoven The Netherlands CNRS LAAS Univ. de Toulouse 31400 Toulouse France and Dept. of Industrial Engineering Univ. of Trento 38122 Trento Italy Dept. Civil Environmental and GeoEngineering University of Minnesota Minneapolis MN 55455 USA

For a PID-controlled motion system under Coulomb friction described by a differential inclusion, we present a hybrid model comprising logical states indicating whether the closed loop is in stick or in slip, thereby resembling a hybrid automaton. A key step for this description is the addition of a timer exploiting a peculiar semiglobal dwell time of the original dynamics, which then removes defective and unwanted nonconverging Zeno solutions from the hybrid model. Through it, we then revisit an existing proof of global asymptotic stability, which is significantly simplified by way of a smooth weak Lyapunov function. The relevance of the proposed hybrid representation is also illustrated on a novel control strategy resetting the PID integrator and hinging upon the proposed hybrid model.

关键词： hybrid systems nonlinear systems Coulomb friction Lyapunov methods global asymptotic stability PID control

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