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第三十九届中国控制会议

作者： Yuhao Long Yeming Zhang Jingcheng Wang Miaoshun Bai Dept of Automation Shanghai Jiao Tong UniversityKey Laboratory of System Control and Information ProcessingMinistry of Education of China Shanghai Municipal Engineering Design Institute(Group)Co. Ltd Autonomous Systems and Intelligent Control International Joint Research Center Xi'an Technological University

Real-time and accurate water supply forecast is crucial for water supply control. However, most existing methods are likely affected by factors such as weather and holidays, which lead to a decline in the reliability of water supply *** this paper, we address a generic artificial neural network, Initialized Attention Residual Network(IARN), to tackle the time series prediction problem in water supply domain. Specifically, instead of continuing to use the recurrent neural network(RNN)in time-series tasks, we try to build a convolution neural network(CNN) to recede the disturb from other factors and get a more credible results. Experiments show that our method achieves state-of-the-art performance on several datasets in terms of accuracy,robustness and generalization ability. The source code of our method will available at https://***/SJTU-L-dd/IARN.

关键词： Neural networks Prediction methods Water supply Time-series analysis Attention module Residual network

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Regret and cumulative constraint violation analysis for online convex optimization with long term constraints

arXiv

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arXiv 2021年

作者： Yi, Xinlei Li, Xiuxian Yang, Tao Xie, Lihua Chai, Tianyou Johansson, Karl H. School of Electrical Engineering and Computer Science and Digital Futures KTH Royal Institute of Technology Stockholm Sweden Department of Control Science and Engineering College of Electronics and Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems Institute for Advanced Study Tongji University Shanghai China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore

This paper considers online convex optimization with long term constraints, where constraints can be violated in intermediate rounds, but need to be satisfied in the long run. The cumulative constraint violation is used as the metric to measure constraint violations, which excludes the situation that strictly feasible constraints can compensate the effects of violated constraints. A novel algorithm is first proposed and it achieves an O(Tmax{c,1-c}) bound for static regret and an O(T (1-c)/2) bound for cumulative constraint violation, where c ϵ (0, 1) is a user-defined trade-off parameter, and thus has improved performance compared with existing results. Both static regret and cumulative constraint violation bounds are reduced to O(log(T )) when the loss functions are strongly convex, which also improves existing results. In order to achieve the optimal regret with respect to any comparator sequence, another algorithm is then proposed and it achieves the optimal O( p T (1 + PT )) regret and an O(√T) cumulative constraint violation, where PT is the path-length of the comparator sequence. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results. Copyright © 2021, The Authors. All rights reserved.

关键词： Comparators (optical)

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Autotuning of a Robust Fractional Order PID controller

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IFAC-PapersOnLine 2018年第25期51卷 466-471页

作者： De Keyser, Robin Muresan, Cristina I. Ionescu, Clara M. DySC research group on Dynamical Systems and Control Ghent University Ghent Belgium Department of Automation Technical University of Cluj-Napoca Cluj-Napoca Romania

Fractional order PI/PD controllers are generalizations of the well-known PI/PD controllers with an extra parameter usually used to enhance the robustness of the closed loop system. In this paper, an autotuning method, referred to as the fractional order KC autotuner, is presented for tuning fractional order PI/PD controllers. The method is an extension of a previously presented autotuning principle and produces controllers, which are robust to system gain variations. Additionally, the method can also be adapted to obtain robust controllers to time delay, time constant variations, etc. The advantages of this autotuning method reside in the simplicity of the approach: 1) it requires solely one single sine test on the process; 2) it does not need the process model and 3) it eliminates the complex nonlinear equations in the traditional fractional order controller design procedure. Numerical examples are included to validate the method. © 2018

关键词： controllers Closed loop systems Convergence of numerical methods Nonlinear equations Numerical methods Robustness (control systems) Three term control systems Auto tuning methods Complex nonlinear equations Fractional order pI Fractional order controllers Fractional order PID controllers Iso damping Robust controllers Time constant variations

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Approximation methods for FO-IMC controllers for time delay systems 2

Approximation methods for FO-IMC controllers for time delay ...

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2nd International Conference on Electrical Engineering and Green Energy, CEEGE 2019

作者： Muresan, Cristina I. Birs, Isabela R. Prodan, Ovidiu Nascu, Ioan De Keyser, Robin Department of Automation Technical University of Cluj-Napoca Cluj-Napoca Romania DySC Research Group on Dynamical Systems and Control Ghent University Ghent Belgium EDT Group Member of Flanders Make Consortium Belgium Department of Civil Engineering Technical University of Cluj-Napoca Cluj-Napoca Romania

Fractional Order Internal Model control (FO-IMC) is among the newest trends in extending fractional calculus to the integer order control. Approximation of the FO-IMC is one of the key problems. Apart from this, when dealing with time delay systems, the time delay needs also to be approximated. All these approximations can alter the closed loop performance of the controller. In this paper, FO-IMC controllers will be tested in terms of the approximation accuracy. The case study is a first order system with time delay. Several scenarios will be considered, aiming for a conclusion regarding the choice of the approximation method as a function of the process characteristics, closed loop performance and FO-IMC fractional order. To approximate the time delay, two extensively used techniques will be considered, such as the series and Pade approximations. These will be compared to a novel approximation technique. An analysis of the test cases presented show that the series approximation proves more suitable in a single scenario, whereas the novel approximation method produces better results for the rest of the test cases. © 2019 The Authors, published by EDP Sciences.

关键词： Time delay

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Validation of the KC Autotuning Principle on a Multi-Tank Pilot process

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IFAC-PapersOnLine 2019年第1期52卷 178-183页

作者： Robin De Keyser Cristina I. Muresan Ghent University DySC research group on Dynamical Systems and Control Ghent Belgium Technical University of Cluj-Napoca Department of Automation Cluj-Napoca Romania

PIDs are the most widely used controllers in industrial applications. This particular interest generates on-going research regarding simplified tuning methods appealing to the industrial user. Such methods refer also to a fast design of PID controllers in the absence of a mathematical model of the process. Autotuners represent one way of achieving such a fast design. In this paper, the experimental validation of a previously presented direct autotuner is presented. The autotuning method requires only one simple sine test on the process to compute the PID controller parameters. The case study consists in the Quanser Six Tanks process. Comparisons with other popular tuning methods are also presented. The results show that the proposed autotuning method is a valuable option for controlling industrial processes.

关键词： autotuning PID control experimental validation

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Dual-Stage control Structure for Multilevel Voltage Source Inverters ⁎

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IFAC-PapersOnLine 2020年第2期53卷 13495-13500页

作者： Eduardo G. Nery Guilherme A. Pimentel Eduardo R. Rohr Aurélio T. Salton PUCRS - Group of Automation and Control Systems Av. Ipiranga 6681 Porto Alegre Brazil 90619-900 ABB Corporate Research Center Dattwil CH-5405 Baden 5 Switzerland UFRGS - Department of Electrical Engineering Av. Osvaldo Aranha 103 Porto Alegre Brazil 90035-190

This work proposes an alternative for total harmonic distortion (THD) attenuation in power inverters by combining two different circuit stages. The Macro stage comprises of a Neutral-Point-Clamped (NPC) multilevel inverter operating in high voltage and low switching frequency. The Micro stage is a two-level three-phase inverter, which is faster and more accurate due to its higher frequency and limited voltage. In this dual-stage approach, the opposite characteristics of the converters lead the Micro stage to correct the distortions of the Macro. It is possible to work with small values of filtering components, lower than the ones needed in a one-stage approach. This way, the presented proposal aims to reduce the physical size of the converter and its costs. The NPC inverter works in open loop with its switching signals generated by optimized pulse patterns (OPP). For correct THD filtering, a resonant control strategy with a Notch filter is designed in the frequency domain, as well as a feedforward structure designed in time domain. Simulation results show that the proposed system keeps voltage THD in acceptable levels for IEEE Standards.

关键词： Dual-Stage Actuators Optimized Pulse Patterns Multilevel Power Converters Resonant control Voltage Source Inverters

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Robust Stabilization of T-S Fuzzy Stochastic Descriptor systems via Integral Sliding Modes

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IEEE TRANSACTIONS ON CYBERNETICS 2018年第9期48卷 2736-2749页

作者： Li, Jinghao Zhang, Qingling Yan, Xing-Gang Spurgeon, Sarah K. Institute of Systems Science State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China Instrumentation Control and Embedded Systems Research Group School of Engineering and Digital Arts University of Kent Canterbury U.K. Department of Electronic and Electrical Engineering University College London London U.K.

This paper addresses the robust stabilization problem for T-S fuzzy stochastic descriptor systems using an integral sliding mode control paradigm. A classical integral sliding mode control scheme and a nonparallel distributed compensation (Non-PDC) integral sliding mode control scheme are presented. It is shown that two restrictive assumptions previously adopted developing sliding mode controllers for Takagi-Sugeno (T-S) fuzzy stochastic systems are not required with the proposed framework. A unified framework for sliding mode control of T-S fuzzy systems is formulated. The proposed Non-PDC integral sliding mode control scheme encompasses existing schemes when the previously imposed assumptions hold. Stability of the sliding motion is analyzed and the sliding mode controller is parameterized in terms of the solutions of a set of linear matrix inequalities which facilitates design. The methodology is applied to an inverted pendulum model to validate the effectiveness of the results presented.

关键词： Integral sliding mode control inverted pendulum nonparallel distributed compensation (Non-PDC) robust stabilization Takagi-Sugeno (T-S) fuzzy stochastic descriptor systems

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Identification of muscle morphology with noncontact capacitive sensing: Preliminary study

Identification of muscle morphology with noncontact capaciti...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Enhao Zheng Jiacheng Wan Dongfang Xu Qining Wang Hong Qiao The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Information Engineering China university of geosciences (Beijing) Beijing China The Robotics Research Group College of Engineering Peking University Beijing China

ISBN: (数字)9781728119908

ISBN: (纸本)9781728119915

Human-machine interface with muscle signals serves as an important role in the field of wearable robotics. To compensate for the limitations of the existing surface Electromyography (sEMG) based technologies, we previously proposed a noncontact capacitive sensing approach that could record the limb shape changes. The sensing approach frees the human skin from contacting to the metal electrodes, thus enabling the measurement of muscle signals by dressing the sensing front-ends outside of the clothes. We validated the capacitive sensing in human motion intent recognition tasks with the wearable robots and produced comparable results to existing studies. However, the biological significance of the capacitance signals is still unrevealed, which is an indispensable issue for robot intuitive control. In this study, we address the problems of identifying the relationships between the muscle morphological parameters and the capacitance signals. We constructed a measurement system that recorded the noncontact capacitive sensing signals and the muscle ultrasound (US) images simultaneously. With the designed device, five subjects were employed and the US images from the gastrocnemius muscle (GM) and the tibialis anterior (TA) muscle during level walking were sampled. We fitted the calculated muscle morphological parameters (the pinnation angles and the muscle fascicle length) and the capacitance signals of the same gait phases. The results demonstrated that at least one-channel capacitance signal strongly correlated to the muscle morphological parameters (R 2 > 0.5, quadratic regression). The average R 2 s of the most correlated channels were up to 0.86 for pinnation angles and 0.83 for the muscle fascicle length changes. The interesting findings in this preliminary study suggest the biological physical significance of the capacitance signals during human locomotion. Future efforts are worth being paid in this new research direction for more promising results.

关键词： Muscles Robot sensing systems Capacitance Legged locomotion Electrodes Ultrasonic variables measurement

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Non-Periodic Lower-Limb Motion Recognition with Noncontact Capacitive Sensing

Non-Periodic Lower-Limb Motion Recognition with Noncontact C...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Enhao Zheng Jinchen Zeng Dongfang Xu Qining Wang Hong Qiao State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences No. 95 of Zhongguancun East Road Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing 30 Xueyuan Road Beijing Robotics Research Group College of Engineering Peking University Beijing China

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

Noncontact captive sensing is a new sensing strategy that we proposed previously to compensate for the limitations of existing surface electromyography studies for exoskeleton control. It has been validated on locomotion mode recognition and gait phase estimation. However, our previous studies addressed the tasks of periodic ambulation based on machine learning algorithms. The performances of the capacitive sensing on non-periodical lower-limb motion recognition have never been evaluated. In this preliminary study, we designed a motion recognition method by fusing the capacitive sensing and the inertial sensors. The recognition algorithm was designed based on the combined logics, which freed the system from burdensome training procedures in the recognition tasks. The method was validated on three healthy subjects in performing 6 lower-limb motions and the transitions between them (10 in total). The capacitance-inertial fusion method produced an average precision/recall of >0.92 in static motions and >0.86 with transitions. The most prominent improvement of using the capacitance signals is that it increases the time-response ability during the motion transitions. Compared with purely using inertial sensors, the sensor fusion method reduced more than 100-ms latency on average. The pilot study extends the scope of the new sensing method in human motion recognition. Future efforts will be paid in this direction to get more promising results.

关键词： Robot sensing systems Capacitance Electrodes Task analysis Legged locomotion Exoskeletons

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Steady-State Analysis of HVAC Performance using Indoor Fans in control Design

Steady-State Analysis of HVAC Performance using Indoor Fans ...

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IEEE Annual Conference on Decision and control

作者： Joaquin G. Ordonez Claus Danielson Daniel Limon Scott A. Bortoff Stefano Di Cairano Department of Systems Engineering and Automation University of Seville Seville Spain Control and Dynamical Systems Group Mitsubishi Electric Research Laboratories Cambridge MA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Indoor fans are high-authority actuators in heating, ventilation, and air conditioning (HVAC) systems since they facilitate the transfer of heat between refrigerant and room air. In some variable refrigerant flow (VRF) systems, the indoor fan speeds are under the control of the occupants, rather than the HVAC control system. This paper studies the benefits of transferring control of the indoor fans to the HVAC controller. We quantify the system performance using five metrics related to occupant comfort and power consumption. The first metric measures the ability of the HVAC system to accommodate users with different temperature preferences by quantifying the largest difference in requested room temperatures that can be achieved with and without the aid of indoor fans. The second and third metrics measure the ability of the HVAC system to reject extreme heating and cooling loads. The final two metrics measure the reduction in power consumption obtained by manipulating the indoor fan speeds. Each of these metrics is computed via linear programming for varying numbers of indoor units. Simulation results indicate that the maximum steady-state difference in room temperatures is tripled, and the maximum rejected heating and cooling loads are doubled. Furthermore, power consumption is significantly reduced.

关键词： Fans Heating systems Temperature measurement Steady-state Power demand Refrigerants

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