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2021 International Conference on Unmanned Aircraft systems, ICUAS 2021

作者： Wu, YuXuan Wang, Jing Zhou, Meng Dong, Zhe Chen, YangQuan College of Information Science and Technology Beijing University of Chemical Technology Beijing China School of Electrical and Control Engineering North China University of Technology Beijing China Mechatronics Embedded Systems and Automation Lab University of California MercedCA95343 United States

ISBN: (纸本)9780738131153

Unmanned aerial vehicles (UAVs) can provide vision at high altitude. In this paper, multi-UAVs and ground vehicle are utilized to explore a complex environment with obstacles. The desired UAV formation is proposed around ground vehicle to provide wider vision. The Interfered Fluid Dynamical System (IFDS) method is utilized to guide UAVs avoid obstacles, while the desired formation need be maintained. Then formation control scheme of multi-UAVs is updated to combine with IFDS method according to original formation and obstacles avoidance. Simulation results shows that multi-UAVs can avoid obstacles and maintain the desired formation around ground vehicle during exploration. © 2021 IEEE.

关键词： Ground vehicles

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Bridging reinforcement learning and iterative learning control: Autonomous reference tracking for unknown, nonlinear dynamics

TechRxiv

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TechRxiv 2021年

作者： Meindl, Michael Lehmann, Dustin Seel, Thomas Embedded Mechatronics Laboratory Hochschule Karlsruhe Germany Control Systems Group Technische Universität Berlin Germany Control Systems Group Technische Universität Berlin Germany Departement Artificial Intelligence in Biomedical Engineering Friedrich-Alexander-Universität Nürnberg Erlangen Germany

This work addresses the problem of reference tracking in autonomously learning agents with unknown, nonlinear dynamics. Existing solutions require model information or extensive parameter tuning, and have rarely been validated in real-world experiments. We propose a learning control scheme that learns to approximate the unknown dynamics by a Gaussian Process (GP), which is used to optimize and apply a feedforward control input on each trial. Unlike existing approaches, the proposed method neither requires knowledge of the system states and their dynamics nor knowledge of an effective feedback control structure. All algorithm parameters are chosen automatically, i.e. the learning method works plug and play. The proposed method is validated in extensive simulations and real-world experiments. In contrast to most existing work, we study learning dynamics for more than one motion task as well as the robustness of performance across a large range of learning parameters. The method’s plug and play applicability is demonstrated by experiments with a balancing robot, in which the proposed method rapidly learns to track the desired output. Due to its model-agnostic and plug and play properties, the proposed method is expected to have high potential for application to a large class of reference tracking problems in systems with unknown, nonlinear dynamics. © 2021, CC BY.

关键词： Dynamics

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Collective iterative learning control: Exploiting diversity in multi-agent systems for reference tracking tasks

arXiv

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arXiv 2021年

作者： Meindl, Michael Molinari, Fabio Lehmann, Dustin Seel, Thomas Embedded Mechatronics Laboratory Hochschule Karlsruhe Karlsruhe76133 Germany Control Systems Group Technische Universität Berlin Berlin10587 Germany Department of Artificial Intelligence in Biomedical Engineering Friedrich-Alexander-Universität Erlangen–Nürnberg Erlangen91052 Germany

Multi-agent systems (MASs) can autonomously learn to solve previously unknown tasks by means of each agent’s individual intelligence as well as by collaborating and exploiting collective intelligence. This article considers a group of autonomous agents learning to track the same given reference trajectory in a possibly small number of trials. We propose a novel collective learning control method that combines iterative learning control (ILC) with a collective update strategy. We derive conditions for desirable convergence properties of such systems. We show that the proposed method allows the collective to combine the advantages of the agents’ individual learning strategies and thereby overcomes trade-offs and limitations of single-agent ILC. This benefit is achieved by designing a heterogeneous collective, i.e., a different learning law is assigned to each agent. All theoretical results are confirmed in simulations and experiments with two-wheeled-inverted-pendulum robots (TWIPRs) that jointly learn to perform the desired maneuver. Copyright © 2021, The Authors. All rights reserved.

关键词： Two term control systems

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control Performance Assessment with Fractional Lower Order Moments

Control Performance Assessment with Fractional Lower Order M...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Kai Liu Paweł D. Domański YangQuan Chen Mechatronics Embedded Systems & Automation (MESA) Lab University of California Merced CA USA Warsaw University of Technology Institute of Control and Computation Engineering Warsaw Poland University of California Merced CA USA

ISBN: (数字)9781728159539

ISBN: (纸本)9781728159546

Non-Gaussian statistical signal processing is be-coming increasingly significant in the current complex world. However, the variance of a non-Gaussian distribution may not exist, therefore many conventional methods will be considerably weakened, meaningless or even misleading. For example, the least-squares criterion may not be robust in the non-Gaussian environment, owing to the impulsive behaviors and outliers. In the paper, the statistical measures with fractional lower order moments (FLOM) are used instead of second-order moments to assess the control performance for non-Gaussian processes. The results show that FLOM is robust against outliers for the non-Gaussian signals. In the end, Hurst exponent fitting with FLOM and multifractal detrended fluctuation analysis (MFDFA) with FLOM are applied to the real data.

关键词： Dispersion Next generation networking Information technology Gaussian distribution Fitting Time series analysis Robustness

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Evacuation control of Crowds of Pedestrians: Distributed or Decentralized? ⁎

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IFAC-PapersOnLine 2020年第5期53卷 318-323页

作者： Kecai Cao YangQuan Chen Chenglin Liu Nanjing Institute of Technology Nanjing 211167 China Mechatronics Embedded Systems and Automation Lab School of Engineering University of California Merced CA USA 95343 Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi 214122 China

Evacuation of crowds in a corridor with only one exit has been considered in this paper where distributed controllers have been constructed to regulate the crowd’s evacuation speed so that stampede tragedy can be avoided. Macroscopic model for crowds of pedestrians has been firstly derived based on inspiration of LWR (Lighthill-Whitham and Richards) model and Greenshields model from traffic system where finite volume method has been introduced to simplify the obtained PDEs into finite ODEs. Distributed evacuation controllers have been constructed based on inspiration of multi-agent system and stability analysis of obtained closed-loop system has been simplified to linear system with the delicate controllers proposed. Comparisons between distributed evacuation controllers and previous evacuation controllers have also been presented to show the advantages and disadvantages of different controllers under different initial density of crowds so that tragedy of crowd stampede can be effectively avoided with appropriate selection of different controllers.

关键词： Distributed evacuation controller Decentralized evacuation controller Stampede

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A Bibliometric Analysis on Model-based systems Engineering

A Bibliometric Analysis on Model-based Systems Engineering

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IEEE International Symposium on systems Engineering (ISSE)

作者： Zihang Li Jinzhi Lu Guoxin Wang Lei Feng Didem Gurdur Broo Dimitris Kiritsis School of Mechanical Engineering Beijing Institute of Technology Beijing China ICT4SM Lab EPFL - École Polytechnique Fédérale de Lausanne Lausanne Switzerland Unit of Mechatronics and Embedded Control Systems KTH Royal Institute of Technology Stockholm Sweden Centre for Smart Infrastructure Laing O'Rourke Centre for Construction Engineering and Technology Centre for Digital Built Britain University of Cambridge Cambridge United Kingdom

Model-based systems engineering (MBSE) has been accepted as an extremely important approach to understanding the multi-domain research field comprehensively. In this paper, a bibliometric analysis is used to conduct a comprehensive survey of model-based systems engineering literature of the last five years. The VOSViewer is used to implement visual network analysis for co-authorship, citation, and co-occurrence of the MBSE related papers. The results of the bibliometric study, firstly, reveal the influential research teams and sources. Secondly, research hotspots in the current MBSE domain are identified. The findings of this study aim to help researchers to gain a faster and deeper understanding of the current literature on MBSE.

关键词： Analytical models Visualization Digital twin Bibliometrics Collaboration Tools Market research

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Adaptive Trajectory Planning and optimization at Limits of Handling

Adaptive Trajectory Planning and optimization at Limits of H...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Lars Svensson Monimoy Bujarbaruah Nitin R. Kapania Martin Törngren Mechatronics and Embedded Control Systems KTH Royal Institute of Technology Stockholm Sweden Model Predictive Control Laboratory University of California Berkeley USA Dynamic Design Laboratory Stanford University USA

In this paper, we tackle the problem of trajectory planning and control of a vehicle under locally varying traction limitations, in the presence of suddenly appearing obstacles. We employ concepts from adaptive model predictive control for run-time adaptation of tire force constraints that are imposed by local traction conditions. To solve the resulting optimization problem for real-time control synthesis with such time varying constraints, we propose a novel numerical scheme based on Real Time Iteration Sequential Quadratic Programming (RTI-SQP), which we call Sampling Augmented Adaptive RTI (SAA-RTI). Sampling augmentation of conventional RTI-SQP provides additional feasible candidate trajectories for warm-starting the optimization procedure. Thus, the proposed SAA-RTI algorithm enables real time constraint adaptation and reduces sensitivity to local minima. Through extensive numerical simulations we demonstrate that our method increases the vehicle's capacity to avoid accidents in scenarios with unanticipated obstacles and locally varying traction, compared to equivalent non-adaptive control schemes and traditional planning and tracking approaches.

关键词：

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System identification of time-delay with single fractional pole heating process considering rate limit effect

System identification of time-delay with single fractional p...

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第三十八届中国控制会议

作者： Jie Yuan YangQuan Chen Shumin Fei School of Automation Southeast University Mechatronics Embedded Systems and Automation Lab University of California Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University

The heat transfer dynamic is extremely common in industry process. The time-delay with single fractional pole(TDSFP) model gives higher accuracy than first-order plus time-delay(FOPTD) model for the ideal heat transfer process. Actuator rate limit is a common and important phenomenon in heating process control and is becoming a stumbling block in precision process control. The actuator will get saturated for a certain duration when the identification test signal is a step function. The time duration when actuator rate is saturated can be misidentified as the delay of the process model, which misleads the controller design and generates unsatisfactory performance. This paper proposes a new model structure in identifying a TDSFP process under the step test signal and this model structure considers actuator rate limit. Parameters sensitivity is analyzed to access the effect of identification accuracy resulting from parameters estimation mismatch. An illustrative example is given to show the effectiveness of the proposed identification method and the sensitivity of system parameters.

关键词： Process control fractional-order heat transfer actuator rate limit parameter estimation parameter sensitivity

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Adaptive trajectory planning and optimization at limits of handling

arXiv

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arXiv 2019年

作者： Svensson, Lars Bujarbaruah, Monimoy Kapania, Nitin R. Törngren, Martin Department of Mechatronics and Embedded Control Systems KTH Royal Institute of Technology Stockholm Sweden Model Predictive Control Laboratory University of California Berkeley United States Dynamic Design Laboratory Stanford University United States

In this paper, we tackle the problem of trajectory planning and control of a vehicle under locally varying traction limitations, in the presence of suddenly appearing obstacles. We employ concepts from adaptive model predictive control for run-time adaptation of tire force constraints that are imposed by local traction conditions. To solve the resulting optimization problem for real-time control synthesis with such time varying constraints, we propose a novel numerical scheme based on Real Time Iteration Sequential Quadratic Programming (RTI-SQP), which we call Sampling Augmented Adaptive RTI (SAA-RTI). Sampling augmentation of conventional RTI-SQP provides additional feasible candidate trajectories for warmstarting the optimization procedure. Thus, the proposed SAA-RTI algorithm enables real time constraint adaptation and reduces sensitivity to local minima. Through extensive numerical simulations we demonstrate that our method increases the vehicle's capacity to avoid accidents in scenarios with unanticipated obstacles and locally varying traction, compared to equivalent non-adaptive control schemes and traditional planning and tracking approaches. Copyright © 2019, The Authors. All rights reserved.

关键词： Real time control

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Analysis of Actuator Rate Limit Effects on First-Order Plus Time-Delay systems under Fractional-Order Proportional-Integral control

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IFAC-PapersOnLine 2018年第4期51卷 37-42页

作者： Yuan, Jie Chen, YangQuan Fei, Shumin School of Automation Southeast University Nanjing210096 China Mechatronics Embedded Systems and Automation Lab University of California MercedCA95343 United States Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University Nanjing210096 China

Actuator rate limit deteriorates control performance, and may even lead to system instability in precision process control. In this paper, a first-order plus time-delay (FOPTD) system class with actuator rate limit is considered. The describing function (DF) of the rate limiter is derived to obtain the describing functions of the closed-loop and open-loop systems, and the onset frequency in the Nichols chart is used to analyze the rate limit effects in frequency domain. A fractional-order proportional-integral (FOPI) controller is first designed based on the flat phase constraint, crossover frequency, and phase margin specifications. Then a traditional integer-order PID (IOPID) controller is designed based on the same specifications to compare with the FOPI controller in the presence of actuator rate saturation. A careful simulation study is presented to validate all the conclusions. © 2018

关键词： Process control Actuators controllers Delay control systems Describing functions Frequency domain analysis Proportional control systems Specifications System stability Time delay Timing circuits Two term control systems control performance Cross over frequencies First order plus time delay First order plus time delay systems Fractional Order Proportional Integral (FOPI) controller onset frequency Proportional integral control Rate saturation

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